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 #include "can-utils.hpp"
  19
  20 /********************************************************************************
  21 *
  22 *               CanMessage method implementation
  23 *
  24 *********************************************************************************/
  25
  26 can_message_t::can_message_t(const struct afb_binding_interface* interface)
  27         : interface_{interface}
  28 {}
  29
  30 uint32_t can_message_t::get_id() const
  31 {
  32         if (id_ != 0)
  33                 return id_;
  34         return 0;
  35 }
  36
  37 int can_message_t::get_format() const
  38 {
  39         if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED)
  40                 return -1;
  41         return format_;
  42 }
  43
  44 const uint8_t* can_message_t::get_data() const
  45 {
  46         return &data_;
  47 }
  48 uint8_t can_message_t::get_length() const
  49 {
  50         return length_;
  51 }
  52
  53 void can_message_t::set_id(const uint32_t new_id)
  54 {
  55         switch(format_)
  56         {
  57                 case CanMessageFormat::STANDARD:
  58                         id_ = new_id & CAN_SFF_MASK;
  59                         break;
  60                 case CanMessageFormat::EXTENDED:
  61                         id_ = new_id & CAN_EFF_MASK;
  62                         break;
  63                 default:
  64                         ERROR(interface_, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
  65                         break;
  66         }
  67 }
  68
  69 void can_message_t::set_format(const CanMessageFormat new_format)
  70 {
  71         if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED)
  72                 format_ = new_format;
  73         else
  74                 ERROR(interface_, "ERROR: Can set format, wrong format chosen");
  75 }
  76
  77 void can_message_t::set_data(const uint8_t new_data)
  78 {
  79         ::memcpy(&data_, &new_data, sizeof(new_data));
  80         length_ = sizeof(new_data);
  81 }
  82
  83 /*
  84  * @brief This is the preferred way to initialize a CanMessage object
  85  * from a read canfd_frame message.
  86  *
  87  * @param: canfd_frame pointer
  88  */
  89 void can_message_t::convert_from_canfd_frame(const canfd_frame& frame)
  90 {
  91         length_ = (frame.len > CAN_MAX_DLEN) ? (uint8_t)CAN_MAX_DLEN : frame.len;
  92         length_ = (frame.len > CANFD_MAX_DLEN) ? (uint8_t)CANFD_MAX_DLEN : frame.len;
  93
  94         if (frame.can_id & CAN_ERR_FLAG)
  95                 id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
  96         else if (frame.can_id & CAN_EFF_FLAG)
  97         {
  98                 id_ = frame.can_id & CAN_EFF_MASK;
  99                 format_ = CanMessageFormat::EXTENDED;
 100         }
 101         else
 102         {
 103                 id_ = frame.can_id & CAN_SFF_MASK;
 104                 format_ = CanMessageFormat::STANDARD;
 105         }
 106
 107         if (sizeof(frame.data) <= sizeof(data_))
 108                 ::memcpy(&data_, frame.data, length_);
 109         else if (sizeof(frame.data) >= CAN_MAX_DLEN)
 110                 ERROR(interface_, "can_message_t: canfd_frame data too long to be stored into CanMessage object");
 111 }
 112
 113 canfd_frame can_message_t::convert_to_canfd_frame()
 114 {
 115         canfd_frame frame;
 116
 117         frame.can_id = get_id();
 118         frame.len = get_length();
 119         ::memcpy(frame.data, get_data(), length_);
 120
 121         return frame;
 122 }
 123 /********************************************************************************
 124 *
 125 *               can_bus_dev_t method implementation
 126 *
 127 *********************************************************************************/
 128
 129 can_bus_dev_t::can_bus_dev_t(const std::string &dev_name)
 130         : device_name_{dev_name}
 131 {
 132 }
 133
 134 int can_bus_dev_t::open(const struct afb_binding_interface* interface)
 135 {
 136         const int canfd_on = 1;
 137         struct ifreq ifr;
 138         struct timeval timeout = {1, 0};
 139
 140         DEBUG(interface, "open_can_dev: CAN Handler socket : %d", can_socket_);
 141         if (can_socket_ >= 0)
 142                 return 0;
 143
 144         can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW);
 145         if (can_socket_ < 0)
 146         {
 147                 ERROR(interface, "open_can_dev: socket could not be created");
 148         }
 149         else
 150         {
 151                 /* Set timeout for read */
 152                 ::setsockopt(can_socket_, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
 153                 /* try to switch the socket into CAN_FD mode */
 154                 if (::setsockopt(can_socket_, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
 155                 {
