First implementation

CanDriver/driver/SocketCanDriver/SocketCanInterface.h

@@ -0,0 +1,115 @@
+/*
+
+  Copyright (c) 2015, 2016 Hubert Denkmair
+
+  This file is part of cangaroo.
+
+  cangaroo is free software: you can redistribute it and/or modify
+  it under the terms of the GNU General Public License as published by
+  the Free Software Foundation, either version 2 of the License, or
+  (at your option) any later version.
+
+  cangaroo 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 General Public License for more details.
+
+  You should have received a copy of the GNU General Public License
+  along with cangaroo.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+#pragma once
+
+#include "../CanInterface.h"
+#include <linux/can/netlink.h>
+
+class SocketCanDriver;
+
+typedef struct {
+    bool supports_canfd;
+    bool supports_timing;
+    uint32_t state;
+    uint32_t base_freq;
+    uint32_t sample_point;
+    uint32_t ctrl_mode;
+    uint32_t restart_ms;
+    struct can_bittiming bit_timing;
+} can_config_t;
+
+typedef struct {
+    uint32_t can_state;
+
+    uint64_t rx_count;
+    int rx_errors;
+    uint64_t rx_overruns;
+
+    uint64_t tx_count;
+    int tx_errors;
+    uint64_t tx_dropped;
+} can_status_t;
+
+class SocketCanInterface: public CanInterface {
+public:
+    SocketCanInterface(SocketCanDriver *driver, int index, QString name);
+	virtual ~SocketCanInterface();
+
+    virtual QString getName() const;
+    void setName(QString name);
+
+    virtual QList<CanTiming> getAvailableBitrates();
+
+    virtual void applyConfig(const MeasurementInterface &mi);
+    virtual bool readConfig();
+    virtual bool readConfigFromLink(struct rtnl_link *link);
+
+    bool supportsTimingConfiguration();
+    bool supportsCanFD();
+    bool supportsTripleSampling();
+
+    virtual unsigned getBitrate();
+    virtual uint32_t getCapabilities();
+
+
+	virtual void open();
+    virtual bool isOpen();
+	virtual void close();
+
+    virtual void sendMessage(const CanMessage &msg);
+    virtual bool readMessage(QList<CanMessage> &msglist, unsigned int timeout_ms);
+
+    virtual bool updateStatistics();
+    virtual uint32_t getState();
+    virtual int getNumRxFrames();
+    virtual int getNumRxErrors();
+    virtual int getNumRxOverruns();
+
+    virtual int getNumTxFrames();
+    virtual int getNumTxErrors();
+    virtual int getNumTxDropped();
+
+
+    int getIfIndex();
+
+private:
+    typedef enum {
+        ts_mode_SIOCSHWTSTAMP,
+        ts_mode_SIOCGSTAMPNS,
+        ts_mode_SIOCGSTAMP
+    } ts_mode_t;
+
+    int _idx;
+    bool _isOpen;
+	int _fd;
+    QString _name;
+
+    can_config_t _config;
+    can_status_t _status;
+    ts_mode_t _ts_mode;
+
+    const char *cname();
+    bool updateStatus();
+
+    QString buildIpRouteCmd(const MeasurementInterface &mi);
+    QStringList buildCanIfConfigArgs(const MeasurementInterface &mi);
+};