SocketCan.cxx

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#include "utils/SocketCan.hxx"
#include "can_frame.h"
#include <string.h>
 
#if defined(__linux__)
 
#include <errno.h>
#include <linux/sockios.h>
#include <net/if.h>
#include <stdio.h>
#include <sys/ioctl.h>
 
#define ERRNOLOG(where, x...)                                                  \
    do                                                                         \
    {                                                                          \
        if ((x) < 0)                                                           \
        {                                                                      \
            perror(where);                                                     \
            return -1;                                                         \
        }                                                                      \
    } while (0)
 
int socketcan_open(const char *device, int loopback)
{
    int s;
    struct sockaddr_can addr;
    struct ifreq ifr;
 
    s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
    ERRNOLOG("socket", s);
 
    // Set the blocking limit to the minimum allowed, typically 1024 in Linux
    int sndbuf = 0;
    ERRNOLOG("setsockopt(sndbuf)",
        setsockopt(s, SOL_SOCKET, SO_SNDBUF, &sndbuf, sizeof(sndbuf)));
 
    // turn on/off loopback
    ERRNOLOG("setsockopt(loopback)",
        setsockopt(
            s, SOL_CAN_RAW, CAN_RAW_LOOPBACK, &loopback, sizeof(loopback)));
 
    // setup error notifications
    can_err_mask_t err_mask = CAN_ERR_TX_TIMEOUT | CAN_ERR_LOSTARB |
        CAN_ERR_CRTL | CAN_ERR_PROT | CAN_ERR_TRX | CAN_ERR_ACK |
        CAN_ERR_BUSOFF | CAN_ERR_BUSERROR | CAN_ERR_RESTARTED;
    ERRNOLOG("setsockopt(filter)",
        setsockopt(
            s, SOL_CAN_RAW, CAN_RAW_ERR_FILTER, &err_mask, sizeof(err_mask)));
    strcpy(ifr.ifr_name, device);
 
    ERRNOLOG("interface set", ::ioctl(s, SIOCGIFINDEX, &ifr));
 
    addr.can_family = AF_CAN;
    addr.can_ifindex = ifr.ifr_ifindex;
 
    ERRNOLOG("bind", bind(s, (struct sockaddr *)&addr, sizeof(addr)));
 
    return s;
}
 
#endif