--- /dev/null
+/*
+ * 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"
+
+namespace utils
+{
+ /// @brief Construct a default, invalid, socket.
+ socketcan_bcm_t::socketcan_bcm_t()
+ : socketcan_t{}
+ {}
+
+ /// @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;
+ }
+
+ /// @brief Destruct the socket.
+ socketcan_bcm_t::~socketcan_bcm_t()
+ {
+ if(socket_ != INVALID_SOCKET)
+ ::close(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_bcm_t::open(std::string device_name)
+ {
+ close();
+
+ struct ifreq ifr;
+ socket_ = 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);
+ 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_;
+ }
+}
\ No newline at end of file
--- /dev/null
+/*
+ * 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.
+ */
+
+#pragma once
+
+#include "socketcan.hpp"
+
+namespace utils
+{
+ struct simple_bcm_msg
+ {
+ struct bcm_msg_head msg_head;
+ struct can_frame frames;
+ };
+
+ struct canfd_bcm_msg
+ {
+ struct bcm_msg_head msg_head;
+ struct canfd_frame frames;
+ canfd_bcm_msg() { msg_head.flags |= CAN_FD_FRAME; }
+ };
+
+ class socketcan_bcm_t : public socketcan_t
+ {
+ public:
+ socketcan_bcm_t();
+ socketcan_bcm_t(const socketcan_bcm_t&) = delete;
+ socketcan_bcm_t(socketcan_bcm_t&&);
+ virtual ~socketcan_bcm_t();
+
+ virtual int open(std::string device_name);
+
+ private:
+ int connect(const struct sockaddr* addr, socklen_t len);
+ };
+// socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct simple_bcm_msg& obj);
+// socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct canfd_bcm_msg& obj);
+}
--- /dev/null
+/*
+ * 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-raw.hpp"
+
+namespace utils
+{
+ /// @brief Construct a default, invalid, socket.
+ socketcan_raw_t::socketcan_raw_t()
+ : socketcan_t{}, socket_{INVALID_SOCKET}
+ {}
+
+ /// @brief Construct a socket by moving an existing one.
+ socketcan_raw_t::socketcan_raw_t(socketcan_raw_t&& s)
+ : socket_{s.socket_}
+ {
+ s.socket_ = INVALID_SOCKET;
+ }
+
+ /// @brief Destruct the socket.
+ socketcan_raw_t::~socketcan_raw_t()
+ {
+ if(socket_ != INVALID_SOCKET)
+ ::close(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_raw_t::open(std::string device_name)
+ {
+ close();
+
+ struct ifreq ifr;
+ socket_ = open(PF_CAN, SOCK_RAW, CAN_RAW);
+
+ // 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(bind((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
+ {
+ ERROR(binder_interface, "%s: Bind failed. %s", __FUNCTION__, strerror(errno));
+ close();
+ }
+ }
+ return socket_;
+ }
+}
\ No newline at end of file
--- /dev/null
+/*
+ * 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.
+ */
+#pragma once
+
+#include "socketcan.hpp"
+
+namespace utils
+{
+ class socketcan_raw_t : public socketcan_t
+ {
+ public:
+ socketcan_raw_t();
+ socketcan_raw_t(const socketcan_raw_t&) = delete;
+ socketcan_raw_t(socketcan_raw_t&&);
+ virtual ~socketcan_raw_t();
+
+ virtual int open(std::string device_name);
+
+ private:
+ int bind(const struct sockaddr* addr, socklen_t len);
+ };
+}
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_ = 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);
- 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, can_message_t& cm)
{
struct {
namespace utils
{
- struct simple_bcm_msg
- {
- struct bcm_msg_head msg_head;
- struct can_frame frames;
- };
-
- struct canfd_bcm_msg
- {
- struct bcm_msg_head msg_head;
- struct canfd_frame frames;
- canfd_bcm_msg() { msg_head.flags |= CAN_FD_FRAME; }
- };
-
class socketcan_t
{
public:
socketcan_t();
socketcan_t(const socketcan_t&) = delete;
socketcan_t(socketcan_t&&);
- ~socketcan_t();
+ virtual ~socketcan_t();
const struct sockaddr_can& get_tx_address() const;
explicit operator bool() const;
int socket() const;
- int open(std::string device_name);
+ virtual int open(std::string device_name) = 0;
int setopt(int level, int optname, const void* optval, socklen_t optlen);
int close();
- private:
+ protected:
int socket_;
struct sockaddr_can tx_address_;
int open(int domain, int type, int protocol);
- int bind(const struct sockaddr* addr, socklen_t len);
- int connect(const struct sockaddr* addr, socklen_t len);
};
template <typename T>
ERROR(binder_interface, "%s: Error sending : %i %s", __FUNCTION__, errno, ::strerror(errno));
return s;
}
-
- socketcan_t& operator<<(socketcan_t& s, const struct simple_bcm_msg& obj);
- socketcan_t& operator<<(socketcan_t& s, const struct canfd_bcm_msg& obj);
socketcan_t& operator>>(socketcan_t& s, can_message_t& cm);
}
Code Review / apps / agl-service-can-low-level.git / commitdiff