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
  32 extern "C"
  33 {
  34         #include <afb/afb-binding.h>
  35 }
  36
  37 /********************************************************************************
  38 *
  39 *               CanMessage method implementation
  40 *
  41 *********************************************************************************/
  42
  43 can_message_t::can_message_t()
  44         : id_{0}, length_{0}, format_{CanMessageFormat::ERROR}, data_{0,0,0,0,0,0,0,0}
  45 {}
  46
  47 uint32_t can_message_t::get_id() const
  48 {
  49         return id_;
  50 }
  51
  52 int can_message_t::get_format() const
  53 {
  54         if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED)
  55                 return CanMessageFormat::ERROR;
  56         return format_;
  57 }
  58
  59 const uint8_t* can_message_t::get_data() const
  60 {
  61         return data_;
  62 }
  63 uint8_t can_message_t::get_length() const
  64 {
  65         return length_;
  66 }
  67
  68 bool can_message_t::is_correct_to_send()
  69 {
  70         if (id_ != 0 && length_ != 0 && format_ != CanMessageFormat::ERROR)
  71         {
  72                 int i;
  73                 for(i=0;i<CAN_MESSAGE_SIZE;i++)
  74                         if(data_[i] != 0)
  75                                 return true;
  76         }
  77         return false;
  78 }
  79
  80 void can_message_t::set_id(const uint32_t new_id)
  81 {
  82         switch(format_)
  83         {
  84                 case CanMessageFormat::STANDARD:
  85                         id_ = new_id & CAN_SFF_MASK;
  86                         break;
  87                 case CanMessageFormat::EXTENDED:
  88                         id_ = new_id & CAN_EFF_MASK;
  89                         break;
  90                 default:
  91                         ERROR(binder_interface, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
  92                         break;
  93         }
  94 }
  95
  96 void can_message_t::set_format(const CanMessageFormat new_format)
  97 {
  98         if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED)
  99                 format_ = new_format;
 100         else
 101                 ERROR(binder_interface, "ERROR: Can set format, wrong format chosen");
 102 }
 103
 104 void can_message_t::set_data(const uint8_t new_data)
 105 {
 106         if ((sizeof(new_data) / sizeof(uint8_t) > CAN_MESSAGE_SIZE))
 107                 ERROR(binder_interface, "Can set data, your data array is too big");
 108         else
 109         {
 110                 ::memcpy(&data_, &new_data, sizeof(new_data));
 111                 length_ = sizeof(new_data);
 112         }
 113 }
 114
 115 void can_message_t::convert_from_canfd_frame(const canfd_frame& frame)
 116 {
 117         length_ = (frame.len > CAN_MAX_DLEN) ? (uint8_t)CAN_MAX_DLEN : frame.len;
 118         length_ = (frame.len > CANFD_MAX_DLEN) ? (uint8_t)CANFD_MAX_DLEN : frame.len;
 119
 120         if (frame.can_id & CAN_ERR_FLAG)
 121         {
 122                 id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
 123                 format_ = CanMessageFormat::ERROR;
 124         }
 125         else if (frame.can_id & CAN_EFF_FLAG)
 126         {
 127                 id_ = frame.can_id & CAN_EFF_MASK;
 128                 format_ = CanMessageFormat::EXTENDED;
 129         }
 130         else
 131         {
 132                 id_ = frame.can_id & CAN_SFF_MASK;
 133                 format_ = CanMessageFormat::STANDARD;
 134         }
 135
 136         if (sizeof(frame.data) <= sizeof(data_))
 137                 ::memcpy(&data_, frame.data, length_);
 138         else if (sizeof(frame.data) >= CAN_MAX_DLEN)
 139                 ERROR(binder_interface, "can_message_t: canfd_frame data too long to be stored into CanMessage object");
 140 }
 141
 142 canfd_frame can_message_t::convert_to_canfd_frame()
 143 {
 144         canfd_frame frame;
 145
 146         if(is_correct_to_send())
 147         {
 148                 frame.can_id = get_id();
 149                 frame.len = get_length();
 150                 ::memcpy(frame.data, get_data(), length_);
 151         }
 152         else
 153                 ERROR(binder_interface, "can_message_t not correctly initialized to be sent");
 154
 155         return frame;
 156 }
 157
 158 /********************************************************************************
 159 *
 160 *               can_bus_t method implementation
 161 *
 162 *********************************************************************************/
 163
 164 can_bus_t::can_bus_t(int& conf_file)
 165         : conf_file_{conf_file}
 166 {
 167 }
 168
 169 void can_bus_t::start_threads()
 170 {
 171         th_decoding_ = std::thread(can_decode_message, std::ref(*this));
