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 #include <map>
  21 #include <vector>
  22 #include <cstdio>
  23 #include <string>
  24 #include <fcntl.h>
  25 #include <unistd.h>
  26 #include <net/if.h>
  27 #include <sys/ioctl.h>
  28 #include <sys/socket.h>
  29 #include <json-c/json.h>
  30 #include <linux/can/raw.h>
  31 #include <systemd/sd-event.h>
  32
  33 extern "C"
  34 {
  35         #include <afb/afb-binding.h>
  36 }
  37
  38 /********************************************************************************
  39 *
  40 *               CanMessage method implementation
  41 *
  42 *********************************************************************************/
  43
  44 can_message_t::can_message_t()
  45         : id_{0}, length_{0}, format_{CanMessageFormat::ERROR}, data_{0,0,0,0,0,0,0,0}
  46 {}
  47
  48 uint32_t can_message_t::get_id() const
  49 {
  50         return id_;
  51 }
  52
  53 int can_message_t::get_format() const
  54 {
  55         if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED)
  56                 return CanMessageFormat::ERROR;
  57         return format_;
  58 }
  59
  60 const uint8_t* can_message_t::get_data() const
  61 {
  62         return data_;
  63 }
  64 uint8_t can_message_t::get_length() const
  65 {
  66         return length_;
  67 }
  68
  69 bool can_message_t::is_correct_to_send()
  70 {
  71         if (id_ != 0 && length_ != 0 && format_ != CanMessageFormat::ERROR)
  72         {
  73                 int i;
  74                 for(i=0;i<CAN_MESSAGE_SIZE;i++)
  75                         if(data_[i] != 0)
  76                                 return true;
  77         }
  78         return false;
  79 }
  80
  81 void can_message_t::set_id(const uint32_t new_id)
  82 {
  83         switch(format_)
  84         {
  85                 case CanMessageFormat::STANDARD:
  86                         id_ = new_id & CAN_SFF_MASK;
  87                         break;
  88                 case CanMessageFormat::EXTENDED:
  89                         id_ = new_id & CAN_EFF_MASK;
  90                         break;
  91                 default:
  92                         ERROR(binder_interface, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
  93                         break;
  94         }
  95 }
  96
  97 void can_message_t::set_format(const CanMessageFormat new_format)
  98 {
  99         if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED)
 100                 format_ = new_format;
 101         else
 102                 ERROR(binder_interface, "ERROR: Can set format, wrong format chosen");
 103 }
 104
 105 void can_message_t::set_data(const uint8_t new_data)
 106 {
 107         if ((sizeof(new_data) / sizeof(uint8_t) > CAN_MESSAGE_SIZE))
 108                 ERROR(binder_interface, "Can set data, your data array is too big");
 109         else
 110         {
 111                 ::memcpy(&data_, &new_data, sizeof(new_data));
 112                 length_ = sizeof(new_data);
 113         }
 114 }
 115
 116 void can_message_t::convert_from_canfd_frame(const canfd_frame& frame)
 117 {
 118         length_ = (frame.len > CAN_MAX_DLEN) ? (uint8_t)CAN_MAX_DLEN : frame.len;
 119         length_ = (frame.len > CANFD_MAX_DLEN) ? (uint8_t)CANFD_MAX_DLEN : frame.len;
 120
 121         if (frame.can_id & CAN_ERR_FLAG)
 122         {
 123                 id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
 124                 format_ = CanMessageFormat::ERROR;
 125         }
 126         else if (frame.can_id & CAN_EFF_FLAG)
 127         {
 128                 id_ = frame.can_id & CAN_EFF_MASK;
 129                 format_ = CanMessageFormat::EXTENDED;
 130         }
 131         else
 132         {
 133                 id_ = frame.can_id & CAN_SFF_MASK;
 134                 format_ = CanMessageFormat::STANDARD;
 135         }
 136
 137         if (sizeof(frame.data) <= sizeof(data_))
 138                 ::memcpy(&data_, frame.data, length_);
 139         else if (sizeof(frame.data) >= CAN_MAX_DLEN)
 140                 ERROR(binder_interface, "can_message_t: canfd_frame data too long to be stored into CanMessage object");
 141 }
 142
 143 canfd_frame can_message_t::convert_to_canfd_frame()
 144 {
 145         canfd_frame frame;
 146
 147         if(is_correct_to_send())
 148         {
 149                 frame.can_id = get_id();
 150                 frame.len = get_length();
 151                 ::memcpy(frame.data, get_data(), length_);
 152         }
 153         else
 154                 ERROR(binder_interface, "can_message_t not correctly initialized to be sent");
 155
 156         return frame;
 157 }
 158
 159 /********************************************************************************
 160 *
 161 *               can_bus_t method implementation
 162 *
 163 *********************************************************************************/
 164
