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