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>
25 #include "can-bus.hpp"
26 #include "can-message.hpp"
27 #include "../binding/low-can-binding.hpp"
28 #include "canutil/write.h"
29 #include "bitfield/bitfield.h"
31 /// @brief Class constructor
33 /// @param[in] dev_name - String representing the device name into the linux /dev tree
34 /// @param[in] index - integer identifier of the bus, set using init_can_dev from can_bus_t.
35 can_bus_dev_t::can_bus_dev_t(const std::string& dev_name, int index)
36 : device_name_{dev_name}, index_{index}
39 std::string can_bus_dev_t::get_device_name() const
44 int can_bus_dev_t::get_index() const
48 utils::socketcan_t& can_bus_dev_t::get_socket()
53 /// @brief Open the can socket and returning it
55 /// We try to open CAN socket and apply the following options
56 /// timestamp received messages and pass the socket to FD mode.
58 /// @return socket value or -1 if something wrong.
59 int can_bus_dev_t::open()
61 return can_socket_.open(device_name_);
64 /// @brief Set some option on the socket, timestamp and canfd frame usage.
65 void can_bus_dev_t::configure()
69 const int timestamp_on = 1;
70 const int canfd_on = 1;
72 DEBUG(binder_interface, "%s: CAN Handler socket correctly initialized : %d", __FUNCTION__, can_socket_.socket());
74 // try to switch the socket into CAN_FD mode
75 if (can_socket_.setopt(SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
77 NOTICE(binder_interface, "%s: Can not switch into CAN Extended frame format: %s", __FUNCTION__, ::strerror(errno));
80 if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, ×tamp_on, sizeof(timestamp_on)) < 0)
81 WARNING(binder_interface, "%s: setsockopt SO_TIMESTAMP error: %s", __FUNCTION__, ::strerror(errno));
85 ERROR(binder_interface, "open_raw: socket could not be created. Error was : %s", ::strerror(errno));
89 /// @brief Close the bus.
91 /// @return interger return value of socket.close() function
92 int can_bus_dev_t::close()
94 return can_socket_.close();
97 /// @brief Read the can socket and retrieve canfd_frame.
99 /// Read operation are blocking and we try to read CANFD frame
100 /// rather than classic CAN frame. CANFD frame are retro compatible.
101 can_message_t can_bus_dev_t::read()
104 struct canfd_frame cfd;
106 // Test that socket is really opened
109 ERROR(binder_interface, "read: Socket unavailable. Closing thread.");
113 nbytes = ::read(can_socket_.socket(), &cfd, CANFD_MTU);
115 // if we did not fit into CAN sized messages then stop_reading.
116 if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
118 if (errno == ENETDOWN)
119 ERROR(binder_interface, "read: %s CAN device down", device_name_.c_str());
120 ERROR(binder_interface, "read: Incomplete CAN(FD) frame");
121 ::memset(&cfd, 0, sizeof(cfd));
124 DEBUG(binder_interface, "%s: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", __FUNCTION__, cfd.can_id, cfd.len,
125 cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]);
126 return can_message_t::convert_from_frame(cfd, nbytes);
129 /// @brief Create a RX_SETUP receive job using the BCM socket.
131 /// @return 0 if ok else -1
132 int can_bus_dev_t::create_rx_filter(const can_signal_t& s)
134 uint32_t can_id = s.get_message().get_id();
136 struct utils::simple_bcm_msg bcm_msg;
137 struct can_frame cfd;
139 memset(&cfd, 0, sizeof(cfd));
140 memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
141 uint8_t bit_size = s.get_bit_size();
142 float val = (float)(1 << bit_size)-1;
144 bcm_msg.msg_head.opcode = RX_SETUP;
145 bcm_msg.msg_head.can_id = can_id;
146 bcm_msg.msg_head.flags = 0;
147 bcm_msg.msg_head.nframes = 1;
148 bitfield_encode_float(val,
149 s.get_bit_position(),
156 bcm_msg.frames = cfd;
158 if(can_socket_ << bcm_msg)
163 /// @brief start reading threads and set flag is_running_
164 /// @param[in] can_bus reference can_bus_t. it will be passed to the thread to allow using can_bus_t queue.
165 void can_bus_dev_t::start_reading(can_bus_t& can_bus)
167 DEBUG(binder_interface, "%s: Launching reading thread", __FUNCTION__);
169 th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
170 if(!th_reading_.joinable())
174 /// @brief stop the reading thread setting flag is_running_ to false and and wait that the thread finish its job.
175 void can_bus_dev_t::stop_reading()
180 /// @brief Thread function used to read the can socket.
181 /// @param[in] can_bus - object to be used to read the can socket
182 void can_bus_dev_t::can_reader(can_bus_t& can_bus)
186 can_message_t msg = read();
188 std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex());
189 can_bus.push_new_can_message(msg);
191 can_bus.get_new_can_message_cv().notify_one();
195 /// @brief Send a can message from a can_message_t object.
196 /// @param[in] can_msg - the can message object to send
198 /// @return 0 if message snet, -1 if something wrong.
199 int can_bus_dev_t::send(can_message_t& can_msg)
202 f = can_msg.convert_to_canfd_frame();
209 ERROR(binder_interface, "%s: Sending CAN frame failed.", __FUNCTION__);
215 ERROR(binder_interface, "%s: socket not initialized. Attempt to reopen can device socket.", __FUNCTION__);
222 /// @brief Static method used to send diagnostic CAN message
223 /// that follow isotp SendShimsMessage signature. This method is launched
224 /// from diagnostic manager's' same name method. It will use the diagnostic
225 /// manager configured CAN bus device to send the CAN message.
227 /// @param[in] arbitration_id - CAN arbitration id.
228 /// @param[in] data - CAN message payload to send
229 /// @param[in] size - size of the data to send
231 /// @return True if message sent, false if not.
232 bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
236 f.can_id = arbitration_id;
238 ::memcpy(f.data, data, size);
245 ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
251 ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");