Separation Generator to a dedicated repo

[apps/agl-service-can-low-level.git] / low-can-binding / utils / socketcan-bcm.cpp

diff --git a/low-can-binding/utils/socketcan-bcm.cpp b/low-can-binding/utils/socketcan-bcm.cpp
new file mode 100644 (file)
index 0000000..e16b246
--- /dev/null
+++ b/low-can-binding/utils/socketcan-bcm.cpp
@@ -0,0 +1,101 @@
+/*
+ * Copyright (C) 2015, 2016 ,2017 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loïc Collignon" <loic.collignon@iot.bzh>
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "socketcan-bcm.hpp"
+
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <fcntl.h>
+
+#include "../binding/application.hpp"
+
+namespace utils
+{
+       /// @brief Connect the socket.
+       /// @return 0 if success.
+       int socketcan_bcm_t::connect(const struct sockaddr* addr, socklen_t len)
+       {
+               return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0;
+       }
+
+       /// @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_bcm_t::open(std::string device_name)
+       {
+               close();
+               
+               struct ifreq ifr;
+               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("BCM socket ifr_name is : %s", ifr.ifr_name);
+               if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0)
+               {
+                       ERROR("ioctl failed. Error was : %s", 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("Connect failed. %s", 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_;
+       }
+
+       /// Read the socket to retrieve the associated CAN message. All the hard work is do into
+       /// convert_from_frame method and if there isn't CAN message retrieve, only BCM head struct,
+       /// then CAN message will be zeroed and must be handled later.
+       socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm)
+       {
+               struct utils::simple_bcm_msg msg;
+
+               ::memset(&msg, 0, sizeof(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);
+               long unsigned int frame_size = nbytes-sizeof(struct bcm_msg_head);
+
+               DEBUG("Data available: %li bytes read. BCM head, opcode: %i, can_id: %i, nframes: %i", frame_size, msg.msg_head.opcode, msg.msg_head.can_id, msg.msg_head.nframes);
+               DEBUG("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 ,
+                               frame_size,
+                               timestamp);
+               cm.set_sub_id((int)s.socket());
+
+               return s;
+       }
+}
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