 156                         NOTICE(interface, "open_can_dev: Can not switch into CAN Extended frame format.");
 157                         is_fdmode_on_ = false;
 158                 } else {
 159                         is_fdmode_on_ = true;
 160                 }
 161
 162                 /* Attempts to open a socket to CAN bus */
 163                 ::strcpy(ifr.ifr_name, device_name_.c_str());
 164                 if(::ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0)
 165                         ERROR(interface, "open_can_dev: ioctl failed");
 166                 else
 167                 {
 168                         txAddress_.can_family = AF_CAN;
 169                         txAddress_.can_ifindex = ifr.ifr_ifindex;
 170
 171                         /* And bind it to txAddress */
 172                         if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
 173                         {
 174                                 ERROR(interface, "open_can_dev: bind failed");
 175                         }
 176                         else
 177                         {
 178                                 ::fcntl(can_socket_, F_SETFL, O_NONBLOCK);
 179                                 return 0;
 180                         }
 181                 }
 182                 close();
 183         }
 184         return -1;
 185 }
 186
 187 int can_bus_dev_t::close()
 188 {
 189         ::close(can_socket_);
 190         can_socket_ = -1;
 191         return can_socket_;
 192 }
 193
 194 canfd_frame can_bus_dev_t::read(const struct afb_binding_interface* interface)
 195 {
 196         ssize_t nbytes;
 197         //int maxdlen;
 198         canfd_frame canfd_frame;
 199
 200         /* Test that socket is really opened */
 201         if (can_socket_ < 0)
 202         {
 203                 ERROR(interface, "read_can: Socket unavailable. Closing thread.");
 204                 is_running_ = false;
 205         }
 206
 207         nbytes = ::read(can_socket_, &canfd_frame, CANFD_MTU);
 208
 209         switch(nbytes)
 210         {
 211                 case CANFD_MTU:
 212                         DEBUG(interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
 213                         //maxdlen = CANFD_MAX_DLEN;
 214                         break;
 215                 case CAN_MTU:
 216                         DEBUG(interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
 217                         //maxdlen = CAN_MAX_DLEN;
 218                         break;
 219                 default:
 220                         if (errno == ENETDOWN)
 221                                         ERROR(interface, "read_can: %s interface down", device_name_);
 222                         ERROR(interface, "read_can: Error reading CAN bus");
 223                         ::memset(&canfd_frame, 0, sizeof(canfd_frame));
 224                         is_running_ = false;
 225                         break;
 226         }
 227
 228         return canfd_frame;
 229 }
 230
 231 /**
 232  * @brief start reading threads and set flag is_running_
 233  *
 234  */
 235 void can_bus_dev_t::start_reading()
 236 {
 237         th_reading_ = std::thread(can_reader, *this);
 238         is_running_ = true;
 239 }
 240
 241 /*
 242  * Return is_running_ bool
 243  */
 244 bool can_bus_dev_t::is_running()
 245 {
 246         return is_running_;
 247 }
 248
 249 /**
 250  * @brief: Get a can_message_t from can_message_q and return it
 251  * then point to the next can_message_t in queue.
 252  *
 253  * @return the next queue element or NULL if queue is empty.
 254  */
 255 can_message_t can_bus_dev_t::next_can_message(const struct afb_binding_interface* interface)
 256 {
 257         can_message_t can_msg(interface);
 258
 259         if(!can_message_q_.empty())
 260         {
 261                 can_msg = can_message_q_.front();
 262                 can_message_q_.pop();
 263                 DEBUG(interface, "next_can_message: Here is the next can message : id %d, length %d", can_msg.get_id(), can_msg.get_length());
 264                 return can_msg;
 265         }
 266
 267         NOTICE(interface, "next_can_message: End of can message queue");
 268         has_can_message_ = false;
 269         return can_msg;
 270 }
 271
 272 /**
 273  * @brief Append a new element to the can message queue and set
 274  * has_can_message_ boolean to true
 275  *
 276  * @params[const can_message_t& can_msg] the can_message_t to append
 277  *
 278  */
 279 void can_bus_dev_t::push_new_can_message(const can_message_t& can_msg)
 280 {
 281         can_message_q_.push(can_msg);
 282 }
 283
 284 /**
 285  * @brief Flag that let you know when can message queue is exhausted
 286  *
 287  * @return[bool] has_can_message_ bool
 288  */
 289 bool can_bus_dev_t::has_can_message() const
 290 {
 291         return has_can_message_;
 292 }
 293
 294 /**
 295  * @brief Send a can message from a can_message_t object.
