#include <sys/ioctl.h>
#include "socketcan.hpp"
-#include "can-message.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 can_message_t& cm)
- {
- struct {
- struct bcm_msg_head msg_head;
- struct can_frame frames;
- } msg;
-
- 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);
-
- printf("Data available: %i bytes read\n", (int)nbytes);
- printf("read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X\n", ifr.ifr_name, msg.msg_head.can_id, msg.frames.len,
- 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]);
-
-
- 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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