 172         is_decoding_ = true;
 173         th_pushing_ = std::thread(can_event_push, std::ref(*this));
 174         is_pushing_ = true;
 175 }
 176
 177 void can_bus_t::stop_threads()
 178 {
 179         is_decoding_ = false;
 180         is_pushing_ = false;
 181 }
 182
 183 bool can_bus_t::is_decoding()
 184 {
 185         return is_decoding_;
 186 }
 187
 188 bool can_bus_t::is_pushing()
 189 {
 190         return is_pushing_;
 191 }
 192
 193 int can_bus_t::init_can_dev()
 194 {
 195         std::vector<std::string> devices_name;
 196         int i;
 197         size_t t;
 198
 199         devices_name = read_conf();
 200
 201         if (! devices_name.empty())
 202         {
 203                 t = devices_name.size();
 204                 i=0;
 205
 206                 for(const auto& device : devices_name)
 207                 {
 208                         can_bus_dev_t can_bus_device_handler(device);
 209                         if (can_bus_device_handler.open())
 210                                 i++;
 211                         else
 212                                 ERROR(binder_interface, "Can't open device %s", device);
 213                         can_bus_device_handler.start_reading(std::ref(*this));
 214                 }
 215
 216                 NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
 217                 return 0;
 218         }
 219         ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read from configuration file. Did you specify canbus JSON object ?");
 220         return 1;
 221 }
 222
 223 std::vector<std::string> can_bus_t::read_conf()
 224 {
 225         std::vector<std::string> ret;
 226         json_object *jo, *canbus;
 227         int n, i;
 228
 229         FILE *fd = fdopen(conf_file_, "r");
 230         if (fd)
 231         {
 232                 std::string fd_conf_content;
 233                 std::fseek(fd, 0, SEEK_END);
 234                 fd_conf_content.resize(std::ftell(fd));
 235                 std::rewind(fd);
 236                 std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
 237                 std::fclose(fd);
 238
 239                 jo = json_tokener_parse(fd_conf_content.c_str());
 240
 241                 if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
 242                 {
 243                         ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
 244                         ret.clear();
 245                 }
 246                 else if (json_object_get_type(canbus) != json_type_array)
 247                         ret.push_back(json_object_get_string(canbus));
 248                 else
 249                 {
 250                         n = json_object_array_length(canbus);
 251                         for (i = 0 ; i < n ; i++)
 252                                 ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
 253                 }
 254                 return ret;
 255         }
 256         ERROR(binder_interface, "Problem at reading the conf file");
 257         ret.clear();
 258         return ret;
 259 }
 260
 261 std::condition_variable& can_bus_t::get_new_can_message()
 262 {
 263         return new_can_message_;
 264 }
 265
 266 std::mutex& can_bus_t::get_can_message_mutex()
 267 {
 268         return can_message_mutex_;
 269 }
 270
 271 std::condition_variable& can_bus_t::get_new_decoded_can_message()
 272 {
 273         return new_decoded_can_message_;
 274 }
 275
 276 std::mutex& can_bus_t::get_decoded_can_message_mutex()
 277 {
 278         return decoded_can_message_mutex_;
 279 }
 280
 281 can_message_t can_bus_t::next_can_message()
 282 {
 283         can_message_t can_msg;
 284
 285         if(!can_message_q_.empty())
 286         {
 287                 can_msg = can_message_q_.front();
 288                 can_message_q_.pop();
 289                 DEBUG(binder_interface, "next_can_message: Here is the next can message : id %d, length %d", can_msg.get_id(), can_msg.get_length());
 290                 return can_msg;
 291         }
 292
 293         NOTICE(binder_interface, "next_can_message: End of can message queue");
 294         has_can_message_ = false;
 295         return can_msg;
 296 }
 297
 298 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
 299 {
 300         can_message_q_.push(can_msg);
 301 }
 302
 303 bool can_bus_t::has_can_message() const
 304 {
 305         return has_can_message_;
 306 }
 307
 308 openxc_VehicleMessage can_bus_t::next_vehicle_message()
 309 {
 310         openxc_VehicleMessage v_msg;
 311
 312         if(! vehicle_message_q_.empty())
 313         {
 314                 v_msg = vehicle_message_q_.front();
 315                 vehicle_message_q_.pop();
 316                 DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
