src/can-utils.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 #pragma once
  19
  20 /********************************************************************************
  21 *
  22 *               CanBus method implementation
  23 *
  24 *********************************************************************************/
  25
  26 can_bus_t::can_bus_t(afb_binding_interface *itf, const std:string &dev_name)
  27     : interface{itf}, deviceName{dev_name}
  28 {
  29 }
  30
  31 int can_bus_t::open()
  32 {
  33         const int canfd_on = 1;
  34         struct ifreq ifr;
  35         struct timeval timeout = {1, 0};
  36
  37         DEBUG(interface_, "open_can_dev: CAN Handler socket : %d", can_socket_);
  38         if (can_socket_ >= 0)
  39                 return 0;
  40
  41         can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW);
  42         if (socket < 0)
  43         {
  44                 ERROR(interface_, "open_can_dev: socket could not be created");
  45         }
  46         else
  47         {
  48                 /* Set timeout for read */
  49                 ::setsockopt(can_socket_, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
  50                 /* try to switch the socket into CAN_FD mode */
  51                 if (::setsockopt(can_socket_, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
  52                 {
  53                         NOTICE(interface_, "open_can_dev: Can not switch into CAN Extended frame format.");
  54                         is_fdmode_on_ = false;
  55                 } else {
  56                         is_fdmode_on_ = true;
  57                 }
  58
  59                 /* Attempts to open a socket to CAN bus */
  60                 ::strcpy(ifr.ifr_name, device);
  61                 if(ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0)
  62                         ERROR(interface_, "open_can_dev: ioctl failed");
  63                 else
  64                 {
  65                         txAddress.can_family = AF_CAN;
  66                         txAddress.can_ifindex = ifr.ifr_ifindex;
  67
  68                         /* And bind it to txAddress */
  69                         if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
  70                         {
  71                                 ERROR(interface_, "open_can_dev: bind failed");
  72                         }
  73                         else
  74                         {
  75                                 ::fcntl(can_socket_, F_SETFL, O_NONBLOCK);
  76                                 return 0;
  77                         }
  78                 }
  79                 close();
  80         }
  81         return -1;
  82 }
  83
  84 int can_bus_t::close()
  85 {
  86         ::close(can_socket_);
  87         can_socket_ = -1;
  88 }
  89
  90
  91 canfd_frame can_bus_t::can_read()
  92 {
  93         ssize_t nbytes;
  94         //int maxdlen;
  95         canfd_frame canfd_frame;
  96
  97         /* Test that socket is really opened */
  98         if (can_socket_ < 0)
  99         {
 100                 ERROR(interface_, "read_can: Socket unavailable. Closing thread.");
 101                 is_running_ = false;
 102         }
 103
 104         nbytes = ::read(can_socket_, &canfd_frame, CANFD_MTU);
 105
 106         switch(nbytes)
 107         {
 108                 case CANFD_MTU:
 109                         DEBUG(interface_, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
 110                         //maxdlen = CANFD_MAX_DLEN;
 111                         break;
 112                 case CAN_MTU:
 113                         DEBUG(interface_, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
 114                         //maxdlen = CAN_MAX_DLEN;
 115                         break;
 116                 default:
 117                         if (errno == ENETDOWN)
 118                                         ERROR(interface_, "read_can: %s interface down", device);
 119                         ERROR(interface_, "read_can: Error reading CAN bus");
 120                         ::memset(&canfd_frame, 0, sizeof(canfd_frame));
 121                         break;
 122         }
 123
 124         return canfd_frame;
 125 }
 126
 127 void can_bus_t::start_threads()
 128 {
 129         th_reading_ = std::thread(can_reader, interface, socket, can_message_q_);
 130         is_running_ = true;
 131
 132         th_decoding_ = std::thread(can_decoder, interface, can_message_q, can_message_q_);
 133         th_pushing_ = std::thread(can_event_push, interface, can_message_q_);
 134 }
 135
 136 /*
 137  * Return is_running_ bool
 138  */
 139 bool can_bus_t::is_running()
 140 {
 141         return is_running_;
 142 }
 143
 144 /*
 145  * Send a can message from a can_message_t object.
 146  */
 147 int can_bus_t::send_can_message(can_message_t &can_msg)
 148 {
 149         int nbytes;
 150         canfd_frame *f;
 151
 152         f = can_msg.convert_to_canfd_frame();
 153
 154         if(can_socket_ >= 0)
 155         {
 156                 nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0,
 157                                 (struct sockaddr*)&txAddress, sizeof(txAddress));
 158
 159                 if (nbytes == -1)
 160                 {
 161                         ERROR(interface_, "send_can_message: Sending CAN frame failed.");
 162                         return -1;
 163                 }
 164                 return nbytes;
 165         }
 166         else
 167         {
 168                 ERROR(interface_, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
 169                 open();
 170         }
 171         return 0;
 172 }
 173
 174 /*
 175  * Get a CanMessage from can_message_q and return it
 176  * then point to the next CanMessage in queue.
