2 * Copyright (C) 2015, 2016 "IoT.bzh"
3 * Author "Romain Forlot" <romain.forlot@iot.bzh>
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
9 * http://www.apache.org/licenses/LICENSE-2.0
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.
18 #include "can-utils.hpp"
20 /********************************************************************************
22 * CanMessage method implementation
24 *********************************************************************************/
26 can_message_t::can_message_t(const struct afb_binding_interface* interface)
27 : interface_{interface}
30 uint32_t can_message_t::get_id() const
37 int can_message_t::get_format() const
39 if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED)
44 const uint8_t* can_message_t::get_data() const
48 uint8_t can_message_t::get_length() const
53 void can_message_t::set_id(const uint32_t new_id)
57 case CanMessageFormat::STANDARD:
58 id_ = new_id & CAN_SFF_MASK;
60 case CanMessageFormat::EXTENDED:
61 id_ = new_id & CAN_EFF_MASK;
64 ERROR(interface_, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
69 void can_message_t::set_format(const CanMessageFormat new_format)
71 if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED)
74 ERROR(interface_, "ERROR: Can set format, wrong format chosen");
77 void can_message_t::set_data(const uint8_t new_data)
79 ::memcpy(&data_, &new_data, sizeof(new_data));
80 length_ = sizeof(new_data);
84 * @brief This is the preferred way to initialize a CanMessage object
85 * from a read canfd_frame message.
87 * @param: canfd_frame pointer
89 void can_message_t::convert_from_canfd_frame(const canfd_frame& frame)
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;
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)
98 id_ = frame.can_id & CAN_EFF_MASK;
99 format_ = CanMessageFormat::EXTENDED;
103 id_ = frame.can_id & CAN_SFF_MASK;
104 format_ = CanMessageFormat::STANDARD;
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");
113 canfd_frame can_message_t::convert_to_canfd_frame()
117 frame.can_id = get_id();
118 frame.len = get_length();
119 ::memcpy(frame.data, get_data(), length_);
123 /********************************************************************************
125 * can_bus_dev_t method implementation
127 *********************************************************************************/
129 can_bus_dev_t::can_bus_dev_t(const std::string &dev_name)
130 : device_name_{dev_name}
134 int can_bus_dev_t::open(const struct afb_binding_interface* interface)
136 const int canfd_on = 1;
138 struct timeval timeout = {1, 0};
140 DEBUG(interface, "open_can_dev: CAN Handler socket : %d", can_socket_);
141 if (can_socket_ >= 0)
144 can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW);
147 ERROR(interface, "open_can_dev: socket could not be created");
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)
156 NOTICE(interface, "open_can_dev: Can not switch into CAN Extended frame format.");
157 is_fdmode_on_ = false;
159 is_fdmode_on_ = true;
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");
168 txAddress_.can_family = AF_CAN;
169 txAddress_.can_ifindex = ifr.ifr_ifindex;
171 /* And bind it to txAddress */
172 if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
174 ERROR(interface, "open_can_dev: bind failed");
178 ::fcntl(can_socket_, F_SETFL, O_NONBLOCK);
187 int can_bus_dev_t::close()
189 ::close(can_socket_);
194 canfd_frame can_bus_dev_t::read(const struct afb_binding_interface* interface)
198 canfd_frame canfd_frame;
200 /* Test that socket is really opened */
203 ERROR(interface, "read_can: Socket unavailable. Closing thread.");
207 nbytes = ::read(can_socket_, &canfd_frame, CANFD_MTU);
212 DEBUG(interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
213 //maxdlen = CANFD_MAX_DLEN;
216 DEBUG(interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
217 //maxdlen = CAN_MAX_DLEN;
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));
232 * @brief start reading threads and set flag is_running_
235 void can_bus_dev_t::start_reading()
237 th_reading_ = std::thread(can_reader, *this);
242 * Return is_running_ bool
244 bool can_bus_dev_t::is_running()
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.
253 * @return the next queue element or NULL if queue is empty.
