CAN_socket_driver.cpp

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/***********************************************************************/
#ifndef _WIN32
 
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
 
#include <net/if.h>
#include <sys/ioctl.h>
#include <sys/socket.h>
 
#include <linux/can.h>
#include <linux/can/raw.h>
#include <CAN_socket_driver.h>
 
int CAN_socket;
 
int CAN_socket_initialize(void)
{
  struct sockaddr_can addr;
  struct ifreq ifr;
 
  if ((CAN_socket = socket (PF_CAN, SOCK_RAW, CAN_RAW)) < 0)
    {
      perror ("CAN Socket");
      return 1;
    }
 
  strcpy (ifr.ifr_name, "can0");
  ioctl (CAN_socket, SIOCGIFINDEX, &ifr);
 
  memset (&addr, 0, sizeof(addr));
  addr.can_family = AF_CAN;
  addr.can_ifindex = ifr.ifr_ifindex;
 
  int result = bind (CAN_socket, (struct sockaddr*) &addr, sizeof(addr));
  if( result  < 0)
    {
      perror ("CAN Bind");
      return 1;
    }
  return 0;
}
 
bool CAN_socket_is_open( void)
{
  return CAN_socket != 0;
}
 
bool CAN_socket_close( void)
{
  if( CAN_socket == 0)
    return false;
  return (close (CAN_socket) < 0);
}
 
int CAN_socket_send(const CANpacket &p)
{
  if( CAN_socket == 0)
    return 0;
 
  struct can_frame frame;
  frame.can_id = p.id;
  frame.can_dlc = p.dlc;
  *(uint64_t *)(frame.data)=p.data_l;
 
  int retv = write (CAN_socket, &frame, sizeof(struct can_frame)) != sizeof(struct can_frame);
  if( retv < 0)
    {
      close (CAN_socket);
      CAN_socket = 0;
    }
  return retv;
}
 
#endif // _WIN32