 165 can_bus_t::can_bus_t(int& conf_file)
 166         :  conf_file_{conf_file}
 167 {
 168 }
 169
 170 void can_bus_t::start_threads()
 171 {
 172         th_decoding_ = std::thread(can_decode_message, std::ref(*this));
 173         th_pushing_ = std::thread(can_event_push, std::ref(*this));
 174 }
 175
 176
 177 int can_bus_t::init_can_dev()
 178 {
 179         std::vector<std::string> devices_name;
 180         int i;
 181         size_t t;
 182
 183         devices_name = read_conf();
 184
 185         if (! devices_name.empty())
 186         {
 187                 t = devices_name.size();
 188                 i=0;
 189
 190                 std::lock_guard<std::mutex> can_frame_lock(can_frame_mutex);
 191                 for(const auto& device : devices_name)
 192                 {
 193                         can_bus_dev_t can_bus_device_handler(device);
 194                         (can_bus_device_handler.open()) ? i++ : ERROR(binder_interface, "Can't open device %s", device);
 195                         can_bus_device_handler.start_reading(std::ref(*this));
 196                 }
 197                 can_frame_mutex.unlock();
 198
 199                 NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
 200                 return 0;
 201         }
 202         ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read from configuration file. Did you specify canbus JSON object ?");
 203         return 1;
 204 }
 205
 206 std::vector<std::string> can_bus_t::read_conf()
 207 {
 208         std::vector<std::string> ret;
 209         json_object *jo, *canbus;
 210         int n, i;
 211
 212         FILE *fd = fdopen(conf_file_, "r");
 213         if (fd)
 214         {
 215                 std::string fd_conf_content;
 216                 std::fseek(fd, 0, SEEK_END);
 217                 fd_conf_content.resize(std::ftell(fd));
 218                 std::rewind(fd);
 219                 std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
 220                 std::fclose(fd);
 221
 222                 jo = json_tokener_parse(fd_conf_content.c_str());
 223
 224                 if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
 225                 {
 226                         ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
 227                         ret.clear();
 228                 }
 229                 else if (json_object_get_type(canbus) != json_type_array)
 230                         ret.push_back(json_object_get_string(canbus));
 231                 else
 232                 {
 233                         n = json_object_array_length(canbus);
 234                         for (i = 0 ; i < n ; i++)
 235                                 ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
 236                 }
 237                 return ret;
 238         }
 239         ERROR(binder_interface, "Problem at reading the conf file");
 240         ret.clear();
 241         return ret;
 242 }
 243
 244 can_message_t can_bus_t::next_can_message()
 245 {
 246         can_message_t can_msg;
 247
 248         if(!can_message_q_.empty())
 249         {
 250                 can_msg = can_message_q_.front();
 251                 can_message_q_.pop();
 252                 DEBUG(binder_interface, "next_can_message: Here is the next can message : id %d, length %d", can_msg.get_id(), can_msg.get_length());
 253                 return can_msg;
 254         }
 255
 256         NOTICE(binder_interface, "next_can_message: End of can message queue");
 257         has_can_message_ = false;
 258         return can_msg;
 259 }
 260
 261 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
 262 {
 263         can_message_q_.push(can_msg);
 264 }
 265
 266 bool can_bus_t::has_can_message() const
 267 {
 268         return has_can_message_;
 269 }
 270
 271 openxc_VehicleMessage can_bus_t::next_vehicle_message()
 272 {
 273         openxc_VehicleMessage v_msg;
 274
 275         if(! vehicle_message_q_.empty())
 276         {
 277                 v_msg = vehicle_message_q_.front();
 278                 vehicle_message_q_.pop();
 279                 DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
 280                 return v_msg;
 281         }
 282
 283         NOTICE(binder_interface, "next_vehicle_message: End of vehicle message queue");
 284         has_vehicle_message_ = false;
 285         return v_msg;
 286 }
 287
 288 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
 289 {
 290         vehicle_message_q_.push(v_msg);
 291         has_vehicle_message_ = true;
 292 }
 293
 294 bool can_bus_t::has_vehicle_message() const
 295 {
 296         return has_vehicle_message_;
 297 }
 298
 299 /********************************************************************************
 300 *
 301 *               This is the sd_event_add_io callback function declaration.
 302 *               Its implementation can be found into low-can-binding.cpp.