 296  *
 297  * params[const can_message_t& can_msg] the can message object to send
 298  *
 299  */
 300 int can_bus_dev_t::send_can_message(can_message_t& can_msg, const struct afb_binding_interface* interface)
 301 {
 302         ssize_t nbytes;
 303         canfd_frame f;
 304
 305         f = can_msg.convert_to_canfd_frame();
 306
 307         if(can_socket_ >= 0)
 308         {
 309                 nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0,
 310                                 (struct sockaddr*)&txAddress_, sizeof(txAddress_));
 311                 if (nbytes == -1)
 312                 {
 313                         ERROR(interface, "send_can_message: Sending CAN frame failed.");
 314                         return -1;
 315                 }
 316                 return (int)nbytes;
 317         }
 318         else
 319         {
 320                 ERROR(interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
 321                 open(interface);
 322         }
 323         return 0;
 324 }
 325 /********************************************************************************
 326 *
 327 *               can_bus_t method implementation
 328 *
 329 *********************************************************************************/
 330
 331 can_bus_t::can_bus_t(const afb_binding_interface *itf, int& conf_file)
 332         : interface_{itf}, conf_file_{conf_file}
 333 {
 334 }
 335
 336 /**
 337  * @brief start threads relative to the can bus: decoding and pushing
 338  * as the reading is handled by can_bus_dev_t object
 339  */
 340 void can_bus_t::start_threads()
 341 {
 342         th_decoding_ = std::thread(can_decode_message, *this);
 343         th_pushing_ = std::thread(can_event_push, *this);
 344 }
 345
 346 /**
 347  * @brief Initialize as many as can_bus_dev_t objects with their respective reading thread
 348  *
 349  * params[std::ifstream& conf_file] conf_file ifstream to the JSON configuration
 350  * file located at the rootdir of the binding
 351  */
 352 int can_bus_t::init_can_dev()
 353 {
 354         std::vector<std::string> devices_name;
 355         int i;
 356         size_t t;
 357
 358         devices_name = read_conf();
 359
 360         if (! devices_name.empty())
 361         {
 362                 t = devices_name.size();
 363                 i=0;
 364
 365                 for(const auto& device : devices_name)
 366                 {
 367                         can_bus_dev_t can_bus_device_handler(device);
 368                         can_bus_device_handler.open(interface_);
 369                         can_bus_device_handler.start_reading();
 370                         i++;
 371                 }
 372
 373                 NOTICE(interface_, "Initialized %d/%d can bus device(s)", i, t);
 374                 return 0;
 375         }
 376         ERROR(interface_, "init_can_dev: Error at CAN device initialization.");
 377         return 1;
 378 }
 379
 380 /**
 381  * @brief Read the conf file and extract device name
 382  *
 383  * @return[std:vector<std::string>] return a vector of device name
 384  */
 385 std::vector<std::string> can_bus_t::read_conf()
 386 {
 387         std::vector<std::string> ret;
 388         json_object *jo, *canbus;
 389         int n, i;
 390
 391         FILE *fd = fdopen(conf_file_, "r");
 392         if (fd)
 393         {
 394                 std::string fd_conf_content;
 395                 std::fseek(fd, 0, SEEK_END);
 396                 fd_conf_content.resize(std::ftell(fd));
 397                 std::rewind(fd);
 398                 std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
 399                 std::fclose(fd);
 400
 401                 jo = json_tokener_parse(fd_conf_content.c_str());
 402
 403                 if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
 404                 {
 405                         ERROR(interface_, "Can't find canbus node in the configuration file. Please review it.");
 406                         ret.clear();
 407                 }
 408                 else if (json_object_get_type(canbus) != json_type_array)
 409                         ret.push_back(json_object_get_string(canbus));
 410                 else
 411                 {
 412                         n = json_object_array_length(canbus);
 413                         for (i = 0 ; i < n ; i++)
 414                                 ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
 415                 }
 416                 return ret;
 417         }
 418         ERROR(interface_, "Problem at reading the conf file");
 419         ret.clear();
 420         return ret;
 421 }
 422
 423 /**
 424  * @brief: Get a VehicleMessage from vehicle_message_q and return it
 425  * then point to the next VehicleMessage in queue.
 426  *
 427  * @return the next queue element or NULL if queue is empty.
 428  */
 429 openxc_VehicleMessage can_bus_t::next_vehicle_message()
 430 {
 431         openxc_VehicleMessage v_msg;
 432
 433         if(! vehicle_message_q_.empty())
 434         {
 435                 v_msg = vehicle_message_q_.front();
 436                 vehicle_message_q_.pop();
 437                 DEBUG(interface_, "next_vehicle_message: next vehicle message poped");
 438                 return v_msg;
 439         }
 440
 441         NOTICE(interface_, "next_vehicle_message: End of vehicle message queue");
 442         has_vehicle_message_ = false;
 443         return v_msg;
 444 }
 445
 446 /**
 447  * @brief Append a new element to the vehicle message queue and set
 448  * has_vehicle_message_ boolean to true
 449  *
 450  * @params[const openxc_VehicleMessage& v_msg] the openxc_VehicleMessage to append
 451  *
 452  */
 453 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
 454 {
 455         vehicle_message_q_.push(v_msg);
 456         has_vehicle_message_ = true;
 457 }
 458
 459 /**
 460  * @brief Flag that let you know when vehicle message queue is exhausted
 461  *
 462  * @return[bool] has_vehicle_message_ bool
 463  */
 464 bool can_bus_t::has_vehicle_message() const
 465 {
 466         return has_vehicle_message_;
 467 }