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 *
  23 *               CanMessage method implementation
  24 *
  25 *********************************************************************************/
  26
  27 can_message_t::can_message_t(const struct afb_binding_interface* interface)
  28         : interface_{interface}
  29 {}
  30
  31 uint32_t can_message_t::get_id() const
  32 {
  33         if (id_ != 0)
  34                 return id_;
  35         return 0;
  36 }
  37
  38 int can_message_t::get_format() const
  39 {
  40         if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED)
  41                 return -1;
  42         return format_;
  43 }
  44
  45 const uint8_t* can_message_t::get_data() const
  46 {
  47         return &data_;
  48 }
  49 uint8_t can_message_t::get_length() const
  50 {
  51         return length_;
  52 }
  53
  54 void can_message_t::set_id(const uint32_t new_id)
  55 {
  56         switch(format_)
  57         {
  58                 case CanMessageFormat::STANDARD:
  59                         id_ = new_id & CAN_SFF_MASK;
  60                         break;
  61                 case CanMessageFormat::EXTENDED:
  62                         id_ = new_id & CAN_EFF_MASK;
  63                         break;
  64                 default:
  65                         ERROR(interface_, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
  66                         break;
  67         }
  68 }
  69
  70 void can_message_t::set_format(const CanMessageFormat new_format)
  71 {
  72         if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED)
  73                 format_ = new_format;
  74         else
  75                 ERROR(interface_, "ERROR: Can set format, wrong format chosen");
  76 }
  77
  78 void can_message_t::set_data(const uint8_t new_data)
  79 {
  80         ::memcpy(&data_, &new_data, sizeof(new_data));
  81         length_ = sizeof(new_data);
  82 }
  83
  84 /*
  85  * @brief This is the preferred way to initialize a CanMessage object
  86  * from a read canfd_frame message.
  87  *
  88  * @param: canfd_frame pointer
  89  */
  90 void can_message_t::convert_from_canfd_frame(const canfd_frame& frame)
  91 {
  92         length_ = (frame.len > CAN_MAX_DLEN) ? (uint8_t)CAN_MAX_DLEN : frame.len;
  93         length_ = (frame.len > CANFD_MAX_DLEN) ? (uint8_t)CANFD_MAX_DLEN : frame.len;
  94
  95         if (frame.can_id & CAN_ERR_FLAG)
  96                 id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
  97         else if (frame.can_id & CAN_EFF_FLAG)
  98         {
  99                 id_ = frame.can_id & CAN_EFF_MASK;
 100                 format_ = CanMessageFormat::EXTENDED;
 101         }
 102         else
 103         {
 104                 id_ = frame.can_id & CAN_SFF_MASK;
 105                 format_ = CanMessageFormat::STANDARD;
 106         }
 107
 108         if (sizeof(frame.data) <= sizeof(data_))
 109                 ::memcpy(&data_, frame.data, length_);
 110         else if (sizeof(frame.data) >= CAN_MAX_DLEN)
 111                 ERROR(interface_, "can_message_t: canfd_frame data too long to be stored into CanMessage object");
 112 }
 113
 114 canfd_frame can_message_t::convert_to_canfd_frame()
 115 {
 116         canfd_frame frame;
 117
 118         frame.can_id = get_id();
 119         frame.len = get_length();
 120         ::memcpy(frame.data, get_data(), length_);
 121
 122         return frame;
 123 }
 124 /********************************************************************************
 125 *
 126 *               can_bus_dev_t method implementation
 127 *
 128 *********************************************************************************/
 129
 130 can_bus_dev_t::can_bus_dev_t(const std::string &dev_name)
 131         : device_name_{dev_name}
 132 {
 133 }
 134
 135 int can_bus_dev_t::open(const struct afb_binding_interface* interface)
 136 {
 137         const int canfd_on = 1;
 138         struct ifreq ifr;
 139         struct timeval timeout = {1, 0};
 140
 141         DEBUG(interface, "open_can_dev: CAN Handler socket : %d", can_socket_);
 142         if (can_socket_ >= 0)
 143                 return 0;
 144
 145         can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW);
 146         if (can_socket_ < 0)
 147         {
 148                 ERROR(interface, "open_can_dev: socket could not be created");
 149         }
 150         else
 151         {
 152                 /* Set timeout for read */
 153                 ::setsockopt(can_socket_, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
 154                 /* try to switch the socket into CAN_FD mode */
 155                 if (::setsockopt(can_socket_, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
 156                 {
 157                         NOTICE(interface, "open_can_dev: Can not switch into CAN Extended frame format.");