255 can_message_t can_bus_dev_t::next_can_message(const struct afb_binding_interface* interface)
257 can_message_t can_msg(interface);
259 if(!can_message_q_.empty())
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());
267 NOTICE(interface, "next_can_message: End of can message queue");
268 has_can_message_ = false;
273 * @brief Append a new element to the can message queue and set
274 * has_can_message_ boolean to true
276 * @params[const can_message_t& can_msg] the can_message_t to append
279 void can_bus_dev_t::push_new_can_message(const can_message_t& can_msg)
281 can_message_q_.push(can_msg);
285 * @brief Flag that let you know when can message queue is exhausted
287 * @return[bool] has_can_message_ bool
289 bool can_bus_dev_t::has_can_message() const
291 return has_can_message_;
295 * @brief Send a can message from a can_message_t object.
297 * params[const can_message_t& can_msg] the can message object to send
300 int can_bus_dev_t::send_can_message(can_message_t& can_msg, const struct afb_binding_interface* interface)
305 f = can_msg.convert_to_canfd_frame();
309 nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0,
310 (struct sockaddr*)&txAddress_, sizeof(txAddress_));
313 ERROR(interface, "send_can_message: Sending CAN frame failed.");
320 ERROR(interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
325 /********************************************************************************
327 * can_bus_t method implementation
329 *********************************************************************************/
331 can_bus_t::can_bus_t(const afb_binding_interface *itf, int& conf_file)
332 : interface_{itf}, conf_file_{conf_file}
337 * @brief start threads relative to the can bus: decoding and pushing
338 * as the reading is handled by can_bus_dev_t object
340 void can_bus_t::start_threads()
342 th_decoding_ = std::thread(can_decode_message, *this);
343 th_pushing_ = std::thread(can_event_push, *this);
347 * @brief Initialize as many as can_bus_dev_t objects with their respective reading thread
349 * params[std::ifstream& conf_file] conf_file ifstream to the JSON configuration
350 * file located at the rootdir of the binding
352 int can_bus_t::init_can_dev()
354 std::vector<std::string> devices_name;
358 devices_name = read_conf();
360 if (! devices_name.empty())
362 t = devices_name.size();
365 for(const auto& device : devices_name)
367 can_bus_dev_t can_bus_device_handler(device);
368 can_bus_device_handler.open(interface_);
369 can_bus_device_handler.start_reading();
373 NOTICE(interface_, "Initialized %d/%d can bus device(s)", i, t);
376 ERROR(interface_, "init_can_dev: Error at CAN device initialization.");
381 * @brief Read the conf file and extract device name
383 * @return[std:vector<std::string>] return a vector of device name
385 std::vector<std::string> can_bus_t::read_conf()
387 std::vector<std::string> ret;
388 json_object *jo, *canbus;
391 FILE *fd = fdopen(conf_file_, "r");
394 std::string fd_conf_content;
395 std::fseek(fd, 0, SEEK_END);
396 fd_conf_content.resize(std::ftell(fd));
398 std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
401 jo = json_tokener_parse(fd_conf_content.c_str());
403 if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
405 ERROR(interface_, "Can't find canbus node in the configuration file. Please review it.");
408 else if (json_object_get_type(canbus) != json_type_array)
409 ret.push_back(json_object_get_string(canbus));
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)));
418 ERROR(interface_, "Problem at reading the conf file");
424 * @brief: Get a VehicleMessage from vehicle_message_q and return it
425 * then point to the next VehicleMessage in queue.
427 * @return the next queue element or NULL if queue is empty.
429 openxc_VehicleMessage can_bus_t::next_vehicle_message()
431 openxc_VehicleMessage v_msg;
433 if(! vehicle_message_q_.empty())
435 v_msg = vehicle_message_q_.front();
436 vehicle_message_q_.pop();
437 DEBUG(interface_, "next_vehicle_message: next vehicle message poped");
441 NOTICE(interface_, "next_vehicle_message: End of vehicle message queue");
442 has_vehicle_message_ = false;
447 * @brief Append a new element to the vehicle message queue and set
448 * has_vehicle_message_ boolean to true
450 * @params[const openxc_VehicleMessage& v_msg] the openxc_VehicleMessage to append
453 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
455 vehicle_message_q_.push(v_msg);
456 has_vehicle_message_ = true;
460 * @brief Flag that let you know when vehicle message queue is exhausted
462 * @return[bool] has_vehicle_message_ bool
464 bool can_bus_t::has_vehicle_message() const
466 return has_vehicle_message_;