Merge pull request #48 from CogentEmbedded/master

Fixes and improvements in CAN support

1 files changed, 103 insertions, 0 deletions

diff --git a/plugins/common/cansocketraw.h b/plugins/common/cansocketraw.h
new file mode 100644
index 00000000..aca053df
--- /dev/null
+++ b/plugins/common/cansocketraw.h
@@ -0,0 +1,103 @@
+/*
+Copyright (C) 2012 Intel Corporation
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#ifndef CANSOCKETRAW_H
+#define CANSOCKETRAW_H
+
+/**
+ *  \addtogroup libcanbus
+ *  @{
+ */
+
+#include <net/if.h>
+#include <sys/poll.h>
+#include <string>
+#include <linux/can/raw.h>
+
+#include "cansocket.h"
+
+/**
+* \brief CAN Socket wrapper.
+* @class CANSocket
+*/
+class CANSocketRaw : public CANSocket
+{
+public:
+    CANSocketRaw();
+    virtual ~CANSocketRaw(){} /*LCOV_EXCL_LINE*/
+
+    /**
+    * Opens and initializes CAN socket
+    * @fn start
+    * @param ifName Name of the CAN bus network interface.
+    * @return True if no error occurs.
+    */
+    virtual bool start(const char* ifName);
+    /**
+    * Closes socket
+    * @fn stop
+    */
+    virtual void stop();
+    /**
+    * Writes CAN frame using the socket
+    * @fn write
+    * @param message CAN frame with additional information
+    * @return True if no error occurs.
+    */
+    virtual bool write(const struct CANFrameInfo &message);
+    /**
+    * Try to read CAN frame
+    * @fn read
+    * @param message Buffer for CAN frame with additional information
+    * @param timeout Timeout for reading in [ms].
+    * @return Reading operation status code.
+    */
+    virtual CANSocket::CANSocketReadSuccess read(struct CANFrameInfo& message, unsigned int timeout = 1000);
+
+private:
+    /**
+    * @internal
+    */
+    bool createSocket();
+    bool enableCANErrors(can_err_mask_t errorMask);
+    bool enableTimestamps();
+    bool locateInterfaceIndex(struct ifreq& ifr);
+    bool bindSocket(struct sockaddr_can &addr);
+    bool closeSocket();
+    int waitData(unsigned int timeout);
+    bool writeFrame(const struct can_frame &frame);
+    ssize_t readFrame(can_frame& frame, double &timestamp);
+
+private:
+    /**
+    * Socket file descriptor.
+    * @property mSocket
+    * @private
+    */
+    int mSocket;
+    /**
+    * Data structure describing a polling request.
+    * @property mPoll
+    * @private
+    */
+    struct pollfd mPoll;
+};
+
+#endif // CANSOCKETRAW_H
+
+/** @} */