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.
24 #include <sys/ioctl.h>
25 #include <linux/can/raw.h>
27 #include "can-bus-dev.hpp"
29 #include "can-bus.hpp"
30 #include "can-message.hpp"
31 #include "../low-can-binding.hpp"
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 -1 if something wrong.
57 int can_bus_dev_t::open()
59 const int canfd_on = 1;
60 const int timestamp_on = 1;
62 struct timeval timeout;
64 DEBUG(binder_interface, "open: CAN Handler socket : %d", can_socket_.socket());
68 can_socket_.open(PF_CAN, SOCK_RAW, CAN_RAW);
71 DEBUG(binder_interface, "open: CAN Handler socket correctly initialized : %d", can_socket_.socket());
73 // Set timeout for read
74 can_socket_.setopt(SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
76 // Set timestamp for receveid frame
77 if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, ×tamp_on, sizeof(timestamp_on)) < 0)
78 WARNING(binder_interface, "open: setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
79 DEBUG(binder_interface, "open: Switch CAN Handler socket to use fd mode");
81 // try to switch the socket into CAN_FD mode
82 if (can_socket_.setopt(SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
84 NOTICE(binder_interface, "open: Can not switch into CAN Extended frame format.");
85 is_fdmode_on_ = false;
89 DEBUG(binder_interface, "open: Correctly set up CAN socket to use FD frames.");
93 // Attempts to open a socket to CAN bus
94 ::strcpy(ifr.ifr_name, device_name_.c_str());
95 DEBUG(binder_interface, "open: ifr_name is : %s", ifr.ifr_name);
96 if(::ioctl(can_socket_.socket(), SIOCGIFINDEX, &ifr) < 0)
98 ERROR(binder_interface, "open: ioctl failed. Error was : %s", strerror(errno));
102 txAddress_.can_family = AF_CAN;
103 txAddress_.can_ifindex = ifr.ifr_ifindex;
105 // And bind it to txAddress
106 DEBUG(binder_interface, "Bind the socket");
107 if (can_socket_.bind((struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
108 ERROR(binder_interface, "Bind failed. %s", strerror(errno));
113 else ERROR(binder_interface, "open: socket could not be created. Error was : %s", ::strerror(errno));
117 /// @brief Close the bus.
119 /// @return interger return value of socket.close() function
120 int can_bus_dev_t::close()
122 return can_socket_.close();
125 /// @brief Read the can socket and retrieve canfd_frame.
127 /// Read operation are blocking and we try to read CANFD frame
128 /// rather than classic CAN frame. CANFD frame are retro compatible.
129 can_message_t can_bus_dev_t::read()
132 struct canfd_frame cfd;
134 // Test that socket is really opened
137 ERROR(binder_interface, "read: Socket unavailable. Closing thread.");
141 nbytes = ::read(can_socket_.socket(), &cfd, CANFD_MTU);
143 // if we did not fit into CAN sized messages then stop_reading.
144 if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
146 if (errno == ENETDOWN)
147 ERROR(binder_interface, "read: %s CAN device down", device_name_.c_str());
148 ERROR(binder_interface, "read: Incomplete CAN(FD) frame");
149 ::memset(&cfd, 0, sizeof(cfd));
152 DEBUG(binder_interface, "read: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", cfd.can_id, cfd.len,
153 cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]);
154 return can_message_t::convert_from_canfd_frame(cfd, nbytes);
157 /// @brief start reading threads and set flag is_running_
158 /// @param[in] can_bus reference can_bus_t. it will be passed to the thread to allow using can_bus_t queue.
159 void can_bus_dev_t::start_reading(can_bus_t& can_bus)
161 DEBUG(binder_interface, "Launching reading thread");
163 th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
164 if(!th_reading_.joinable())
168 /// @brief stop the reading thread setting flag is_running_ to false and and wait that the thread finish its job.
169 void can_bus_dev_t::stop_reading()
174 /// @brief Thread function used to read the can socket.
175 /// @param[in] can_bus - object to be used to read the can socket
176 void can_bus_dev_t::can_reader(can_bus_t& can_bus)
180 can_message_t msg = read();
182 std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex());
183 can_bus.push_new_can_message(msg);
185 can_bus.get_new_can_message_cv().notify_one();
189 /// @brief Send a can message from a can_message_t object.
190 /// @param[in] can_msg - the can message object to send
192 /// @return 0 if message snet, -1 if something wrong.
193 int can_bus_dev_t::send(can_message_t& can_msg)
198 f = can_msg.convert_to_canfd_frame();
202 nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0,
203 (struct sockaddr*)&txAddress_, sizeof(txAddress_));
206 ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
213 ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
219 /// @brief Static method used to send diagnostic CAN message
220 /// that follow isotp SendShimsMessage signature. This method is launched
221 /// from diagnostic manager's' same name method. It will use the diagnostic
222 /// manager configured CAN bus device to send the CAN message.
224 /// @param[in] arbitration_id - CAN arbitration id.
225 /// @param[in] data - CAN message payload to send
226 /// @param[in] size - size of the data to send
228 /// @return True if message sent, false if not.
229 bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
234 f.can_id = arbitration_id;
236 ::memcpy(f.data, data, size);
240 nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0,
241 (struct sockaddr*)&txAddress_, sizeof(txAddress_));
244 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.");