#include <unistd.h>
#include <string>
-#include <string.h>
#include <linux/can/raw.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include "socketcan.hpp"
-#include "low-can-binding.hpp"
namespace utils
{
/// @brief Construct a socket by moving an existing one.
socketcan_t::socketcan_t(socketcan_t&& s)
: socket_{s.socket_}
+ {}
+
+ socketcan_t& socketcan_t::operator=(const socketcan_t& s)
{
- s.socket_ = INVALID_SOCKET;
+ socket_ = std::move(s.socket_);
+ return *this;
}
- /// @brief Destruct the socket.
socketcan_t::~socketcan_t()
- {
- if(socket_ != INVALID_SOCKET)
- ::close(socket_);
- }
+ {}
const struct sockaddr_can& socketcan_t::get_tx_address() const
{
return socket_ != INVALID_SOCKET ? ::setsockopt(socket_, level, optname, optval, optlen) : 0;
}
- /// @brief Bind the socket.
- /// @return 0 if success.
- int socketcan_t::bind(const struct sockaddr* addr, socklen_t len)
- {
- return socket_ != INVALID_SOCKET ? ::bind(socket_, addr, len) : 0;
- }
-
- /// @brief Connect the socket.
- /// @return 0 if success.
- int socketcan_t::connect(const struct sockaddr* addr, socklen_t len)
- {
- return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0;
- }
-
/// @brief Get the file descriptor.
/// @return The socket's file descriptor
int socketcan_t::socket() const
{
return socket_;
}
-
- /// @brief Open a raw socket CAN.
- /// @param[in] device_name is the kernel network device name of the CAN interface.
- ///
- /// @return Upon successful completion, shall return a non-negative integer, the socket file descriptor. Otherwise, a value of -1 shall be returned and errno set to indicate the error.
- int socketcan_t::open(std::string device_name)
- {
- close();
-
- struct ifreq ifr;
- socket_ = ::socket(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);
- if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0)
- {
- ERROR(binder_interface, "%s: ioctl failed. Error was : %s", __FUNCTION__, strerror(errno));
- close();
- }
- else
- {
- tx_address_.can_family = AF_CAN;
- tx_address_.can_ifindex = ifr.ifr_ifindex;
-
- if(connect((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
- {
- ERROR(binder_interface, "%s: Connect failed. %s", __FUNCTION__, strerror(errno));
- close();
- }
- }
- return socket_;
- }
-
- socketcan_t& operator<<(socketcan_t& s, const struct bcm_msg_head& obj)
- {
- struct sockaddr_can addr = s.get_tx_address();
- ::sendto(s.socket(), &obj, sizeof(bcm_msg_head), 0, (struct sockaddr*)&addr, sizeof(addr));
- return s;
- }
-
- socketcan_t& operator<<(socketcan_t& s, const struct canfd_frame& obj)
- {
- struct sockaddr_can addr = s.get_tx_address();
- ::sendto(s.socket(), &obj, sizeof(canfd_frame), 0, (struct sockaddr*)&addr, sizeof(addr));
- return s;
- }
-
- socketcan_t& operator<<(socketcan_t& s, const struct can_frame& obj)
- {
- struct sockaddr_can addr = s.get_tx_address();
- ::sendto(s.socket(), &obj, sizeof(can_frame), 0, (struct sockaddr*)&addr, sizeof(addr));
- return s;
- }
-
- socketcan_t& operator<<(socketcan_t& s, const struct basic_bcm_msg<struct can_frame>& obj)
- {
- s << obj.msg_head;
- s << obj.frames;
- return s;
- }
-
- socketcan_t& operator<<(socketcan_t& s, const struct canfd_bcm_msg& obj)
- {
- s << obj.msg_head;
- s << obj.frames;
- return s;
- }
}
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