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 CanBus_c::CanBus_c(afb_binding_interface *itf, const std:string& dev_name)
  27     : interface{itf}, deviceName{dev_name}
  28 {
  29 }
  30
  31 int CanBus_c::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", 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 CanBus_c::close()
  85 {
  86         ::close(can_socket_);
  87         can_socket_ = -1;
  88 }
  89
  90 void CanBus_c::start_threads()
  91 {
  92         th_reading_ = std::thread(can_reader, interface, socket, can_message_q_);
  93         th_decoding_ = std::thread(can_decoder, interface, can_message_q, can_message_q_);
  94         th_pushing_ = std::thread(can_event_push, interface, can_message_q_);
  95 }
  96
  97 /*
  98  * Send a can message from a CanMessage_c object.
  99  */
 100 int CanBus_c::send_can_message(CanMessage_c can_msg)
 101 {
 102         int nbytes;
 103         canfd_frame *f;
 104
 105         f = can_msg.convert_to_canfd_frame();
 106
 107         if(can_socket_ >= 0)
 108         {
 109                 nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0,
 110                                 (struct sockaddr*)&txAddress, sizeof(txAddress));
 111
 112                 if (nbytes == -1)
 113                 {
 114                         ERROR(interface_, "send_can_message: Sending CAN frame failed.");
 115                         return -1;
 116                 }
 117                 return nbytes;
 118         }
 119         else
 120         {
 121                 ERROR(interface_, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
 122                 open();
 123         }
 124         return 0;
 125 }
 126
 127 /*
 128  * Get a CanMessage from can_message_q and return it
 129  * then point to the next CanMessage in queue.
 130  *
 131  * Return the next queue element or NULL if queue is empty.
 132  */
 133 CanMessage_c* CanBus_c::next_can_message()
 134 {
 135         if(! can_message_q_.empty())
 136         {
 137                 CanMessage_c can_msg = can_message_q_.front();
 138                 can_message_q_.pop()
 139                 return &can_msg;
 140         }
 141
 142         return nullptr;
 143 }
 144
 145 void CanBus_c::insert_new_can_message(CanMessage_c *can_msg)
 146 {
 147         can_message_q_.push(can_msg);
 148 }
 149
 150 /*
 151  * Get a VehicleMessage from vehicle_message_q and return it
 152  * then point to the next VehicleMessage in queue.
 153  *
 154  * Return the next queue element or NULL if queue is empty.
 155  */
 156 openxc_VehicleMessage* CanBus_c::next_vehicle_message()
 157 {
 158         if(! vehicle_message_q_.empty())
 159         {
 160                 openxc_VehicleMessage v_msg = vehicle_message_q_.front();
 161                 vehicle_message_q_.pop();
 162                 return &v_msg;
 163         }
 164
 165         return nullptr;
 166 }
 167
 168 void CanBus_c::insert_new_vehicle_message(openxc_VehicleMessage *v_msg)
 169 {
 170         vehicle_message_q_.push(v_msg);
 171 }
 172 /********************************************************************************
 173 *
 174 *               CanMessage method implementation
 175 *
 176 *********************************************************************************/
 177
 178 uint32_t CanMessage_c::get_id() const
 179 {
 180         return id;
 181 }
 182
 183 int CanMessage_c::get_format() const
 184 {
 185         return format;
 186 }
 187
 188 uint8_t CanMessage_c::get_data() const
 189 {
 190         return data;
 191 }
 192 uint8_t CanMessage_c::get_lenght() const
 193 {
 194         return lenght;
 195 }
 196
 197 void CanMessage_c::set_id(uint32_t new_id)
 198 {
 199         switch(format):
 200                 case CanMessageFormat::SIMPLE:
 201                         id = new_id & CAN_SFF_MASK;
 202                 case CanMessageFormat::EXTENDED:
 203                         id = new_id & CAN_EFF_MASK;
 204                 default:
 205                         ERROR(interface, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
 206 }
 207
 208 void CanMessage_c::set_format(CanMessageFormat new_format)
 209 {
 210         if(new_format == CanMessageFormat::SIMPLE || new_format == CanMessageFormat::EXTENDED)
 211                 format = new_format;
 212         else
 213                 ERROR(interface, "ERROR: Can set format, wrong format chosen");
 214 }
 215
 216 void CanMessage_c::set_data(uint8_t new_data)
 217 {
 218         data = new_data;
 219 }
 220
 221 void CanMessage_c::set_lenght(uint8_t new_length)
 222 {
 223         lenght = new_lenght;
 224 }
 225
 226 /*
 227  * This is the preferred way to initialize a CanMessage object
 228  * from a read canfd_frame message.
 229  *
 230  * params: canfd_frame pointer
 231  */
 232 void CanMessage_c::convert_from_canfd_frame(canfd_frame *frame)
 233 {
 234
 235         lenght = (canfd_frame->len > maxdlen) ? maxdlen : canfd_frame->len;
 236
 237         switch (canfd_frame->can_id):
 238                 case (canfd_frame->can_id & CAN_ERR_FLAG):
 239                         id = canfd_frame->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
 240                         break;
 241                 case (canfd_frame->can_id & CAN_EFF_FLAG):
 242                         id = canfd_frame->can_id & CAN_EFF_MASK;
 243                         format = CanMessageFormat::EXTENDED;
 244                         break;
 245                 default:
 246                         format = CanMessageFormat::STANDARD;
 247                         id = canfd_frame->can_id & CAN_SFF_MASK;
 248                         break;
 249
 250         if (sizeof(canfd_frame->data) <= sizeof(data))
 251         {
 252                 memcpy(data, canfd_frame->data, lenght);
 253                 return 0;
 254         } else if (sizeof(canfd_frame->data) >= CAN_MAX_DLEN)
 255                 ERROR(interface, "CanMessage_c: canfd_frame data too long to be stored into CanMessage object");
 256 }
 257
 258 canfd_frame* convert_to_canfd_frame()
 259 {
 260         canfd_frame frame;
 261
 262         frame.id = can_msg.get_id();
 263         frame.len = can_msg.get_lenght();
 264         frame.data = can_msg.get_data();
 265
 266         return &frame;
 267 }