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