- const int canfd_on = 1;
- struct ifreq ifr;
- struct timeval timeout = {1, 0};
-
- DEBUG(interface_, "open_can_dev: CAN Handler socket : %d", can_socket_);
- if (can_socket_ >= 0)
- return 0;
-
- can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW);
- if (socket < 0)
- {
- ERROR(interface_, "open_can_dev: socket could not be created");
- }
- else
- {
- /* Set timeout for read */
- ::setsockopt(can_socket_, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
- /* try to switch the socket into CAN_FD mode */
- if (::setsockopt(can_socket_, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
- {
- NOTICE(interface_, "open_can_dev: Can not switch into CAN Extended frame format.");
- is_fdmode_on_ = false;
- } else {
- is_fdmode_on_ = true;
- }
-
- /* Attempts to open a socket to CAN bus */
- ::strcpy(ifr.ifr_name, device);
- if(::ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0)
- ERROR(interface_, "open_can_dev: ioctl failed");
- else
- {
- txAddress.can_family = AF_CAN;
- txAddress.can_ifindex = ifr.ifr_ifindex;
-
- /* And bind it to txAddress */
- if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
- {
- ERROR(interface_, "open_can_dev: bind failed");
- }
- else
- {
- ::fcntl(can_socket_, F_SETFL, O_NONBLOCK);
- return 0;
- }
- }
- close();
- }
- return -1;