 303 *
 304 *********************************************************************************/
 305
 306 int can_frame_received(sd_event_source *s, int fd, uint32_t revents, void *userdata);
 307
 308 /********************************************************************************
 309 *
 310 *               can_bus_dev_t method implementation
 311 *
 312 *********************************************************************************/
 313
 314 can_bus_dev_t::can_bus_dev_t(const std::string &dev_name)
 315         : device_name_{dev_name}
 316 {
 317 }
 318
 319 int can_bus_dev_t::event_loop_connection()
 320 {
 321         sd_event_source *source;
 322         int rc;
 323
 324         /* adds to the event loop */
 325         rc = sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &source, can_socket_, EPOLLIN, can_frame_received, this);
 326         if (rc < 0) {
 327                 close();
 328                 ERROR(binder_interface, "Can't coonect CAN device %s to the event loop", device_name_);
 329         } else {
 330                 NOTICE(binder_interface, "Connected to %s", device_name_);
 331         }
 332         return rc;
 333 }
 334
 335 int can_bus_dev_t::open()
 336 {
 337         const int canfd_on = 1;
 338         struct ifreq ifr;
 339         struct timeval timeout = {1, 0};
 340
 341         DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_);
 342         if (can_socket_ >= 0)
 343                 return 0;
 344
 345         can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW);
 346         if (can_socket_ < 0)
 347         {
 348                 ERROR(binder_interface, "socket could not be created");
 349         }
 350         else
 351         {
 352                 /* Set timeout for read */
 353                 ::setsockopt(can_socket_, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
 354                 /* try to switch the socket into CAN_FD mode */
 355                 if (::setsockopt(can_socket_, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
 356                 {
 357                         NOTICE(binder_interface, "Can not switch into CAN Extended frame format.");
 358                         is_fdmode_on_ = false;
 359                 } else {
 360                         is_fdmode_on_ = true;
 361                 }
 362
 363                 /* Attempts to open a socket to CAN bus */
 364                 ::strcpy(ifr.ifr_name, device_name_.c_str());
 365                 if(::ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0)
 366                         ERROR(binder_interface, "ioctl failed");
 367                 else
 368                 {
 369                         txAddress_.can_family = AF_CAN;
 370                         txAddress_.can_ifindex = ifr.ifr_ifindex;
 371
 372                         /* And bind it to txAddress */
 373                         if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
 374                         {
 375                                 ERROR(binder_interface, "Bind failed");
 376                         }
 377                         else
 378                         {
 379                                 ::fcntl(can_socket_, F_SETFL, O_NONBLOCK);
 380                                 return 0;
 381                         }
 382                 }
 383                 close();
 384         }
 385         return -1;
 386 }
 387
 388 int can_bus_dev_t::close()
 389 {
 390         ::close(can_socket_);
 391         can_socket_ = -1;
 392         return can_socket_;
 393 }
 394
 395 canfd_frame can_bus_dev_t::read()
 396 {
 397         ssize_t nbytes;
 398         //int maxdlen;
 399         canfd_frame canfd_frame;
 400
 401         /* Test that socket is really opened */
 402         if (can_socket_ < 0)
 403         {
 404                 ERROR(binder_interface, "read_can: Socket unavailable. Closing thread.");
 405                 is_running_ = false;
 406         }
 407
 408         nbytes = ::read(can_socket_, &canfd_frame, CANFD_MTU);
 409
 410         switch(nbytes)
 411         {
 412                 case CANFD_MTU:
 413                         DEBUG(binder_interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
 414                         //maxdlen = CANFD_MAX_DLEN;
 415                         break;
 416                 case CAN_MTU:
 417                         DEBUG(binder_interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
 418                         //maxdlen = CAN_MAX_DLEN;
 419                         break;
 420                 default:
 421                         if (errno == ENETDOWN)
 422                                         ERROR(binder_interface, "read_can: %s binder_interface down", device_name_);
 423                         ERROR(binder_interface, "read_can: Error reading CAN bus");
 424                         ::memset(&canfd_frame, 0, sizeof(canfd_frame));
 425                         is_running_ = false;
 426                         break;
 427         }
 428
 429         return canfd_frame;
 430 }
 431
 432 void can_bus_dev_t::start_reading(can_bus_t& can_bus)
 433 {
 434         th_reading_ = std::thread(can_reader, std::ref(*this), std::ref(can_bus));
 435         is_running_ = true;
 436 }
 437
 438 /*
 439  * Return is_running_ bool
 440  */
 441 bool can_bus_dev_t::is_running()
 442 {
 443         return is_running_;
 444 }
 445
 446 int can_bus_dev_t::send_can_message(can_message_t& can_msg)
 447 {
 448         ssize_t nbytes;
 449         canfd_frame f;
 450
 451         f = can_msg.convert_to_canfd_frame();
 452
 453         if(can_socket_ >= 0)
 454         {
 455                 nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0,
 456                                 (struct sockaddr*)&txAddress_, sizeof(txAddress_));
 457                 if (nbytes == -1)
 458                 {
 459                         ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
 460                         return -1;
 461                 }
 462                 return (int)nbytes;
 463         }
 464         else
 465         {
 466                 ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
 467                 open();
 468         }
 469         return 0;
 470 }