 158                         is_fdmode_on_ = false;
 159                 } else {
 160                         is_fdmode_on_ = true;
 161                 }
 162
 163                 /* Attempts to open a socket to CAN bus */
 164                 ::strcpy(ifr.ifr_name, device_name_.c_str());
 165                 if(::ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0)
 166                         ERROR(interface, "open_can_dev: ioctl failed");
 167                 else
 168                 {
 169                         txAddress_.can_family = AF_CAN;
 170                         txAddress_.can_ifindex = ifr.ifr_ifindex;
 171
 172                         /* And bind it to txAddress */
 173                         if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
 174                         {
 175                                 ERROR(interface, "open_can_dev: bind failed");
 176                         }
 177                         else
 178                         {
 179                                 ::fcntl(can_socket_, F_SETFL, O_NONBLOCK);
 180                                 return 0;
 181                         }
 182                 }
 183                 close();
 184         }
 185         return -1;
 186 }
 187
 188 int can_bus_dev_t::close()
 189 {
 190         ::close(can_socket_);
 191         can_socket_ = -1;
 192         return can_socket_;
 193 }
 194
 195 canfd_frame can_bus_dev_t::read(const struct afb_binding_interface* interface)
 196 {
 197         ssize_t nbytes;
 198         //int maxdlen;
 199         canfd_frame canfd_frame;
 200
 201         /* Test that socket is really opened */
 202         if (can_socket_ < 0)
 203         {
 204                 ERROR(interface, "read_can: Socket unavailable. Closing thread.");
 205                 is_running_ = false;
 206         }
 207
 208         nbytes = ::read(can_socket_, &canfd_frame, CANFD_MTU);
 209
 210         switch(nbytes)
 211         {
 212                 case CANFD_MTU:
 213                         DEBUG(interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
 214                         //maxdlen = CANFD_MAX_DLEN;
 215                         break;
 216                 case CAN_MTU:
 217                         DEBUG(interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
 218                         //maxdlen = CAN_MAX_DLEN;
 219                         break;
 220                 default:
 221                         if (errno == ENETDOWN)
 222                                         ERROR(interface, "read_can: %s interface down", device_name_);
 223                         ERROR(interface, "read_can: Error reading CAN bus");
 224                         ::memset(&canfd_frame, 0, sizeof(canfd_frame));
 225                         is_running_ = false;
 226                         break;
 227         }
 228
 229         return canfd_frame;
 230 }
 231
 232 /**
 233  * @brief start reading threads and set flag is_running_
 234  *
 235  */
 236 void can_bus_dev_t::start_reading()
 237 {
 238         th_reading_ = std::thread(can_reader, this);
 239         is_running_ = true;
 240 }
 241
 242 /*
 243  * Return is_running_ bool
 244  */
 245 bool can_bus_dev_t::is_running()
 246 {
 247         return is_running_;
 248 }
 249
 250 /**
 251  * @brief: Get a can_message_t from can_message_q and return it
 252  * then point to the next can_message_t in queue.
 253  *
 254  * @return the next queue element or NULL if queue is empty.
 255  */
 256 can_message_t can_bus_dev_t::next_can_message(const struct afb_binding_interface* interface)
 257 {
 258         can_message_t can_msg(interface);
 259
 260         if(!can_message_q_.empty())
 261         {
 262                 can_msg = can_message_q_.front();
 263                 can_message_q_.pop();
 264                 DEBUG(interface, "next_can_message: Here is the next can message : id %d, length %d", can_msg.get_id(), can_msg.get_length());
 265                 return can_msg;
 266         }
 267
 268         NOTICE(interface, "next_can_message: End of can message queue");
 269         has_can_message_ = false;
 270         return can_msg;
 271 }
 272
 273 /**
 274  * @brief Append a new element to the can message queue and set
 275  * has_can_message_ boolean to true
 276  *
 277  * @params[const can_message_t& can_msg] the can_message_t to append
 278  *
 279  */
 280 void can_bus_dev_t::push_new_can_message(const can_message_t& can_msg)
 281 {
 282         can_message_q_.push(can_msg);
 283 }
 284
 285 /**
 286  * @brief Flag that let you know when can message queue is exhausted
 287  *
 288  * @return[bool] has_can_message_ bool
 289  */
 290 bool can_bus_dev_t::has_can_message() const
 291 {
 292         return has_can_message_;
 293 }
 294
 295 /**
 296  * @brief Send a can message from a can_message_t object.
