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 *               CanBus method implementation
  23 *
  24 *********************************************************************************/
  25
  26 can_bus_dev_t::can_bus_dev_t(afb_binding_interface *itf, const std:string &dev_name)
  27         : interface{itf}, deviceName{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                         break;
 122         }
 123
 124         return canfd_frame;
 125 }
 126
 127 /*
 128  * Return is_running_ bool
 129  */
 130 bool can_bus_dev_t::is_running()
 131 {
 132         return is_running_;
 133 }
 134
 135 can_bus_t::can_bus_t(afb_binding_interface *itf, const std:string &dev_name)
 136         : interface{itf}
 137 {
 138 }
 139
 140 void can_bus_t::start_threads()
 141 {
 142         th_reading_ = std::thread(can_reader, interface, socket, can_message_q_);
 143         is_running_ = true;
 144
 145         th_decoding_ = std::thread(can_decoder, interface, can_message_q, can_message_q_);
 146         th_pushing_ = std::thread(can_event_push, interface, can_message_q_);
 147 }
 148
 149 /*
 150  * Get a CanMessage from can_message_q and return it
 151  * then point to the next CanMessage in queue.
 152  *
 153  * Return the next queue element or NULL if queue is empty.
 154  */
 155 can_message_t can_bus_dev_t::next_can_message()
 156 {
 157         if(! can_message_q_.empty())
 158         {
 159                 can_message_t can_msg = can_message_q_.front();
 160                 can_message_q_.pop()
 161                 return &can_msg;
 162         }
 163         has_can_message_ = false;
 164 }
 165
 166 /**
 167  * @return has_can_message_ bool
 168  */
 169 bool can_bus_dev_t::has_can_message() const
 170 {
 171         return has_can_message_;
 172 }
 173
 174 void can_bus_dev_t::push_new_can_message(const can_message_t& can_msg)
 175 {
 176         can_message_q_.push(can_msg);
 177 }
 178
 179 /*
 180  * Send a can message from a can_message_t object.
 181  */
 182 int can_bus_t::send_can_message(can_message_t &can_msg)
 183 {
 184         int nbytes;
 185         canfd_frame *f;
 186
 187         f = can_msg.convert_to_canfd_frame();
 188
 189         if(can_socket_ >= 0)
 190         {
 191                 nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0,
 192                                 (struct sockaddr*)&txAddress, sizeof(txAddress));
 193
 194                 if (nbytes == -1)
 195                 {
 196                         ERROR(interface_, "send_can_message: Sending CAN frame failed.");
 197                         return -1;
 198                 }
 199                 return nbytes;
 200         }
 201         else
 202         {
 203                 ERROR(interface_, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
 204                 open();
 205         }
 206         return 0;
 207 }
 208
 209 /*
 210  * Get a VehicleMessage from vehicle_message_q and return it
 211  * then point to the next VehicleMessage in queue.
 212  *
 213  * Return the next queue element or NULL if queue is empty.
 214  */
 215 openxc_VehicleMessage* can_bus_t::next_vehicle_message()
 216 {
 217         if(! vehicle_message_q_.empty())
 218         {
 219                 openxc_VehicleMessage v_msg = vehicle_message_q_.front();
 220                 vehicle_message_q_.pop();
 221                 return &v_msg;
 222         }
 223
 224         has_vehicle_message_ = false;
 225 }
 226
 227 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
 228 {
 229         vehicle_message_q_.push(v_msg);
 230         has_vehicle_message_ = true;
 231 }
 232
 233 /*
 234  * Return has_can_message_ bool
 235  */
 236 bool can_bus_t::has_vehicle_message() const
 237 {
 238         return has_vehicle_message_;
 239 }
 240
 241 /********************************************************************************
 242 *
 243 *               CanMessage method implementation
 244 *
 245 *********************************************************************************/
 246
 247 can_message_t::can_message_t(afb_binding_interface *itf)
 248         : interface_{itf}
 249 {}
 250
 251 uint32_t can_message_t::get_id() const
 252 {
 253         (id_ != 0) ? return id_ : return 0;
 254 }
 255
 256 int can_message_t::get_format() const
 257 {
 258         (format_ != CanMessageFormat::SIMPLE || format_ != CanMessageFormat::EXTENDED) return -1 : return format_;
 259 }
 260
 261 uint8_t can_message_t::get_data() const
 262 {
 263         return data_;
 264 }
 265 uint8_t can_message_t::get_lenght() const
 266 {
 267         return lenght_;
 268 }
 269
 270 void can_message_t::set_id(uint32_t &new_id)
 271 {
 272         switch(format):
 273                 case CanMessageFormat::SIMPLE:
 274                         id = new_id & CAN_SFF_MASK;
 275                 case CanMessageFormat::EXTENDED:
 276                         id = new_id & CAN_EFF_MASK;
 277                 default:
 278                         ERROR(interface_, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
 279 }
 280
 281 void can_message_t::set_format(CanMessageFormat &new_format)
 282 {
 283         if(new_format == CanMessageFormat::SIMPLE || new_format == CanMessageFormat::EXTENDED)
 284                 format = new_format;
 285         else
 286                 ERROR(interface_, "ERROR: Can set format, wrong format chosen");
 287 }
 288
 289 void can_message_t::set_data(uint8_t &new_data)
 290 {
 291         ::memcpy(data_, new_data, new_data.size());
 292         lenght_ = new_data(size);
 293 }
 294
 295 /*
 296  * This is the preferred way to initialize a CanMessage object
 297  * from a read canfd_frame message.
 298  *
 299  * params: canfd_frame pointer
 300  */
 301 void can_message_t::convert_from_canfd_frame(canfd_frame &frame)
 302 {
 303         lenght_ = (frame.len > CAN_MAX_DLEN) ? CAN_MAX_DLEN : frame.len;
 304         lenght_ = (frame.len > CANFD_MAX_DLEN) ? CANFD_MAX_DLEN : frame.len;
 305
 306         switch (frame.can_id):
 307                 case (frame.can_id & CAN_ERR_FLAG):
 308                         id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
 309                         break;
 310                 case (frame.can_id & CAN_EFF_FLAG):
 311                         id_ = frame.can_id & CAN_EFF_MASK;
 312                         format_ = CanMessageFormat::EXTENDED;
 313                         break;
 314                 default:
 315                         format_ = CanMessageFormat::STANDARD;
 316                         id_ = frame.can_id & CAN_SFF_MASK;
 317                         break;
 318
 319         if (sizeof(frame.data) <= data_.size())
 320         {
 321                 ::memcpy(data_, canfd_frame.data, lenght_);
 322                 return 0;
 323         } else if (sizeof(frame.data) >= CAN_MAX_DLEN)
 324                 ERROR(interface_, "can_message_t: canfd_frame data too long to be stored into CanMessage object");
 325 }
 326
 327 canfd_frame convert_to_canfd_frame()
 328 {
 329         canfd_frame frame;
 330
 331         frame.can_id = get_id();
 332         frame.len = get_lenght();
 333         ::memcpy(frame.data, get_data(), lenght_);
 334
 335         return frame;
 336 }