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 *               can_bus_dev_t method implementation
  23 *
  24 *********************************************************************************/
  25
  26 can_bus_dev_t::can_bus_dev_t(const std::string &dev_name)
  27         : device_name_{dev_name}
  28 {
  29 }
  30
  31 int can_bus_dev_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_dev_t::close()
  85 {
  86         ::close(can_socket_);
  87         can_socket_ = -1;
  88 }
  89
  90
  91 canfd_frame can_bus_dev_t::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                         is_running_ = false;
 122                         break;
 123         }
 124
 125         return canfd_frame;
 126 }
 127
 128 /**
 129  * @brief start reading threads and set flag is_running_
 130  *
 131  */
 132 void can_bus_dev_t::start_reading()
 133 {
 134         th_reading_ = std::thread(can_reader, this);
 135         is_running_ = true;
 136 }
 137
 138 /*
 139  * Return is_running_ bool
 140  */
 141 bool can_bus_dev_t::is_running()
 142 {
 143         return is_running_;
 144 }
 145
 146 /**
 147  * @brief: Get a can_message_t from can_message_q and return it
 148  * then point to the next can_message_t in queue.
 149  *
 150  * @return the next queue element or NULL if queue is empty.
 151  */
 152 can_message_t can_bus_dev_t::next_can_message()
 153 {
 154         if(! can_message_q_.empty())
 155         {
 156                 can_message_t can_msg = can_message_q_.front();
 157                 can_message_q_.pop()
 158                 return &can_msg;
 159         }
 160
 161         has_can_message_ = false;
 162 }
 163
 164 /**
 165  * @brief Append a new element to the can message queue and set
 166  * has_can_message_ boolean to true
 167  *
 168  * @params[const can_message_t& can_msg] the can_message_t to append
 169  *
 170  */
 171 void can_bus_dev_t::push_new_can_message(const can_message_t& can_msg)
 172 {
 173         can_message_q_.push(can_msg);
 174 }
 175
 176 /**
 177  * @brief Flag that let you know when can message queue is exhausted
 178  *
 179  * @return[bool] has_can_message_ bool
 180  */
 181 bool can_bus_dev_t::has_can_message() const
 182 {
 183         return has_can_message_;
 184 }
 185
 186 /********************************************************************************
 187 *
 188 *               can_bus_t method implementation
 189 *
 190 *********************************************************************************/
 191
 192 can_bus_t::can_bus_t(const afb_binding_interface *itf, int& conf_file)
 193         : interface_{itf}, conf_file_{conf_file}
 194 {
 195 }
 196
 197 /**
 198  * @brief start threads relative to the can bus: decoding and pushing
 199  * as the reading is handled by can_bus_dev_t object
 200  *
 201  */
 202 void can_bus_t::start_threads()
 203 {
 204         th_decoding_ = std::thread(can_decoder, this);
 205         th_pushing_ = std::thread(can_event_push, this);
 206 }
 207
 208 /**
 209  * @brief Initialize as many as can_bus_dev_t objects with their respective reading thread
 210  *
 211  * params[std::ifstream& conf_file] conf_file ifstream to the JSON configuration
 212  * file located at the rootdir of the binding
 213  */
 214 int init_can_dev()
 215 {
 216         std::vector<std::string> devices_name;
 217         int i, t, ret;
 218
 219         devices_name = read_conf(conf_file_);
 220
 221         if (devices_name)
 222         {
 223                 t = devices_name.size();
 224                 i=0
 225
 226                 for(const auto& device : devices_name)
 227                 {
 228                         can_bus_dev_t(device);
 229                         i++;
 230                 }
 231
 232                 NOTICE(interface_, "Initialized %d/%d can bus device(s)", i, t);
 233                 return 0;
 234         }
 235         ERROR(interface_, "init_can_dev: Error at CAN device initialization.");
 236         return 1;
 237 }
 238
 239 /**
 240  * @brief Read the conf file and extract device name
 241  *
 242  * @return[std:vector<std::string>] return a vector of device name
 243  */
 244 std::vector<std::string> read_conf()
 245 {
 246         std::vector<std::string> ret;
 247         json_object jo, canbus;
 248         int n, i, ok;
 249
 250         if (conf_file_)
 251         {
 252                 std::string fd_conf_content;
 253                 std::fseek(conf_file_, 0, SEEK_END);
 254                 fd_conf_content.resize(std::ftell(conf_file_));
 255                 std::rewind(fp);
 256                 std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), conf_file_);
 257                 std::fclose(conf_file_);
 258
 259                 jo = json_tokener_parse(&fd_conf_content);
 260
 261                 if (jo == NULL || !json_object_object_get_ex(&jo, "canbus", &&canbus))
 262                 {
 263                         ERROR(interface_, "Can't find canbus node in the configuration file. Please review it.");
 264                         ret = nullptr;
 265                 }
 266                 else if (json_object_get_type(canbus) != json_type_array)
 267                         ret.push_back(json_object_get_string(a));
 268                 else
 269                 {
 270                         n = json_object_array_length(a);
 271                         ok = 0;
 272                         for (i = 0 ; i < n ; i++)
 273                         ret.push_back(json_object_get_string(json_object_array_get_idx(a, i)));
 274                 }
 275         return ret;
 276         }
 277         ERROR(interface_, "Problem at reading the conf file");
 278         return nullptr;
 279 }
 280
 281 /**
 282  * @brief Send a can message from a can_message_t object.
