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