2 * Copyright (C) 2015, 2016, 2017 "IoT.bzh"
3 * Author "Romain Forlot" <romain.forlot@iot.bzh>
4 * Author "Loïc Collignon" <loic.collignon@iot.bzh>
6 * Licensed under the Apache License, Version 2.0 (the "License");
7 * you may not use this file except in compliance with the License.
8 * You may obtain a copy of the License at
10 * http://www.apache.org/licenses/LICENSE-2.0
12 * Unless required by applicable law or agreed to in writing, software
13 * distributed under the License is distributed on an "AS IS" BASIS,
14 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
15 * See the License for the specific language governing permissions and
16 * limitations under the License.
22 #include <linux/can/raw.h>
23 #include <linux/can/bcm.h>
26 #include "can-bus.hpp"
27 #include "can-message.hpp"
28 #include "../low-can-binding.hpp"
29 #include "canutil/write.h"
31 #define U64_DATA(p) (*(unsigned long long*)(p)->data)
33 /// @brief Class constructor
35 /// @param[in] dev_name - String representing the device name into the linux /dev tree
36 /// @param[in] index - integer identifier of the bus, set using init_can_dev from can_bus_t.
37 can_bus_dev_t::can_bus_dev_t(const std::string& dev_name, int index)
38 : device_name_{dev_name}, index_{index}
41 std::string can_bus_dev_t::get_device_name() const
46 int can_bus_dev_t::get_index() const
52 /// @brief Open the can socket and returning it
54 /// We try to open CAN socket and apply the following options
55 /// timestamp received messages and pass the socket to FD mode.
57 /// @return socket value or -1 if something wrong.
58 int can_bus_dev_t::open()
60 return can_socket_.open(device_name_);
63 /// @brief Set some option on the socket, timestamp and canfd frame usage.
64 void can_bus_dev_t::configure()
68 const int timestamp_on = 1;
70 DEBUG(binder_interface, "%s: CAN Handler socket correctly initialized : %d", __FUNCTION__, can_socket_.socket());
71 if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, ×tamp_on, sizeof(timestamp_on)) < 0)
72 WARNING(binder_interface, "%s: setsockopt SO_TIMESTAMP error: %s", __FUNCTION__, ::strerror(errno));
76 ERROR(binder_interface, "open_raw: socket could not be created. Error was : %s", ::strerror(errno));
80 /// @brief Close the bus.
82 /// @return interger return value of socket.close() function
83 int can_bus_dev_t::close()
85 return can_socket_.close();
88 /// @brief Read the can socket and retrieve canfd_frame.
90 /// Read operation are blocking and we try to read CANFD frame
91 /// rather than classic CAN frame. CANFD frame are retro compatible.
92 can_message_t can_bus_dev_t::read()
95 struct canfd_frame cfd;
97 // Test that socket is really opened
100 ERROR(binder_interface, "read: Socket unavailable. Closing thread.");
104 nbytes = ::read(can_socket_.socket(), &cfd, CANFD_MTU);
106 // if we did not fit into CAN sized messages then stop_reading.
107 if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
109 if (errno == ENETDOWN)
110 ERROR(binder_interface, "read: %s CAN device down", device_name_.c_str());
111 ERROR(binder_interface, "read: Incomplete CAN(FD) frame");
112 ::memset(&cfd, 0, sizeof(cfd));
115 DEBUG(binder_interface, "%s: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", __FUNCTION__, cfd.can_id, cfd.len,
116 cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]);
117 return can_message_t::convert_from_canfd_frame(cfd, nbytes);
120 /// @brief Create a RX_SETUP receive job using the BCM socket.
122 /// @return 0 if ok else -1
123 int can_bus_dev_t::create_rx_filter(const can_signal_t& s)
125 uint32_t can_id = s.get_message().get_id();
127 struct utils::canfd_bcm_msg bcm_msg;
129 uint8_t bit_size = s.get_bit_size();
130 float val = (float)exp2(bit_size);
131 uint64_t filter = eightbyte_encode_float(val, s.get_bit_position(), bit_size, s.get_factor(), s.get_offset());
133 bcm_msg.msg_head.opcode = RX_SETUP;
134 bcm_msg.msg_head.can_id = can_id;
135 bcm_msg.msg_head.nframes = 1;
136 U64_DATA(&bcm_msg.frames[0]) = filter;
138 if(can_socket_ << bcm_msg)
143 /// @brief start reading threads and set flag is_running_
144 /// @param[in] can_bus reference can_bus_t. it will be passed to the thread to allow using can_bus_t queue.
145 void can_bus_dev_t::start_reading(can_bus_t& can_bus)
147 DEBUG(binder_interface, "%s: Launching reading thread", __FUNCTION__);
149 th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
150 if(!th_reading_.joinable())
154 /// @brief stop the reading thread setting flag is_running_ to false and and wait that the thread finish its job.
155 void can_bus_dev_t::stop_reading()
160 /// @brief Thread function used to read the can socket.
161 /// @param[in] can_bus - object to be used to read the can socket
162 void can_bus_dev_t::can_reader(can_bus_t& can_bus)
166 can_message_t msg = read();
168 std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex());
169 can_bus.push_new_can_message(msg);
171 can_bus.get_new_can_message_cv().notify_one();
175 /// @brief Send a can message from a can_message_t object.
176 /// @param[in] can_msg - the can message object to send
178 /// @return 0 if message snet, -1 if something wrong.
179 int can_bus_dev_t::send(can_message_t& can_msg)
182 f = can_msg.convert_to_canfd_frame();
189 ERROR(binder_interface, "%s: Sending CAN frame failed.", __FUNCTION__);
195 ERROR(binder_interface, "%s: socket not initialized. Attempt to reopen can device socket.", __FUNCTION__);
202 /// @brief Static method used to send diagnostic CAN message
203 /// that follow isotp SendShimsMessage signature. This method is launched
204 /// from diagnostic manager's' same name method. It will use the diagnostic
205 /// manager configured CAN bus device to send the CAN message.
207 /// @param[in] arbitration_id - CAN arbitration id.
208 /// @param[in] data - CAN message payload to send
209 /// @param[in] size - size of the data to send
211 /// @return True if message sent, false if not.
212 bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
216 f.can_id = arbitration_id;
218 ::memcpy(f.data, data, size);
225 ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
231 ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");