 177  *
 178  * Return the next queue element or NULL if queue is empty.
 179  */
 180 can_message_t* can_bus_t::next_can_message()
 181 {
 182         if(! can_message_q_.empty())
 183         {
 184                 can_message_t can_msg = can_message_q_.front();
 185                 can_message_q_.pop()
 186                 return &can_msg;
 187         }
 188
 189         return nullptr;
 190 }
 191
 192 void can_bus_t::insert_new_can_message(can_message_t &can_msg)
 193 {
 194         can_message_q_.push(can_msg);
 195 }
 196
 197 /*
 198  * Get a VehicleMessage from vehicle_message_q and return it
 199  * then point to the next VehicleMessage in queue.
 200  *
 201  * Return the next queue element or NULL if queue is empty.
 202  */
 203 openxc_VehicleMessage* can_bus_t::next_vehicle_message()
 204 {
 205         if(! vehicle_message_q_.empty())
 206         {
 207                 openxc_VehicleMessage v_msg = vehicle_message_q_.front();
 208                 vehicle_message_q_.pop();
 209                 return &v_msg;
 210         }
 211
 212         return nullptr;
 213 }
 214
 215 void can_bus_t::insert_new_vehicle_message(openxc_VehicleMessage *v_msg)
 216 {
 217         vehicle_message_q_.push(v_msg);
 218 }
 219 /********************************************************************************
 220 *
 221 *               CanMessage method implementation
 222 *
 223 *********************************************************************************/
 224
 225 can_message_t::can_message_t(afb_binding_interface *itf)
 226         : interface_{itf}
 227 {}
 228
 229 uint32_t can_message_t::get_id() const
 230 {
 231         (id_ != 0) ? return id_ : return 0;
 232 }
 233
 234 int can_message_t::get_format() const
 235 {
 236         (format_ != CanMessageFormat::SIMPLE || format_ != CanMessageFormat::EXTENDED) return -1 : return format_;
 237 }
 238
 239 uint8_t can_message_t::get_data() const
 240 {
 241         return data_;
 242 }
 243 uint8_t can_message_t::get_lenght() const
 244 {
 245         return lenght_;
 246 }
 247
 248 void can_message_t::set_id(uint32_t &new_id)
 249 {
 250         switch(format):
 251                 case CanMessageFormat::SIMPLE:
 252                         id = new_id & CAN_SFF_MASK;
 253                 case CanMessageFormat::EXTENDED:
 254                         id = new_id & CAN_EFF_MASK;
 255                 default:
 256                         ERROR(interface_, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
 257 }
 258
 259 void can_message_t::set_format(CanMessageFormat &new_format)
 260 {
 261         if(new_format == CanMessageFormat::SIMPLE || new_format == CanMessageFormat::EXTENDED)
 262                 format = new_format;
 263         else
 264                 ERROR(interface_, "ERROR: Can set format, wrong format chosen");
 265 }
 266
 267 void can_message_t::set_data(uint8_t &new_data)
 268 {
 269         ::memcpy(data_, new_data, new_data.size());
 270         lenght_ = new_data(size);
 271 }
 272
 273 /*
 274  * This is the preferred way to initialize a CanMessage object
 275  * from a read canfd_frame message.
 276  *
 277  * params: canfd_frame pointer
 278  */
 279 void can_message_t::convert_from_canfd_frame(canfd_frame &frame)
 280 {
 281         lenght_ = (frame.len > CAN_MAX_DLEN) ? CAN_MAX_DLEN : frame.len;
 282         lenght_ = (frame.len > CANFD_MAX_DLEN) ? CANFD_MAX_DLEN : frame.len;
 283
 284         switch (frame.can_id):
 285                 case (frame.can_id & CAN_ERR_FLAG):
 286                         id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
 287                         break;
 288                 case (frame.can_id & CAN_EFF_FLAG):
 289                         id_ = frame.can_id & CAN_EFF_MASK;
 290                         format_ = CanMessageFormat::EXTENDED;
 291                         break;
 292                 default:
 293                         format_ = CanMessageFormat::STANDARD;
 294                         id_ = frame.can_id & CAN_SFF_MASK;
 295                         break;
 296
 297         if (sizeof(frame.data) <= data_.size())
 298         {
 299                 ::memcpy(data_, canfd_frame.data, lenght_);
 300                 return 0;
 301         } else if (sizeof(frame.data) >= CAN_MAX_DLEN)
 302                 ERROR(interface_, "can_message_t: canfd_frame data too long to be stored into CanMessage object");
 303 }
 304
 305 canfd_frame convert_to_canfd_frame()
 306 {
 307         canfd_frame frame;
 308
 309         frame.can_id = get_id();
 310         frame.len = get_lenght();
 311         ::memcpy(frame.data, get_data(), lenght_);
 312
 313         return frame;
 314 }