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 #pragma once
  19
  20 /********************************************************************************
  21 *
  22 *               can_bus_dev_t method implementation
  23 *
  24 *********************************************************************************/
  25
  26
  27 can_bus_dev_t::can_bus_dev_t(afb_binding_interface *itf, const std:string &dev_name)
  28         : device_name_{dev_name}
  29 {
  30 }
  31
  32 int can_bus_dev_t::open()
  33 {
  34         const int canfd_on = 1;
  35         struct ifreq ifr;
  36         struct timeval timeout = {1, 0};
  37
  38         DEBUG(interface_, "open_can_dev: CAN Handler socket : %d", can_socket_);
  39         if (can_socket_ >= 0)
  40                 return 0;
  41
  42         can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW);
  43         if (socket < 0)
  44         {
  45                 ERROR(interface_, "open_can_dev: socket could not be created");
  46         }
  47         else
  48         {
  49                 /* Set timeout for read */
  50                 ::setsockopt(can_socket_, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
  51                 /* try to switch the socket into CAN_FD mode */
  52                 if (::setsockopt(can_socket_, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
  53                 {
  54                         NOTICE(interface_, "open_can_dev: Can not switch into CAN Extended frame format.");
  55                         is_fdmode_on_ = false;
  56                 } else {
  57                         is_fdmode_on_ = true;
  58                 }
  59
  60                 /* Attempts to open a socket to CAN bus */
  61                 ::strcpy(ifr.ifr_name, device);
  62                 if(ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0)
  63                         ERROR(interface_, "open_can_dev: ioctl failed");
  64                 else
  65                 {
  66                         txAddress.can_family = AF_CAN;
  67                         txAddress.can_ifindex = ifr.ifr_ifindex;
  68
  69                         /* And bind it to txAddress */
  70                         if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
  71                         {
  72                                 ERROR(interface_, "open_can_dev: bind failed");
  73                         }
  74                         else
  75                         {
  76                                 ::fcntl(can_socket_, F_SETFL, O_NONBLOCK);
  77                                 return 0;
  78                         }
  79                 }
  80                 close();
  81         }
  82         return -1;
  83 }
  84
  85 int can_bus_dev_t::close()
  86 {
  87         ::close(can_socket_);
  88         can_socket_ = -1;
  89 }
  90
  91
  92 canfd_frame can_bus_dev_t::read()
  93 {
  94         ssize_t nbytes;
  95         //int maxdlen;
  96         canfd_frame canfd_frame;
  97
  98         /* Test that socket is really opened */
  99         if (can_socket_ < 0)
 100         {
 101                 ERROR(interface_, "read_can: Socket unavailable. Closing thread.");
 102                 is_running_ = false;
 103         }
 104
 105         nbytes = ::read(can_socket_, &canfd_frame, CANFD_MTU);
 106
 107         switch(nbytes)
 108         {
 109                 case CANFD_MTU:
 110                         DEBUG(interface_, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
 111                         //maxdlen = CANFD_MAX_DLEN;
 112                         break;
 113                 case CAN_MTU:
 114                         DEBUG(interface_, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
 115                         //maxdlen = CAN_MAX_DLEN;
 116                         break;
 117                 default:
 118                         if (errno == ENETDOWN)
 119                                         ERROR(interface_, "read_can: %s interface down", device);
 120                         ERROR(interface_, "read_can: Error reading CAN bus");
 121                         ::memset(&canfd_frame, 0, sizeof(canfd_frame));
 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(afb_binding_interface *itf, std::ifstream& 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 /**
 210  * @brief Initialize as many as can_bus_dev_t objects with their respective reading thread
 211  *
 212  * params[std::ifstream& conf_file] conf_file ifstream to the JSON configuration
 213  * file located at the rootdir of the binding
 214  */
 215 int init_can_dev()
 216 {
 217         std::vector<std::string> devices_name;
 218         int i, t, ret;
 219
 220         devices_name = read_conf(conf_file_);
 221
 222         if (devices_name)
 223         {
 224                 t = devices_name.size();
 225                 i=0
 226
 227                 for(const auto& device : devices_name)
 228                 {
 229                         can_bus_dev_t(device);
 230                         i++;
 231                 }
 232
 233                 NOTICE(interface_, "Initialized %d/%d can bus device(s)", i, t);
 234                 return 0;
 235         }
 236         ERROR(interface_, "init_can_dev: Error at CAN device initialization.");
 237         return 1;
 238 }
 239
 240 /**
 241  * @brief Read the conf file and extract device name
 242  *
 243  * @return[std:vector<std::string>] return a vector of device name
 244  */
 245 std::vector<std::string> read_conf()
 246 {
 247         std::vector<std::string> ret;
 248         std::string fd_conf_content;
 249         json_object jo, canbus;
 250         int n, i, ok;
 251
 252         /* Open JSON conf file */
 253         if (conf_file_)
 254         {
 255                 conf_file_.seekg(0, std::ios::end);
 256                 conf_file_.resize(conf_file_.tellg());
 257                 conf_file_.seekg(0, std::ios::beg);
 258                 conf_file_.read(&fd_conf_content[0], fd_conf_content.size());
 259                 conf_file_.close();
 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 = nullptr;
 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 nullptr;
 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 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 }