/*
- * Copyright (C) 2015, 2016 ,2017 "IoT.bzh"
+ * Copyright (C) 2015, 2016 , 2017, 2018, 2019 "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");
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.
socket_ = socketcan_t::open(PF_CAN, SOCK_DGRAM, CAN_BCM);
// Attempts to open a socket to CAN bus
+ tx_address_.can_family = AF_CAN;
::strcpy(ifr.ifr_name, device_name.c_str());
AFB_DEBUG("BCM socket ifr_name is : %s", ifr.ifr_name);
if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0)
{
AFB_ERROR("ioctl failed. Error was : %s", strerror(errno));
close();
+ return -1;
}
- else
+
+ tx_address_.can_ifindex = ifr.ifr_ifindex;
+ if(connect((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
{
- tx_address_.can_family = AF_CAN;
- tx_address_.can_ifindex = ifr.ifr_ifindex;
-
- if(connect((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
- {
- AFB_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);
+ AFB_ERROR("Connect failed. %s", strerror(errno));
+ close();
+ return -1;
}
+ // 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)
+ std::shared_ptr<message_t> socketcan_bcm_t::read_message()
{
- struct utils::bcm_msg msg;
+ struct bcm_msg msg;
+ std::shared_ptr<can_message_t> cm = std::make_shared<can_message_t>();
- ::memset(&msg, 0, sizeof(msg));
- const struct sockaddr_can& addr = s.get_tx_address();
+ const struct sockaddr_can& addr = 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);
+ ssize_t nbytes = ::recvfrom(socket(), &msg, sizeof(msg), 0, (struct sockaddr*)&addr, &addrlen);
+ if(nbytes < 0)
+ {
+ AFB_ERROR("Can't read the next message from socket '%d'. '%s'", socket(), strerror(errno));
+ return cm;
+ }
ifr.ifr_ifindex = addr.can_ifindex;
- ioctl(s.socket(), SIOCGIFNAME, &ifr);
+ if(ioctl(socket(), SIOCGIFNAME, &ifr) < 0)
+ {
+ AFB_ERROR("Can't read the interface name. '%s'", strerror(errno));
+ return cm;
+ }
long unsigned int frame_size = nbytes-sizeof(struct bcm_msg_head);
AFB_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);
struct timeval tv;
- ioctl(s.socket(), SIOCGSTAMP, &tv);
+ ioctl(socket(), SIOCGSTAMP, &tv);
uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
cm = can_message_t::convert_from_frame(msg.fd_frames[0] , frame_size, timestamp);
- cm.set_sub_id((int)s.socket());
+ cm->set_sub_id((int)socket());
- return s;
+ return cm;
}
- socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const std::vector<struct utils::bcm_msg>& vobj)
- {
- for(const auto& obj : vobj)
- s << obj;
- return s;
- }
-
- socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct utils::bcm_msg& obj)
+ int socketcan_bcm_t::write_message(message_t& m)
{
+ can_message_t& cm = reinterpret_cast<can_message_t&>(m);
+ struct bcm_msg obj = cm.get_bcm_msg();
size_t size = (obj.msg_head.flags & CAN_FD_FRAME) ?
- (size_t)((char*)&obj.fd_frames[obj.msg_head.nframes] - (char*)&obj):
- (size_t)((char*)&obj.frames[obj.msg_head.nframes] - (char*)&obj);
- if (::sendto(s.socket(), &obj, size, 0, (const struct sockaddr*)&s.get_tx_address(), sizeof(s.get_tx_address())) < 0)
- AFB_API_ERROR(afbBindingV3root, "Error sending : %i %s", errno, ::strerror(errno));
- return s;
+ (size_t)((char*)&obj.fd_frames[obj.msg_head.nframes] - (char*)&obj):
+ (size_t)((char*)&obj.frames[obj.msg_head.nframes] - (char*)&obj);
+ if (::sendto(socket(), &obj, size, 0, (const struct sockaddr*)&get_tx_address(), sizeof(get_tx_address())) < 0)
+ {
+ AFB_ERROR("Error sending : %i %s", errno, ::strerror(errno));
+ return -1;
+ }
+ return 0;
}
}
Code Review / apps / agl-service-can-low-level.git / blobdiff