Use BCM socket as default cleaning up the old RAW socket code.

Also use CAN FD frames by default.

Change-Id: I5bad10e537653b1a96c2e3012d38dde8627d3caa
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.cpp b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
index 5c484ee..d097dc6 100644 (file)
--- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
@@ -50,13 +50,10 @@ uint32_t can_bus_dev_t::get_address() const
 ///  We try to open CAN socket and apply the following options
 ///  timestamp received messages and pass the socket to FD mode.
 ///
-/// @param[in] bcm boolean value indicating wether or not we initialize a Broadcast CAN Manager socket.
-///
 /// @return socket value or -1 if something wrong.
-int can_bus_dev_t::open(bool bcm)
+int can_bus_dev_t::open()
 {
-       DEBUG(binder_interface, "%s: CAN Handler using BCM socket ? %s", __FUNCTION__, bcm ? "true" : "false");
-       return can_socket_.open(device_name_, bcm);
+       return can_socket_.open(device_name_);
 }
 
 /// @brief Set some option on the socket, timestamp and canfd frame usage.
@@ -65,26 +62,10 @@ void can_bus_dev_t::configure()
        if (can_socket_)
        {
                const int timestamp_on = 1;
-               const int canfd_on = 1;
 
                DEBUG(binder_interface, "%s: CAN Handler socket correctly initialized : %d", __FUNCTION__, can_socket_.socket());
-
-               // Set timestamp for receveid frame
                if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, &timestamp_on, sizeof(timestamp_on)) < 0)
                        WARNING(binder_interface, "%s: setsockopt SO_TIMESTAMP error: %s", __FUNCTION__, ::strerror(errno));
-               DEBUG(binder_interface, "%s: Switch CAN Handler socket to use fd mode", __FUNCTION__);
-
-               // try to switch the socket into CAN_FD mode
-               if (can_socket_.setopt(SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
-               {
-                       NOTICE(binder_interface, "%s: Can not switch into CAN Extended frame format.", __FUNCTION__);
-                       is_fdmode_on_ = false;
-               }
-               else
-               {
-                       DEBUG(binder_interface, "%s: Correctly set up CAN socket to use FD frames.", __FUNCTION__);
-                       is_fdmode_on_ = true;
-               }
        }
        else
        {
@@ -188,7 +169,7 @@ int can_bus_dev_t::send(can_message_t& can_msg)
        else
        {
                ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
-               open(true);
+               open();
                return -1;
        }
        return 0;
@@ -226,7 +207,7 @@ bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* dat
        else
        {
                ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
-               open(true);
+               open();
        }
        return false;
 }

diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.hpp b/CAN-binder/low-can-binding/can/can-bus-dev.hpp
index 96aa373..5961214 100644 (file)
--- a/CAN-binder/low-can-binding/can/can-bus-dev.hpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.hpp
@@ -38,8 +38,6 @@ private:
 
        int32_t address_; ///< an identifier used through binding that refer to that device
 
-       bool is_fdmode_on_; ///< boolean telling if whether or not the can socket use fdmode.
-
        std::thread th_reading_; ///< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t
        bool is_running_ = false; ///< boolean telling whether or not reading is running or not
        void can_reader(can_bus_t& can_bus);
@@ -50,7 +48,7 @@ public:
        std::string get_device_name() const;
        uint32_t get_address() const;
 
-       int open(bool bcm=false);
+       int open();
        void configure();
        int close();
 

diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp
index 6b3689d..6e6fba2 100644 (file)
--- a/CAN-binder/low-can-binding/can/can-bus.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus.cpp
@@ -242,7 +242,7 @@ int can_bus_t::init_can_dev()
                        for(const auto& device : devices_name)
                        {
                                can_bus_t::can_devices_[device] = std::make_shared<can_bus_dev_t>(device, i);
-                               if (can_bus_t::can_devices_[device]->open(true) >= 0)
+                               if (can_bus_t::can_devices_[device]->open() >= 0)
                                {
                                        can_bus_t::can_devices_[device]->configure();
                                        DEBUG(binder_interface, "%s: Start reading thread", __FUNCTION__);

diff --git a/CAN-binder/low-can-binding/utils/socket.cpp b/CAN-binder/low-can-binding/utils/socket.cpp
index f4a3011..9decaa8 100644 (file)
--- a/CAN-binder/low-can-binding/utils/socket.cpp
+++ b/CAN-binder/low-can-binding/utils/socket.cpp
@@ -104,15 +104,12 @@ namespace utils
        /// @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, bool bcm)
+       int socketcan_t::open(std::string device_name)
        {
                close();
                
                struct ifreq ifr;
-               if(bcm)
-                       socket_ = ::socket(PF_CAN, SOCK_DGRAM, CAN_BCM);
-               else
-                       socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW);
+               socket_ = ::socket(PF_CAN, SOCK_DGRAM, CAN_BCM);
 
                // Attempts to open a socket to CAN bus
                ::strcpy(ifr.ifr_name, device_name.c_str());
@@ -127,18 +124,9 @@ namespace utils
                        txAddress_.can_family = AF_CAN;
                        txAddress_.can_ifindex = ifr.ifr_ifindex;
 
-                       if(bcm)
-                       {
-                               if(connect((struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
-                               {
-                                       ERROR(binder_interface, "%s: Connect failed. %s", __FUNCTION__, strerror(errno));
-                                       close();
-                               }
-                       }
-                       // It's a RAW socket request, bind it to txAddress
-                       else if(bind((struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
+                       if(connect((struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
                        {
-                               ERROR(binder_interface, "%s: Bind failed. %s", __FUNCTION__, strerror(errno));
+                               ERROR(binder_interface, "%s: Connect failed. %s", __FUNCTION__, strerror(errno));
                                close();
                        }
                }

diff --git a/CAN-binder/low-can-binding/utils/socket.hpp b/CAN-binder/low-can-binding/utils/socket.hpp
index 2da2dfe..b981ad3 100644 (file)
--- a/CAN-binder/low-can-binding/utils/socket.hpp
+++ b/CAN-binder/low-can-binding/utils/socket.hpp
@@ -34,7 +34,7 @@ namespace utils
                explicit operator bool() const;
 
                int socket() const;
-               int open(std::string device_name, bool bcm=false);
+               int open(std::string device_name);
                int setopt(int level, int optname, const void* optval, socklen_t optlen);
                ssize_t send(const struct canfd_frame& f);
                int close();