src/can-bus.cpp

   1 /*
   2  * Copyright (C) 2015, 2016 "IoT.bzh"
   3  * Author "Romain Forlot" <romain.forlot@iot.bzh>
   4  *
   5  * Licensed under the Apache License, Version 2.0 (the "License");
   6  * you may not use this file except in compliance with the License.
   7  * You may obtain a copy of the License at
   8  *
   9  *       http://www.apache.org/licenses/LICENSE-2.0
  10  *
  11  * Unless required by applicable law or agreed to in writing, software
  12  * distributed under the License is distributed on an "AS IS" BASIS,
  13  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  14  * See the License for the specific language governing permissions and
  15  * limitations under the License.
  16  */
  17
  18 #include "can-bus.hpp"
  19
  20 #include <map>
  21 #include <vector>
  22 #include <string>
  23 #include <fcntl.h>
  24 #include <unistd.h>
  25 #include <net/if.h>
  26 #include <sys/ioctl.h>
  27 #include <sys/socket.h>
  28 #include <json-c/json.h>
  29 #include <linux/can/raw.h>
  30
  31 extern "C"
  32 {
  33         #include <afb/afb-binding.h>
  34 }
  35
  36 /********************************************************************************
  37 *
  38 *               can_bus_t method implementation
  39 *
  40 *********************************************************************************/
  41
  42 can_bus_t::can_bus_t(int& conf_file)
  43         : conf_file_{conf_file}
  44 {
  45 }
  46
  47 void can_bus_t::start_threads()
  48 {
  49         th_decoding_ = std::thread(can_decode_message, std::ref(*this));
  50         is_decoding_ = true;
  51         th_pushing_ = std::thread(can_event_push, std::ref(*this));
  52         is_pushing_ = true;
  53 }
  54
  55 void can_bus_t::stop_threads()
  56 {
  57         is_decoding_ = false;
  58         is_pushing_ = false;
  59 }
  60
  61 bool can_bus_t::is_decoding()
  62 {
  63         return is_decoding_;
  64 }
  65
  66 bool can_bus_t::is_pushing()
  67 {
  68         return is_pushing_;
  69 }
  70
  71 int can_bus_t::init_can_dev()
  72 {
  73         std::vector<std::string> devices_name;
  74         int i;
  75         size_t t;
  76
  77         devices_name = read_conf();
  78
  79         if (! devices_name.empty())
  80         {
  81                 t = devices_name.size();
  82                 i=0;
  83
  84                 for(const auto& device : devices_name)
  85                 {
  86                         can_bus_dev_t can_bus_device_handler(device);
  87                         if (can_bus_device_handler.open())
  88                         {
  89                                 i++;
  90                                 can_bus_device_handler.start_reading(std::ref(*this));
  91                         }
  92                         else
  93                                 ERROR(binder_interface, "Can't open device %s", device);
  94                 }
  95
  96                 NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
  97                 return 0;
  98         }
  99         ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read from configuration file. Did you specify canbus JSON object ?");
 100         return 1;
 101 }
 102
 103 std::vector<std::string> can_bus_t::read_conf()
 104 {
 105         std::vector<std::string> ret;
 106         json_object *jo, *canbus;
 107         int n, i;
 108         const char* taxi;
 109
 110         FILE *fd = fdopen(conf_file_, "r");
 111         if (fd)
 112         {
 113                 std::string fd_conf_content;
 114                 std::fseek(fd, 0, SEEK_END);
 115                 fd_conf_content.resize(std::ftell(fd));
 116                 std::rewind(fd);
 117                 std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
 118                 std::fclose(fd);
 119
 120                 DEBUG(binder_interface, "Conf file content : %s", fd_conf_content.c_str());
 121                 jo = json_tokener_parse(fd_conf_content.c_str());
 122
 123                 if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
 124                 {
 125                         ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
 126                         ret.clear();
 127                 }
 128                 else if (json_object_get_type(canbus) != json_type_array)
 129                 {
 130                         taxi = json_object_get_string(canbus);
 131                         DEBUG(binder_interface, "Can bus found: %s", taxi);
 132                         ret.push_back(std::string(taxi));
 133                 }
 134                 else
 135                 {
 136                         n = json_object_array_length(canbus);
 137                         for (i = 0 ; i < n ; i++)
 138                                 ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
 139                 }
 140                 return ret;
 141         }
 142         ERROR(binder_interface, "Problem at reading the conf file");
 143         ret.clear();
 144         return ret;
 145 }
 146
 147 std::condition_variable& can_bus_t::get_new_can_message()
 148 {
 149         return new_can_message_;
 150 }
 151
 152 std::mutex& can_bus_t::get_can_message_mutex()
 153 {
 154         return can_message_mutex_;
 155 }
 156
 157 std::condition_variable& can_bus_t::get_new_decoded_can_message()
 158 {
 159         return new_decoded_can_message_;
 160 }
 161
 162 std::mutex& can_bus_t::get_decoded_can_message_mutex()
 163 {
 164         return decoded_can_message_mutex_;
 165 }
 166
 167 can_message_t can_bus_t::next_can_message()
 168 {
 169         can_message_t can_msg;
 170
 171         if(!can_message_q_.empty())
 172         {
 173                 can_msg = can_message_q_.front();
 174                 can_message_q_.pop();
 175                 DEBUG(binder_interface, "next_can_message: Here is the next can message : id %d, length %d", can_msg.get_id(), can_msg.get_length());
 176                 return can_msg;
 177         }
 178
 179         NOTICE(binder_interface, "next_can_message: End of can message queue");
 180         has_can_message_ = false;
 181         return can_msg;
 182 }
 183
 184 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
 185 {
