canfd.cpp

#include "canfd.h"
#include <cstring>
#include <cstring>
#include <cassert>
 
#include <iostream>
 
using namespace std;
CANFD::CANFD(){
    cout<<"Initializing CANFD"<<endl;
    strcpy(ifr.ifr_name, "can0");
    //------------------set up socket-------------------------------------{
    socket_fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
    if (socket_fd < 0) {
        perror("CANFD Socket creation failed");
        exit(EXIT_FAILURE);
    }
 
    int canfd_enabled = 1;
    if (setsockopt(socket_fd, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_enabled, sizeof(canfd_enabled)) < 0) {
        perror("Setting CAN FD option failed");
        exit(EXIT_FAILURE);
    }
 
    if (ioctl(socket_fd, SIOCGIFINDEX, &ifr) < 0) {
        perror("ioctl failed");
        exit(EXIT_FAILURE);
    }
 
    addr.can_family = AF_CAN;
    addr.can_ifindex = ifr.ifr_ifindex;
 
    if (bind(socket_fd, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
        perror("Socket bind failed");
        exit(EXIT_FAILURE);
    }
    cout<<"Socket setup complete"<<endl;
    //------------------set up socket-------------------------------------}
    //------------------set up filters------------------------------------{
    struct can_filter rfilter[6];
    
    for (size_t i = 0; i < 6; i++) {
        
        rfilter[i].can_id = 0x00000000 | (i+1);
        rfilter[i].can_mask = 0x000000ff;
    }
    setsockopt(socket_fd, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
    cout<<"Filters setup complete"<<endl;
    //------------------set up filters------------------------------------{
}
CANFD::~CANFD(){
    close(socket_fd);
    cout<<"Socket closed"<<endl;
}
 
void CANFD::fdRead(char* p_data){
    struct canfd_frame frame;
    int nbytes = read(socket_fd, &frame, sizeof(frame));
 
    if (nbytes < 0) {
        perror("CAN FD Raw socket read failed");
        return;
    }
 
    if (nbytes < sizeof(frame)) {
        perror("Read: Incomplete CAN FD frame");
        return;
    }
 
    memcpy(p_data, frame.data, frame.len);
 
    printf("CAN ID: %u\n", frame.can_id);
    printf("Data length: %d\n", static_cast<int>(frame.len));
    printf("Received frame data: ");
    for (int i = 0; i < frame.len; ++i) {
        printf("%02X ", frame.data[i]);
    }
    printf("\n");
 
}
 
void CANFD::fdWrite(unsigned int can_id_standard, unsigned int flags, char* p_data, unsigned int length_data){
    struct canfd_frame frame;
    
        
    frame.can_id = CAN_EFF_FLAG | can_id_standard;
    frame.flags = flags;
    memcpy(frame.data, p_data, length_data);
    frame.len = length_data;
    
    int nbytes = write(socket_fd, &frame, sizeof(frame));
    
    if (nbytes < 0) {
        perror("CAN FD Raw socket write failed");
        return;
    }
 
    if (nbytes < sizeof(frame)) {
        perror("Write: Incomplete CAN FD frame");
    }
 
    
}