Move all signals search functions into new signals_manager_t object

[apps/agl-service-can-low-level.git] / CAN-binder / low-can-binding / can / can-bus-dev.cpp

diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.cpp b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
index fb76498..765eda7 100644 (file)
--- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
@@ -19,9 +19,6 @@
 #include <map>
 #include <mutex>
 #include <unistd.h>
-#include <string.h>
-#include <net/if.h>
-#include <sys/ioctl.h>
 #include <linux/can/raw.h>
 
 #include "can-bus-dev.hpp"
@@ -53,65 +50,46 @@ uint32_t can_bus_dev_t::get_address() const
 ///  We try to open CAN socket and apply the following options
 ///  timestamp received messages and pass the socket to FD mode.
 ///
-/// @return -1 if something wrong.
-int can_bus_dev_t::open()
+/// @param[in] bcm boolean value indicating wether or not we initialize a Broadcast CAN Manager socket.
+///
+/// @return socket value or -1 if something wrong.
+int can_bus_dev_t::open(bool bcm)
 {
-       const int canfd_on = 1;
-       const int timestamp_on = 1;
-       struct ifreq ifr;
-       struct timeval timeout;
-
-       DEBUG(binder_interface, "open: CAN Handler socket : %d", can_socket_.socket());
-       if (can_socket_)
-               return 0;
+       DEBUG(binder_interface, "open_raw: CAN Handler socket : %d", can_socket_.socket());
+       return can_socket_.open(device_name_, bcm);
+}
 
-       can_socket_.open(PF_CAN, SOCK_RAW, CAN_RAW);
+/// @brief Set some option on the socket, timestamp and canfd frame usage.
+void can_bus_dev_t::configure()
+{
        if (can_socket_)
        {
-               DEBUG(binder_interface, "open: CAN Handler socket correctly initialized : %d", can_socket_.socket());
+               const int timestamp_on = 1;
+               const int canfd_on = 1;
 
-               // Set timeout for read
-               can_socket_.setopt(SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
+               DEBUG(binder_interface, "open_raw: CAN Handler socket correctly initialized : %d", can_socket_.socket());
 
                // Set timestamp for receveid frame
                if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, &timestamp_on, sizeof(timestamp_on)) < 0)
-                       WARNING(binder_interface, "open: setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
-               DEBUG(binder_interface, "open: Switch CAN Handler socket to use fd mode");
+                       WARNING(binder_interface, "open_raw: setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
+               DEBUG(binder_interface, "open_raw: Switch CAN Handler socket to use fd mode");
 
                // try to switch the socket into CAN_FD mode
                if (can_socket_.setopt(SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
                {
-                       NOTICE(binder_interface, "open: Can not switch into CAN Extended frame format.");
+                       NOTICE(binder_interface, "open_raw: Can not switch into CAN Extended frame format.");
                        is_fdmode_on_ = false;
                }
                else
                {
-                       DEBUG(binder_interface, "open: Correctly set up CAN socket to use FD frames.");
+                       DEBUG(binder_interface, "open_raw: Correctly set up CAN socket to use FD frames.");
                        is_fdmode_on_ = true;
                }
-
-               // Attempts to open a socket to CAN bus
-               ::strcpy(ifr.ifr_name, device_name_.c_str());
-               DEBUG(binder_interface, "open: ifr_name is : %s", ifr.ifr_name);
-               if(::ioctl(can_socket_.socket(), SIOCGIFINDEX, &ifr) < 0)
-               {
-                       ERROR(binder_interface, "open: ioctl failed. Error was : %s", strerror(errno));
-               }
-               else
-               {
-                       txAddress_.can_family = AF_CAN;
-                       txAddress_.can_ifindex = ifr.ifr_ifindex;
-
-                       // And bind it to txAddress
-                       DEBUG(binder_interface, "Bind the socket");
-                       if (can_socket_.bind((struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
-                               ERROR(binder_interface, "Bind failed. %s", strerror(errno));
-                       else return 0;
-               }
-               close();
        }
-       else ERROR(binder_interface, "open: socket could not be created. Error was : %s", ::strerror(errno));
-       return -1;
+       else
+       {
+               ERROR(binder_interface, "open_raw: socket could not be created. Error was : %s", ::strerror(errno));
+       }
 }
 
 /// @brief Close the bus.
@@ -199,8 +177,7 @@ int can_bus_dev_t::send(can_message_t& can_msg)
 
        if(can_socket_)
        {
-               nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0,
-                       (struct sockaddr*)&txAddress_, sizeof(txAddress_));
+               nbytes = can_socket_.send(f);
                if (nbytes == -1)
                {
                        ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
@@ -211,7 +188,8 @@ int can_bus_dev_t::send(can_message_t& can_msg)
        else
        {
                ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
-               open();
+               open(true);
+               return -1;
        }
        return 0;
 }
@@ -237,8 +215,7 @@ bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* dat
 
        if(can_socket_)
        {
-               nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0,
-                       (struct sockaddr*)&txAddress_, sizeof(txAddress_));
+               nbytes = can_socket_.send(f);
                if (nbytes == -1)
                {
                        ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
@@ -249,7 +226,7 @@ bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* dat
        else
        {
                ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
-               open();
+               open(true);
        }
        return false;
 }