 186         can_message_q_.push(can_msg);
 187 }
 188
 189 bool can_bus_t::has_can_message() const
 190 {
 191         return has_can_message_;
 192 }
 193
 194 openxc_VehicleMessage can_bus_t::next_vehicle_message()
 195 {
 196         openxc_VehicleMessage v_msg;
 197
 198         if(! vehicle_message_q_.empty())
 199         {
 200                 v_msg = vehicle_message_q_.front();
 201                 vehicle_message_q_.pop();
 202                 DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
 203                 return v_msg;
 204         }
 205
 206         NOTICE(binder_interface, "next_vehicle_message: End of vehicle message queue");
 207         has_vehicle_message_ = false;
 208         return v_msg;
 209 }
 210
 211 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
 212 {
 213         vehicle_message_q_.push(v_msg);
 214         has_vehicle_message_ = true;
 215 }
 216
 217 bool can_bus_t::has_vehicle_message() const
 218 {
 219         return has_vehicle_message_;
 220 }
 221
 222 /********************************************************************************
 223 *
 224 *               can_bus_dev_t method implementation
 225 *
 226 *********************************************************************************/
 227
 228 can_bus_dev_t::can_bus_dev_t(const std::string &dev_name)
 229         : device_name_{dev_name}
 230 {
 231 }
 232
 233 int can_bus_dev_t::open()
 234 {
 235         const int canfd_on = 1;
 236         struct ifreq ifr;
 237         struct timeval timeout = {1, 0};
 238
 239         DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_);
 240         if (can_socket_ >= 0)
 241                 return 0;
 242
 243         can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW);
 244         if (can_socket_ < 0)
 245         {
 246                 ERROR(binder_interface, "socket could not be created");
 247         }
 248         else
 249         {
 250                 /* Set timeout for read */
 251                 ::setsockopt(can_socket_, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
 252                 /* try to switch the socket into CAN_FD mode */
 253                 if (::setsockopt(can_socket_, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
 254                 {
 255                         NOTICE(binder_interface, "Can not switch into CAN Extended frame format.");
 256                         is_fdmode_on_ = false;
 257                 } else {
 258                         is_fdmode_on_ = true;
 259                 }
 260
 261                 /* Attempts to open a socket to CAN bus */
 262                 ::strcpy(ifr.ifr_name, device_name_.c_str());
 263                 if(::ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0)
 264                         ERROR(binder_interface, "ioctl failed");
 265                 else
 266                 {
 267                         txAddress_.can_family = AF_CAN;
 268                         txAddress_.can_ifindex = ifr.ifr_ifindex;
 269
 270                         /* And bind it to txAddress */
 271                         if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
 272                                 ERROR(binder_interface, "Bind failed");
 273                         else
 274                                 return 0;
 275                 }
 276                 close();
 277         }
 278         return -1;
 279 }
 280
 281 int can_bus_dev_t::close()
 282 {
 283         ::close(can_socket_);
 284         can_socket_ = -1;
 285         return can_socket_;
 286 }
 287
 288 canfd_frame can_bus_dev_t::read()
 289 {
 290         ssize_t nbytes;
 291         //int maxdlen;
 292         canfd_frame canfd_frame;
 293
 294         /* Test that socket is really opened */
 295         if (can_socket_ < 0)
 296         {
 297                 ERROR(binder_interface, "read_can: Socket unavailable. Closing thread.");
 298                 is_running_ = false;
 299         }
 300
 301         nbytes = ::read(can_socket_, &canfd_frame, CANFD_MTU);
 302
 303         switch(nbytes)
 304         {
 305                 case CANFD_MTU:
 306                         DEBUG(binder_interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
 307                         //maxdlen = CANFD_MAX_DLEN;
 308                         break;
 309                 case CAN_MTU:
 310                         DEBUG(binder_interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
 311                         //maxdlen = CAN_MAX_DLEN;
 312                         break;
 313                 default:
 314                         if (errno == ENETDOWN)
 315                                         ERROR(binder_interface, "read_can: %s binder_interface down", device_name_);
 316                         ERROR(binder_interface, "read_can: Error reading CAN bus");
 317                         ::memset(&canfd_frame, 0, sizeof(canfd_frame));
 318                         is_running_ = false;
 319                         break;
 320         }
 321
 322         return canfd_frame;
 323 }
 324
 325 void can_bus_dev_t::start_reading(can_bus_t& can_bus)
 326 {
 327         th_reading_ = std::thread(can_reader, std::ref(*this), std::ref(can_bus));
 328         is_running_ = true;
 329 }
 330
 331 /*
 332  * Return is_running_ bool
 333  */
 334 bool can_bus_dev_t::is_running()
 335 {
 336         return is_running_;
 337 }
 338
 339 int can_bus_dev_t::send_can_message(can_message_t& can_msg)
 340 {
 341         ssize_t nbytes;
 342         canfd_frame f;
 343
 344         f = can_msg.convert_to_canfd_frame();
 345
 346         if(can_socket_ >= 0)
 347         {
 348                 nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0,
 349                                 (struct sockaddr*)&txAddress_, sizeof(txAddress_));
 350                 if (nbytes == -1)
 351                 {
 352                         ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
 353                         return -1;
 354                 }
 355                 return (int)nbytes;
 356         }
 357         else
 358         {
 359                 ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
 360                 open();
 361         }
 362         return 0;
 363 }