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Adds SocketCan support to the openmrn hub.
This enables running the hub on a BeagleBone or a Raspberry Pi with a CAN HAT. All other options are still usable, including repeating traffic between a SocketCAN port and a TCP client, or a SocketCAN port and a USB port via GridConnect.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,101 @@ | ||
| /** \copyright | ||
| * Copyright (c) 2020, Balazs Racz | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions are met: | ||
| * | ||
| * - Redistributions of source code must retain the above copyright notice, | ||
| * this list of conditions and the following disclaimer. | ||
| * | ||
| * - Redistributions in binary form must reproduce the above copyright notice, | ||
| * this list of conditions and the following disclaimer in the documentation | ||
| * and/or other materials provided with the distribution. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE | ||
| * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| * | ||
| * \file SocketCan.cxx | ||
| * | ||
| * Helper functions to connect to CAN devices via SocketCan. | ||
| * | ||
| * @author Balazs Racz | ||
| * @date 1 Sep 2020 | ||
| */ | ||
|
|
||
| #include "utils/SocketCan.hxx" | ||
| #include "can_frame.h" | ||
| #include <string.h> | ||
|
|
||
| #if defined(__linux__) | ||
|
|
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| #include <linux/sockios.h> | ||
| #include <net/if.h> | ||
| #include <sys/ioctl.h> | ||
| #include <errno.h> | ||
| #include <stdio.h> | ||
|
|
||
| /// This macro executes an OS call, and if it returns negative result, then | ||
| /// prints the errno to stderr, and terminates the current function with -1 | ||
| /// return value. | ||
| /// @param where textual description of what function was called | ||
| /// (e.g. "socket") | ||
| /// @param x... the function call. | ||
| #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); | ||
|
|
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| // 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))); | ||
|
|
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| // 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); | ||
|
|
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| ERRNOLOG("interface set", ::ioctl(s, SIOCGIFINDEX, &ifr)); | ||
|
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| addr.can_family = AF_CAN; | ||
| addr.can_ifindex = ifr.ifr_ifindex; | ||
|
|
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| ERRNOLOG("bind", bind(s, (struct sockaddr *)&addr, sizeof(addr))); | ||
|
|
||
| return s; | ||
| } | ||
|
|
||
| #endif |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,49 @@ | ||
| /** \copyright | ||
| * Copyright (c) 2020, Balazs Racz | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions are met: | ||
| * | ||
| * - Redistributions of source code must retain the above copyright notice, | ||
| * this list of conditions and the following disclaimer. | ||
| * | ||
| * - Redistributions in binary form must reproduce the above copyright notice, | ||
| * this list of conditions and the following disclaimer in the documentation | ||
| * and/or other materials provided with the distribution. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE | ||
| * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| * | ||
| * \file SocketCan.hxx | ||
| * | ||
| * Helper functions to connect to CAN devices via SocketCan. | ||
| * | ||
| * @author Balazs Racz | ||
| * @date 1 Sep 2020 | ||
| */ | ||
|
|
||
| #ifndef _UTILS_SOCKETCAN_HXX_ | ||
| #define _UTILS_SOCKETCAN_HXX_ | ||
|
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| #if defined(__linux__) | ||
|
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| /// Opens a SocketCan socket. | ||
| /// @param device the name of the CAN device, e.g. can0 | ||
| /// @param loopback 1 to enable loopback locally to other open references, | ||
| /// 0 to disable loopback locally to other open references. | ||
| /// @return an open socket file descriptor, or -1 if there was an error. | ||
| int socketcan_open(const char* device, int loopback); | ||
|
|
||
| #endif | ||
|
|
||
| #endif // _UTILS_SOCKETCAN_HXX_ |
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