 283  * TODO: specify which can_dev to use as we can use many
 284  *
 285  * params[const can_message_t& can_msg] the can message object to send
 286  *
 287  */
 288 int can_bus_t::send_can_message(const can_message_t &can_msg)
 289 {
 290         int nbytes;
 291         canfd_frame *f;
 292
 293         f = can_msg.convert_to_canfd_frame();
 294
 295         if(can_socket_ >= 0)
 296         {
 297                 nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0,
 298                                 (struct sockaddr*)&txAddress, sizeof(txAddress));
 299
 300                 if (nbytes == -1)
 301                 {
 302                         ERROR(interface_, "send_can_message: Sending CAN frame failed.");
 303                         return -1;
 304                 }
 305                 return nbytes;
 306         }
 307         else
 308         {
 309                 ERROR(interface_, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
 310                 open();
 311         }
 312         return 0;
 313 }
 314
 315 /**
 316  * @brief: Get a VehicleMessage from vehicle_message_q and return it
 317  * then point to the next VehicleMessage in queue.
 318  *
 319  * @return the next queue element or NULL if queue is empty.
 320  */
 321 openxc_VehicleMessage* can_bus_t::next_vehicle_message()
 322 {
 323         if(! vehicle_message_q_.empty())
 324         {
 325                 openxc_VehicleMessage v_msg = vehicle_message_q_.front();
 326                 vehicle_message_q_.pop();
 327                 return &v_msg;
 328         }
 329
 330         has_vehicle_message_ = false;
 331 }
 332
 333 /**
 334  * @brief Append a new element to the vehicle message queue and set
 335  * has_vehicle_message_ boolean to true
 336  *
 337  * @params[const openxc_VehicleMessage& v_msg] the openxc_VehicleMessage to append
 338  *
 339  */
 340 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
 341 {
 342         vehicle_message_q_.push(v_msg);
 343         has_vehicle_message_ = true;
 344 }
 345
 346 /**
 347  * @brief Flag that let you know when vehicle message queue is exhausted
 348  *
 349  * @return[bool] has_vehicle_message_ bool
 350  */
 351 bool can_bus_t::has_vehicle_message() const
 352 {
 353         return has_vehicle_message_;
 354 }
 355
 356 /********************************************************************************
 357 *
 358 *               CanMessage method implementation
 359 *
 360 *********************************************************************************/
 361
 362 can_message_t::can_message_t(afb_binding_interface *itf)
 363         : interface_{itf}
 364 {}
 365
 366 uint32_t can_message_t::get_id() const
 367 {
 368         (id_ != 0) ? return id_ : return 0;
 369 }
 370
 371 int can_message_t::get_format() const
 372 {
 373         (format_ != CanMessageFormat::SIMPLE || format_ != CanMessageFormat::EXTENDED) return -1 : return format_;
 374 }
 375
 376 uint8_t can_message_t::get_data() const
 377 {
 378         return data_;
 379 }
 380 uint8_t can_message_t::get_lenght() const
 381 {
 382         return lenght_;
 383 }
 384
 385 void can_message_t::set_id(uint32_t &new_id)
 386 {
 387         switch(format):
 388                 case CanMessageFormat::SIMPLE:
 389                         id = new_id & CAN_SFF_MASK;
 390                 case CanMessageFormat::EXTENDED:
 391                         id = new_id & CAN_EFF_MASK;
 392                 default:
 393                         ERROR(interface_, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
 394 }
 395
 396 void can_message_t::set_format(CanMessageFormat &new_format)
 397 {
 398         if(new_format == CanMessageFormat::SIMPLE || new_format == CanMessageFormat::EXTENDED)
 399                 format = new_format;
 400         else
 401                 ERROR(interface_, "ERROR: Can set format, wrong format chosen");
 402 }
 403
 404 void can_message_t::set_data(uint8_t &new_data)
 405 {
 406         ::memcpy(data_, new_data, new_data.size());
 407         lenght_ = new_data(size);
 408 }
 409
 410 /*
 411  * This is the preferred way to initialize a CanMessage object
 412  * from a read canfd_frame message.
 413  *
 414  * params: canfd_frame pointer
 415  */
 416 void can_message_t::convert_from_canfd_frame(canfd_frame &frame)
 417 {
 418         lenght_ = (frame.len > CAN_MAX_DLEN) ? CAN_MAX_DLEN : frame.len;
 419         lenght_ = (frame.len > CANFD_MAX_DLEN) ? CANFD_MAX_DLEN : frame.len;
 420
 421         switch (frame.can_id):
 422                 case (frame.can_id & CAN_ERR_FLAG):
 423                         id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
 424                         break;
 425                 case (frame.can_id & CAN_EFF_FLAG):
 426                         id_ = frame.can_id & CAN_EFF_MASK;
 427                         format_ = CanMessageFormat::EXTENDED;
 428                         break;
 429                 default:
 430                         format_ = CanMessageFormat::STANDARD;
 431                         id_ = frame.can_id & CAN_SFF_MASK;
 432                         break;
 433
 434         if (sizeof(frame.data) <= data_.size())
 435         {
 436                 ::memcpy(data_, canfd_frame.data, lenght_);
 437                 return 0;
 438         } else if (sizeof(frame.data) >= CAN_MAX_DLEN)
 439                 ERROR(interface_, "can_message_t: canfd_frame data too long to be stored into CanMessage object");
 440 }
 441
 442 canfd_frame can_message_t::convert_to_canfd_frame()
 443 {
 444         canfd_frame frame;
 445
 446         frame.can_id = get_id();
 447         frame.len = get_lenght();
 448         ::memcpy(frame.data, get_data(), lenght_);
 449
 450         return frame;
 451 }