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.
23 #include <sys/ioctl.h>
24 #include <linux/can/raw.h>
28 #include "can-bus-dev.hpp"
30 #include "can-bus.hpp"
31 #include "can-message.hpp"
32 #include "../low-can-binding.hpp"
34 /// @brief Class constructor
35 /// @param dev_name String representing the device name into the linux /dev tree
36 can_bus_dev_t::can_bus_dev_t(const std::string& dev_name, int32_t address)
37 : device_name_{dev_name}, address_{address}
40 std::string can_bus_dev_t::get_device_name() const
45 /// @brief Open the can socket and returning it
46 /// @return -1 if something wrong.
47 int can_bus_dev_t::open()
49 const int canfd_on = 1;
50 const int timestamp_on = 1;
52 struct timeval timeout;
54 DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_.socket());
58 can_socket_.open(PF_CAN, SOCK_RAW, CAN_RAW);
61 DEBUG(binder_interface, "CAN Handler socket correctly initialized : %d", can_socket_.socket());
63 // Set timeout for read
64 can_socket_.setopt(SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
66 // Set timestamp for receveid frame
67 if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, ×tamp_on, sizeof(timestamp_on)) < 0)
68 WARNING(binder_interface, "setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
69 DEBUG(binder_interface, "Switch CAN Handler socket to use fd mode");
71 // try to switch the socket into CAN_FD mode
72 if (can_socket_.setopt(SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
74 NOTICE(binder_interface, "Can not switch into CAN Extended frame format.");
75 is_fdmode_on_ = false;
79 DEBUG(binder_interface, "Correctly set up CAN socket to use FD frames.");
83 // Attempts to open a socket to CAN bus
84 ::strcpy(ifr.ifr_name, device_name_.c_str());
85 DEBUG(binder_interface, "ifr_name is : %s", ifr.ifr_name);
86 if(::ioctl(can_socket_.socket(), SIOCGIFINDEX, &ifr) < 0)
88 ERROR(binder_interface, "ioctl failed. Error was : %s", strerror(errno));
92 txAddress_.can_family = AF_CAN;
93 txAddress_.can_ifindex = ifr.ifr_ifindex;
95 // And bind it to txAddress
96 DEBUG(binder_interface, "Bind the socket");
97 if (can_socket_.bind((struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
98 ERROR(binder_interface, "Bind failed. %s", strerror(errno));
103 else ERROR(binder_interface, "socket could not be created. Error was : %s", ::strerror(errno));
107 /// @brief Close the bus.
108 int can_bus_dev_t::close()
110 return can_socket_.close();
113 /// @brief Read the can socket and retrieve canfd_frame
114 can_message_t can_bus_dev_t::read()
117 struct canfd_frame cfd;
119 // Test that socket is really opened
122 ERROR(binder_interface, "read_can: Socket unavailable. Closing thread.");
126 nbytes = ::read(can_socket_.socket(), &cfd, CANFD_MTU);
128 // if we did not fit into CAN sized messages then stop_reading.
129 if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
131 if (errno == ENETDOWN)
132 ERROR(binder_interface, "read: %s CAN device down", device_name_.c_str());
133 ERROR(binder_interface, "read: Incomplete CAN(FD) frame");
134 ::memset(&cfd, 0, sizeof(cfd));
137 DEBUG(binder_interface, "read: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", cfd.can_id, cfd.len,
138 cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]);
139 return can_message_t::convert_from_canfd_frame(cfd, nbytes);
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, "Launching reading thread");
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
176 int can_bus_dev_t::send(can_message_t& can_msg)
181 f = can_msg.convert_to_canfd_frame();
183 if(can_socket_.socket())
185 nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0,
186 (struct sockaddr*)&txAddress_, sizeof(txAddress_));
189 ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
196 ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
202 /// @brief Send a can message from a can_message_t object.
203 /// @param[in] can bus used to send the message
204 /// @param[in] can_msg the can message object to send
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);
214 if(can_socket_.socket())
216 nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0,
217 (struct sockaddr*)&txAddress_, sizeof(txAddress_));
220 ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
227 ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");