mirror of https://github.com/ArduPilot/ardupilot
92 lines
1.9 KiB
C++
92 lines
1.9 KiB
C++
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/*
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socketcan transport for SITL CAN
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*/
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#include "CAN_SocketCAN.h"
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#if HAL_NUM_CAN_IFACES && HAL_CAN_WITH_SOCKETCAN
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#include <net/if.h>
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#include <poll.h>
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#include <string.h>
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#include <unistd.h>
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#include <sys/ioctl.h>
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#include <linux/can.h>
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#include <errno.h>
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#include <stdlib.h>
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#include "CAN_SocketCAN.h"
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/*
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initialise socketcan transport
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*/
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bool CAN_SocketCAN::init(uint8_t instance)
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{
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struct sockaddr_can addr {};
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struct ifreq ifr {};
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int ret;
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fd = socket(PF_CAN, SOCK_RAW | SOCK_NONBLOCK, CAN_RAW);
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if (fd < 0) {
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goto fail;
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}
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snprintf(ifr.ifr_name, sizeof(ifr.ifr_name), "vcan%u", instance);
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ret = ioctl(fd, SIOCGIFINDEX, &ifr);
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if (ret == -1) {
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goto fail;
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}
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addr.can_family = AF_CAN;
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addr.can_ifindex = ifr.ifr_ifindex;
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ret = bind(fd, (struct sockaddr*)&addr, sizeof(addr));
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if (ret == -1) {
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goto fail;
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}
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return true;
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fail:
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if (fd != -1) {
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close(fd);
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fd = -1;
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}
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return false;
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}
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/*
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send a CAN frame
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*/
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bool CAN_SocketCAN::send(const AP_HAL::CANFrame &frame)
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{
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if (frame.canfd) {
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// not supported on socketcan
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return false;
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}
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struct can_frame transmit_frame {};
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transmit_frame.can_id = frame.id;
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transmit_frame.can_dlc = frame.dlc;
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const uint8_t data_length = AP_HAL::CANFrame::dlcToDataLength(frame.dlc);
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memcpy(transmit_frame.data, frame.data, data_length);
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return ::write(fd, &transmit_frame, sizeof(transmit_frame)) == sizeof(transmit_frame);
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}
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/*
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receive a CAN frame
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*/
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bool CAN_SocketCAN::receive(AP_HAL::CANFrame &frame)
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{
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struct can_frame receive_frame;
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const ssize_t ret = ::read(fd, &receive_frame, sizeof(receive_frame));
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if (ret != sizeof(receive_frame)) {
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return false;
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}
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// run constructor to initialise
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new(&frame) AP_HAL::CANFrame(receive_frame.can_id, receive_frame.data, receive_frame.can_dlc, false);
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return true;
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}
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#endif // HAL_NUM_CAN_IFACES
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