 297  *
 298  * params[const can_message_t& can_msg] the can message object to send
 299  *
 300  */
 301 int can_bus_dev_t::send_can_message(can_message_t& can_msg, const struct afb_binding_interface* interface)
 302 {
 303         size_t nbytes;
 304         canfd_frame f;
 305
 306         f = can_msg.convert_to_canfd_frame();
 307
 308         if(can_socket_ >= 0)
 309         {
 310                 nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0,
 311                                 (struct sockaddr*)&txAddress_, sizeof(txAddress_));
 312                 if (nbytes == -1)
 313                 {
 314                         ERROR(interface, "send_can_message: Sending CAN frame failed.");
 315                         return -1;
 316                 }
 317                 return (int)nbytes;
 318         }
 319         else
 320         {
 321                 ERROR(interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
 322                 open(interface);
 323         }
 324         return 0;
 325 }
 326 /********************************************************************************
 327 *
 328 *               can_bus_t method implementation
 329 *
 330 *********************************************************************************/
 331
 332 can_bus_t::can_bus_t(const afb_binding_interface *itf, int& conf_file)
 333         : interface_{itf}, conf_file_{conf_file}
 334 {
 335 }
 336
 337 /**
 338  * @brief start threads relative to the can bus: decoding and pushing
 339  * as the reading is handled by can_bus_dev_t object
 340  */
 341 void can_bus_t::start_threads()
 342 {
 343         th_decoding_ = std::thread(can_decoder, this);
 344         th_pushing_ = std::thread(can_event_push, this);
 345 }
 346
 347 /**
 348  * @brief Initialize as many as can_bus_dev_t objects with their respective reading thread
 349  *
 350  * params[std::ifstream& conf_file] conf_file ifstream to the JSON configuration
 351  * file located at the rootdir of the binding
 352  */
 353 int can_bus_t::init_can_dev()
 354 {
 355         std::vector<std::string> devices_name;
 356         int i;
 357         size_t t;
 358
 359         devices_name = read_conf();
 360
 361         if (! devices_name.empty())
 362         {
 363                 t = devices_name.size();
 364                 i=0;
 365
 366                 for(const auto& device : devices_name)
 367                 {
 368                         can_bus_dev_t can_bus_device_handler(device);
 369                         can_bus_device_handler.open(interface_);
 370                         can_bus_device_handler.start_reading();
 371                         i++;
 372                 }
 373
 374                 NOTICE(interface_, "Initialized %d/%d can bus device(s)", i, t);
 375                 return 0;
 376         }
 377         ERROR(interface_, "init_can_dev: Error at CAN device initialization.");
 378         return 1;
 379 }
 380
 381 /**
 382  * @brief Read the conf file and extract device name
 383  *
 384  * @return[std:vector<std::string>] return a vector of device name
 385  */
 386 std::vector<std::string> can_bus_t::read_conf()
 387 {
 388         std::vector<std::string> ret;
 389         json_object *jo, *canbus;
 390         int n, i, ok;
 391
 392         FILE *fd = fdopen(conf_file_, "r");
 393         if (fd)
 394         {
 395                 std::string fd_conf_content;
 396                 std::fseek(fd, 0, SEEK_END);
 397                 fd_conf_content.resize(std::ftell(fd));
 398                 std::rewind(fd);
 399                 std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
 400                 std::fclose(fd);
 401
 402                 jo = json_tokener_parse(fd_conf_content.c_str());
 403
 404                 if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
 405                 {
 406                         ERROR(interface_, "Can't find canbus node in the configuration file. Please review it.");
 407                         ret.clear();
 408                 }
 409                 else if (json_object_get_type(canbus) != json_type_array)
 410                         ret.push_back(json_object_get_string(canbus));
 411                 else
 412                 {
 413                         n = json_object_array_length(canbus);
 414                         ok = 0;
 415                         for (i = 0 ; i < n ; i++)
 416                         ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
 417                 }
 418                 return ret;
 419         }
 420         ERROR(interface_, "Problem at reading the conf file");
 421         ret.clear();
 422         return ret;
 423 }
 424
 425 /**
 426  * @brief: Get a VehicleMessage from vehicle_message_q and return it
 427  * then point to the next VehicleMessage in queue.
 428  *
 429  * @return the next queue element or NULL if queue is empty.
 430  */
 431 openxc_VehicleMessage can_bus_t::next_vehicle_message()
 432 {
 433         openxc_VehicleMessage v_msg;
 434
 435         if(! vehicle_message_q_.empty())
 436         {
 437                 v_msg = vehicle_message_q_.front();
 438                 vehicle_message_q_.pop();
 439                 DEBUG(interface_, "next_vehicle_message: next vehicle message poped");
 440                 return v_msg;
 441         }
 442
 443         NOTICE(interface_, "next_vehicle_message: End of vehicle message queue");
 444         has_vehicle_message_ = false;
 445         return v_msg;
 446 }
 447
 448 /**
 449  * @brief Append a new element to the vehicle message queue and set
 450  * has_vehicle_message_ boolean to true
 451  *
 452  * @params[const openxc_VehicleMessage& v_msg] the openxc_VehicleMessage to append
 453  *
 454  */
 455 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
 456 {
 457         vehicle_message_q_.push(v_msg);
 458         has_vehicle_message_ = true;
 459 }
 460
 461 /**
 462  * @brief Flag that let you know when vehicle message queue is exhausted
 463  *
 464  * @return[bool] has_vehicle_message_ bool
 465  */
 466 bool can_bus_t::has_vehicle_message() const
 467 {
 468         return has_vehicle_message_;
 469 }