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/*
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 ×tamp);
private:
/**
* Socket file descriptor.
* @property mSocket
* @private
*/
int mSocket;
/**
* Data structure describing a polling request.
* @property mPoll
* @private
*/
struct pollfd mPoll;
};
#endif // CANSOCKETRAW_H
/** @} */
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