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] address - 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, int32_t address)
38 : device_name_{dev_name}, address_{address}
41 std::string can_bus_dev_t::get_device_name() const
46 uint32_t can_bus_dev_t::get_address() const
51 /// @brief Open the can socket and returning it
53 /// We try to open CAN socket and apply the following options
54 /// timestamp received messages and pass the socket to FD mode.
56 /// @return socket value or -1 if something wrong.
57 int can_bus_dev_t::open()
59 return can_socket_.open(device_name_);
62 /// @brief Set some option on the socket, timestamp and canfd frame usage.
63 void can_bus_dev_t::configure()
67 const int timestamp_on = 1;
69 DEBUG(binder_interface, "%s: CAN Handler socket correctly initialized : %d", __FUNCTION__, can_socket_.socket());
70 if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, ×tamp_on, sizeof(timestamp_on)) < 0)
71 WARNING(binder_interface, "%s: setsockopt SO_TIMESTAMP error: %s", __FUNCTION__, ::strerror(errno));
75 ERROR(binder_interface, "open_raw: socket could not be created. Error was : %s", ::strerror(errno));
79 /// @brief Close the bus.
81 /// @return interger return value of socket.close() function
82 int can_bus_dev_t::close()
84 return can_socket_.close();
87 /// @brief Read the can socket and retrieve canfd_frame.
89 /// Read operation are blocking and we try to read CANFD frame
90 /// rather than classic CAN frame. CANFD frame are retro compatible.
91 can_message_t can_bus_dev_t::read()
94 struct canfd_frame cfd;
96 // Test that socket is really opened
99 ERROR(binder_interface, "read: Socket unavailable. Closing thread.");
103 nbytes = ::read(can_socket_.socket(), &cfd, CANFD_MTU);
105 // if we did not fit into CAN sized messages then stop_reading.
106 if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
108 if (errno == ENETDOWN)
109 ERROR(binder_interface, "read: %s CAN device down", device_name_.c_str());
110 ERROR(binder_interface, "read: Incomplete CAN(FD) frame");
111 ::memset(&cfd, 0, sizeof(cfd));
114 DEBUG(binder_interface, "%s: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", __FUNCTION__, cfd.can_id, cfd.len,
115 cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]);
116 return can_message_t::convert_from_canfd_frame(cfd, nbytes);
119 /// @brief Create a RX_SETUP receive job using the BCM socket.
121 /// @return 0 if ok else -1
122 int can_bus_dev_t::create_rx_filter(const can_signal_t& s)
124 uint32_t can_id = s.get_message().get_id();
126 struct utils::canfd_bcm_msg bcm_msg;
128 uint8_t bit_size = s.get_bit_size();
129 float val = (float)exp2(bit_size);
130 uint64_t filter = eightbyte_encode_float(val, s.get_bit_position(), bit_size, s.get_factor(), s.get_offset());
132 bcm_msg.msg_head.opcode = RX_SETUP;
133 bcm_msg.msg_head.can_id = can_id;
134 bcm_msg.msg_head.nframes = 1;
135 U64_DATA(&bcm_msg.frames[0]) = filter;
137 if(can_socket_ << bcm_msg)
142 /// @brief start reading threads and set flag is_running_
143 /// @param[in] can_bus reference can_bus_t. it will be passed to the thread to allow using can_bus_t queue.
144 void can_bus_dev_t::start_reading(can_bus_t& can_bus)
146 DEBUG(binder_interface, "%s: Launching reading thread", __FUNCTION__);
148 th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
149 if(!th_reading_.joinable())
153 /// @brief stop the reading thread setting flag is_running_ to false and and wait that the thread finish its job.
154 void can_bus_dev_t::stop_reading()
159 /// @brief Thread function used to read the can socket.
160 /// @param[in] can_bus - object to be used to read the can socket
161 void can_bus_dev_t::can_reader(can_bus_t& can_bus)
165 can_message_t msg = read();
167 std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex());
168 can_bus.push_new_can_message(msg);
170 can_bus.get_new_can_message_cv().notify_one();
174 /// @brief Send a can message from a can_message_t object.
175 /// @param[in] can_msg - the can message object to send
177 /// @return 0 if message snet, -1 if something wrong.
178 int can_bus_dev_t::send(can_message_t& can_msg)
181 f = can_msg.convert_to_canfd_frame();
188 ERROR(binder_interface, "%s: Sending CAN frame failed.", __FUNCTION__);
194 ERROR(binder_interface, "%s: socket not initialized. Attempt to reopen can device socket.", __FUNCTION__);
201 /// @brief Static method used to send diagnostic CAN message
202 /// that follow isotp SendShimsMessage signature. This method is launched
203 /// from diagnostic manager's' same name method. It will use the diagnostic
204 /// manager configured CAN bus device to send the CAN message.
206 /// @param[in] arbitration_id - CAN arbitration id.
207 /// @param[in] data - CAN message payload to send
208 /// @param[in] size - size of the data to send
210 /// @return True if message sent, false if not.
211 bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
215 f.can_id = arbitration_id;
217 ::memcpy(f.data, data, size);
224 ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
230 ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");