#include "socketcan-bcm.hpp"
-namespace utils
-{
- /// @brief Construct a default, invalid, socket.
- socketcan_bcm_t::socketcan_bcm_t()
- : socketcan_t{}
- {}
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <fcntl.h>
- /// @brief Construct a socket by moving an existing one.
- socketcan_bcm_t::socketcan_bcm_t(socketcan_bcm_t&& s)
- : socket_{s.socket_}
- {
- s.socket_ = INVALID_SOCKET;
- }
+#include "../binding/application.hpp"
- /// @brief Destruct the socket.
- socketcan_bcm_t::~socketcan_bcm_t()
+namespace utils
+{
+ /// @brief Connect the socket.
+ /// @return 0 if success.
+ int socketcan_bcm_t::connect(const struct sockaddr* addr, socklen_t len)
{
- if(socket_ != INVALID_SOCKET)
- ::close(socket_);
+ return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0;
}
/// @brief Open a raw socket CAN.
close();
struct ifreq ifr;
- socket_ = open(PF_CAN, SOCK_DGRAM, CAN_BCM);
+ socket_ = socketcan_t::open(PF_CAN, SOCK_DGRAM, CAN_BCM);
// Attempts to open a socket to CAN bus
::strcpy(ifr.ifr_name, device_name.c_str());
- DEBUG(binder_interface, "%s: ifr_name is : %s", __FUNCTION__, ifr.ifr_name);
+ DEBUG(binder_interface, "%s: BCM socket ifr_name is : %s", __FUNCTION__, ifr.ifr_name);
if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0)
{
ERROR(binder_interface, "%s: ioctl failed. Error was : %s", __FUNCTION__, strerror(errno));
ERROR(binder_interface, "%s: Connect failed. %s", __FUNCTION__, strerror(errno));
close();
}
+ // Needed because of using systemD event loop. See sd_event_add_io manual.
+ fcntl(socketcan_t::socket_, F_SETFL, O_NONBLOCK);
}
return socket_;
}
+
+ socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm)
+ {
+ struct {
+ struct bcm_msg_head msg_head;
+ struct can_frame frames;
+ } msg;
+
+ const struct sockaddr_can& addr = s.get_tx_address();
+ socklen_t addrlen = sizeof(addr);
+ struct ifreq ifr;
+
+ ssize_t nbytes = ::recvfrom(s.socket(), &msg, sizeof(msg), 0, (struct sockaddr*)&addr, &addrlen);
+ ifr.ifr_ifindex = addr.can_ifindex;
+ ioctl(s.socket(), SIOCGIFNAME, &ifr);
+
+ DEBUG(binder_interface, "Data available: %i bytes read", (int)nbytes);
+ DEBUG(binder_interface, "read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, msg.msg_head.can_id, msg.frames.can_dlc,
+ msg.frames.data[0], msg.frames.data[1], msg.frames.data[2], msg.frames.data[3], msg.frames.data[4], msg.frames.data[5], msg.frames.data[6], msg.frames.data[7]);
+
+ struct timeval tv;
+ ioctl(s.socket(), SIOCGSTAMP, &tv);
+ uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
+ cm = ::can_message_t::convert_from_frame(msg.frames ,
+ nbytes-sizeof(struct bcm_msg_head),
+ timestamp);
+ if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(cm))
+ {cm.set_sub_id(msg.frames.data[2]);}
+ else
+ {cm.set_sub_id((int)s.socket());}
+
+ return s;
+ }
}
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