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>
24 #include "can-bus-dev.hpp"
26 #include "can-bus.hpp"
27 #include "can-message.hpp"
28 #include "../low-can-binding.hpp"
30 /// @brief Class constructor
32 /// @param[in] dev_name - String representing the device name into the linux /dev tree
33 /// @param[in] address - integer identifier of the bus, set using init_can_dev from can_bus_t.
34 can_bus_dev_t::can_bus_dev_t(const std::string& dev_name, int32_t address)
35 : device_name_{dev_name}, address_{address}
38 std::string can_bus_dev_t::get_device_name() const
43 uint32_t can_bus_dev_t::get_address() const
48 /// @brief Open the can socket and returning it
50 /// We try to open CAN socket and apply the following options
51 /// timestamp received messages and pass the socket to FD mode.
53 /// @param[in] bcm boolean value indicating wether or not we initialize a Broadcast CAN Manager socket.
55 /// @return socket value or -1 if something wrong.
56 int can_bus_dev_t::open(bool bcm)
58 DEBUG(binder_interface, "open_raw: CAN Handler socket : %d", can_socket_.socket());
59 return can_socket_.open(device_name_, bcm);
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;
68 const int canfd_on = 1;
70 DEBUG(binder_interface, "open_raw: CAN Handler socket correctly initialized : %d", can_socket_.socket());
72 // Set timestamp for receveid frame
73 if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, ×tamp_on, sizeof(timestamp_on)) < 0)
74 WARNING(binder_interface, "open_raw: setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
75 DEBUG(binder_interface, "open_raw: Switch CAN Handler socket to use fd mode");
77 // try to switch the socket into CAN_FD mode
78 if (can_socket_.setopt(SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
80 NOTICE(binder_interface, "open_raw: Can not switch into CAN Extended frame format.");
81 is_fdmode_on_ = false;
85 DEBUG(binder_interface, "open_raw: Correctly set up CAN socket to use FD frames.");
91 ERROR(binder_interface, "open_raw: socket could not be created. Error was : %s", ::strerror(errno));
95 /// @brief Close the bus.
97 /// @return interger return value of socket.close() function
98 int can_bus_dev_t::close()
100 return can_socket_.close();
103 /// @brief Read the can socket and retrieve canfd_frame.
105 /// Read operation are blocking and we try to read CANFD frame
106 /// rather than classic CAN frame. CANFD frame are retro compatible.
107 can_message_t can_bus_dev_t::read()
110 struct canfd_frame cfd;
112 // Test that socket is really opened
115 ERROR(binder_interface, "read: Socket unavailable. Closing thread.");
119 nbytes = ::read(can_socket_.socket(), &cfd, CANFD_MTU);
121 // if we did not fit into CAN sized messages then stop_reading.
122 if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
124 if (errno == ENETDOWN)
125 ERROR(binder_interface, "read: %s CAN device down", device_name_.c_str());
126 ERROR(binder_interface, "read: Incomplete CAN(FD) frame");
127 ::memset(&cfd, 0, sizeof(cfd));
130 DEBUG(binder_interface, "read: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", cfd.can_id, cfd.len,
131 cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]);
132 return can_message_t::convert_from_canfd_frame(cfd, nbytes);
135 /// @brief start reading threads and set flag is_running_
136 /// @param[in] can_bus reference can_bus_t. it will be passed to the thread to allow using can_bus_t queue.
137 void can_bus_dev_t::start_reading(can_bus_t& can_bus)
139 DEBUG(binder_interface, "Launching reading thread");
141 th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
142 if(!th_reading_.joinable())
146 /// @brief stop the reading thread setting flag is_running_ to false and and wait that the thread finish its job.
147 void can_bus_dev_t::stop_reading()
152 /// @brief Thread function used to read the can socket.
153 /// @param[in] can_bus - object to be used to read the can socket
154 void can_bus_dev_t::can_reader(can_bus_t& can_bus)
158 can_message_t msg = read();
160 std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex());
161 can_bus.push_new_can_message(msg);
163 can_bus.get_new_can_message_cv().notify_one();
167 /// @brief Send a can message from a can_message_t object.
168 /// @param[in] can_msg - the can message object to send
170 /// @return 0 if message snet, -1 if something wrong.
171 int can_bus_dev_t::send(can_message_t& can_msg)
176 f = can_msg.convert_to_canfd_frame();
180 nbytes = can_socket_.send(f);
183 ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
190 ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
197 /// @brief Static method used to send diagnostic CAN message
198 /// that follow isotp SendShimsMessage signature. This method is launched
199 /// from diagnostic manager's' same name method. It will use the diagnostic
200 /// manager configured CAN bus device to send the CAN message.
202 /// @param[in] arbitration_id - CAN arbitration id.
203 /// @param[in] data - CAN message payload to send
204 /// @param[in] size - size of the data to send
206 /// @return True if message sent, false if not.
207 bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
212 f.can_id = arbitration_id;
214 ::memcpy(f.data, data, size);
218 nbytes = can_socket_.send(f);
221 ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
228 ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");