Initial commit of files

src/libcan++/CanSocket.h

@@ -0,0 +1,101 @@
+//****************************************************************************
+// Copyright (C) 2007
+// Nissan North America
+// All Rights Reserved.  Proprietary and Confidential.
+//============================================================================
+
+/* prevent multiple inclusions */
+#ifndef __CanSocket__
+#define __CanSocket__
+
+/* includes *****************************************************************/
+
+#include    <vector>
+
+#include    "netlib.h"
+
+#include    <linux/can.h>
+#include    <linux/can/raw.h>
+#include    <linux/can/bcm.h>
+
+
+/* defines ******************************************************************/
+
+#define CAN_MAX_FILTER       31
+#define CAN_MAX_ADDRESSES   256
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+typedef struct can_filter CanFilter;
+typedef struct can_frame CanFrame;
+
+typedef struct _BcmFrame {
+  struct bcm_msg_head head;
+  struct can_frame    frame;
+} BcmFrame;
+
+/* c class definitions ******************************************************/
+
+//
+// Uses the Peak Systems CAN Linux driver and Nissan CAN data
+//
+class CanSocket {
+  // public data
+public:
+  int     m_sock;
+  int     m_proto;
+  
+  // private data
+private:
+  // device
+  int     m_flags;
+  
+  // errors
+  bool    m_logerrs;
+  long    m_errcount;
+  
+  // static data
+  
+  // public methods
+public:
+  // constructors
+  CanSocket();
+  
+  // destructor
+  virtual ~CanSocket();
+  
+  // virtual functions
+  
+  // public methods
+  void    AddrFlags( u_long f ) { m_flags = f; };
+  int     GetSock(void) {return m_sock;};
+  int     GetSocket(void) {return m_sock;};
+  int     GetProto(void) {return m_proto;};
+  int     CanOpen( const char *dev="can0", int proto=CAN_RAW, int flags=0 );
+  void    CanClose(void);
+  
+  // misc
+  int     ClearFilters( void );
+  int     Blocking(bool block=true);
+  int     NonBlocking(void) { return Blocking(false); };
+  int     Loopback(bool loop=true);
+  int     NoLoopback(void) { return Loopback(false); };
+  void    LogErrors(bool logerrs=true) {m_logerrs = logerrs;};
+  
+  // rx filter
+  int     CanAddRx( u_int32_t addr );
+  int     CanAddRx( const CanFilter *filter, int max=1 );
+  int     CanDelRx( u_int32_t addr );
+  
+  // raw
+  int     CanRawRead( CanFrame *buf, int max=1 );
+  int     CanRawWrite( const CanFrame *buf, int max=1 );
+  
+  // bcm
+  int     CanBcmRead( BcmFrame *msg, int max=1 );
+  int     CanBcmWrite( BcmFrame *msg, int max=1 );
+};
+
+#endif