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 /// @return -1 if something wrong.
54 int can_bus_dev_t::open_raw()
56 const int canfd_on = 1;
57 const int timestamp_on = 1;
58 struct timeval timeout;
60 DEBUG(binder_interface, "open_raw: CAN Handler socket : %d", can_socket_.socket());
61 can_socket_.open(device_name_);
63 // Set some option on the socket : timeout, timestamp and canfd frame usage.
66 DEBUG(binder_interface, "open_raw: CAN Handler socket correctly initialized : %d", can_socket_.socket());
68 // Set timeout for read
69 can_socket_.setopt(SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
71 // Set timestamp for receveid frame
72 if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, ×tamp_on, sizeof(timestamp_on)) < 0)
73 WARNING(binder_interface, "open_raw: setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
74 DEBUG(binder_interface, "open_raw: Switch CAN Handler socket to use fd mode");
76 // try to switch the socket into CAN_FD mode
77 if (can_socket_.setopt(SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
79 NOTICE(binder_interface, "open_raw: Can not switch into CAN Extended frame format.");
80 is_fdmode_on_ = false;
84 DEBUG(binder_interface, "open_raw: Correctly set up CAN socket to use FD frames.");
89 ERROR(binder_interface, "open_raw: socket could not be created. Error was : %s", ::strerror(errno));
93 /// @brief Close the bus.
95 /// @return interger return value of socket.close() function
96 int can_bus_dev_t::close()
98 return can_socket_.close();
101 /// @brief Read the can socket and retrieve canfd_frame.
103 /// Read operation are blocking and we try to read CANFD frame
104 /// rather than classic CAN frame. CANFD frame are retro compatible.
105 can_message_t can_bus_dev_t::read()
108 struct canfd_frame cfd;
110 // Test that socket is really opened
113 ERROR(binder_interface, "read: Socket unavailable. Closing thread.");
117 nbytes = ::read(can_socket_.socket(), &cfd, CANFD_MTU);
119 // if we did not fit into CAN sized messages then stop_reading.
120 if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
122 if (errno == ENETDOWN)
123 ERROR(binder_interface, "read: %s CAN device down", device_name_.c_str());
124 ERROR(binder_interface, "read: Incomplete CAN(FD) frame");
125 ::memset(&cfd, 0, sizeof(cfd));
128 DEBUG(binder_interface, "read: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", cfd.can_id, cfd.len,
129 cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]);
130 return can_message_t::convert_from_canfd_frame(cfd, nbytes);
133 /// @brief start reading threads and set flag is_running_
134 /// @param[in] can_bus reference can_bus_t. it will be passed to the thread to allow using can_bus_t queue.
135 void can_bus_dev_t::start_reading(can_bus_t& can_bus)
137 DEBUG(binder_interface, "Launching reading thread");
139 th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
140 if(!th_reading_.joinable())
144 /// @brief stop the reading thread setting flag is_running_ to false and and wait that the thread finish its job.
145 void can_bus_dev_t::stop_reading()
150 /// @brief Thread function used to read the can socket.
151 /// @param[in] can_bus - object to be used to read the can socket
152 void can_bus_dev_t::can_reader(can_bus_t& can_bus)
156 can_message_t msg = read();
158 std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex());
159 can_bus.push_new_can_message(msg);
161 can_bus.get_new_can_message_cv().notify_one();
165 /// @brief Send a can message from a can_message_t object.
166 /// @param[in] can_msg - the can message object to send
168 /// @return 0 if message snet, -1 if something wrong.
169 int can_bus_dev_t::send(can_message_t& can_msg)
174 f = can_msg.convert_to_canfd_frame();
178 nbytes = can_socket_.send(f);
181 ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
188 ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
195 /// @brief Static method used to send diagnostic CAN message
196 /// that follow isotp SendShimsMessage signature. This method is launched
197 /// from diagnostic manager's' same name method. It will use the diagnostic
198 /// manager configured CAN bus device to send the CAN message.
200 /// @param[in] arbitration_id - CAN arbitration id.
201 /// @param[in] data - CAN message payload to send
202 /// @param[in] size - size of the data to send
204 /// @return True if message sent, false if not.
205 bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
210 f.can_id = arbitration_id;
212 ::memcpy(f.data, data, size);
216 nbytes = can_socket_.send(f);
219 ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
226 ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");