 317                 return v_msg;
 318         }
 319
 320         NOTICE(binder_interface, "next_vehicle_message: End of vehicle message queue");
 321         has_vehicle_message_ = false;
 322         return v_msg;
 323 }
 324
 325 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
 326 {
 327         vehicle_message_q_.push(v_msg);
 328         has_vehicle_message_ = true;
 329 }
 330
 331 bool can_bus_t::has_vehicle_message() const
 332 {
 333         return has_vehicle_message_;
 334 }
 335
 336 /********************************************************************************
 337 *
 338 *               can_bus_dev_t method implementation
 339 *
 340 *********************************************************************************/
 341
 342 can_bus_dev_t::can_bus_dev_t(const std::string &dev_name)
 343         : device_name_{dev_name}
 344 {
 345 }
 346
 347 int can_bus_dev_t::open()
 348 {
 349         const int canfd_on = 1;
 350         struct ifreq ifr;
 351         struct timeval timeout = {1, 0};
 352
 353         DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_);
 354         if (can_socket_ >= 0)
 355                 return 0;
 356
 357         can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW);
 358         if (can_socket_ < 0)
 359         {
 360                 ERROR(binder_interface, "socket could not be created");
 361         }
 362         else
 363         {
 364                 /* Set timeout for read */
 365                 ::setsockopt(can_socket_, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
 366                 /* try to switch the socket into CAN_FD mode */
 367                 if (::setsockopt(can_socket_, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
 368                 {
 369                         NOTICE(binder_interface, "Can not switch into CAN Extended frame format.");
 370                         is_fdmode_on_ = false;
 371                 } else {
 372                         is_fdmode_on_ = true;
 373                 }
 374
 375                 /* Attempts to open a socket to CAN bus */
 376                 ::strcpy(ifr.ifr_name, device_name_.c_str());
 377                 if(::ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0)
 378                         ERROR(binder_interface, "ioctl failed");
 379                 else
 380                 {
 381                         txAddress_.can_family = AF_CAN;
 382                         txAddress_.can_ifindex = ifr.ifr_ifindex;
 383
 384                         /* And bind it to txAddress */
 385                         if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
 386                                 ERROR(binder_interface, "Bind failed");
 387                         else
 388                                 return 0;
 389                 }
 390                 close();
 391         }
 392         return -1;
 393 }
 394
 395 int can_bus_dev_t::close()
 396 {
 397         ::close(can_socket_);
 398         can_socket_ = -1;
 399         return can_socket_;
 400 }
 401
 402 canfd_frame can_bus_dev_t::read()
 403 {
 404         ssize_t nbytes;
 405         //int maxdlen;
 406         canfd_frame canfd_frame;
 407
 408         /* Test that socket is really opened */
 409         if (can_socket_ < 0)
 410         {
 411                 ERROR(binder_interface, "read_can: Socket unavailable. Closing thread.");
 412                 is_running_ = false;
 413         }
 414
 415         nbytes = ::read(can_socket_, &canfd_frame, CANFD_MTU);
 416
 417         switch(nbytes)
 418         {
 419                 case CANFD_MTU:
 420                         DEBUG(binder_interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
 421                         //maxdlen = CANFD_MAX_DLEN;
 422                         break;
 423                 case CAN_MTU:
 424                         DEBUG(binder_interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
 425                         //maxdlen = CAN_MAX_DLEN;
 426                         break;
 427                 default:
 428                         if (errno == ENETDOWN)
 429                                         ERROR(binder_interface, "read_can: %s binder_interface down", device_name_);
 430                         ERROR(binder_interface, "read_can: Error reading CAN bus");
 431                         ::memset(&canfd_frame, 0, sizeof(canfd_frame));
 432                         is_running_ = false;
 433                         break;
 434         }
 435
 436         return canfd_frame;
 437 }
 438
 439 void can_bus_dev_t::start_reading(can_bus_t& can_bus)
 440 {
 441         th_reading_ = std::thread(can_reader, std::ref(*this), std::ref(can_bus));
 442         is_running_ = true;
 443 }
 444
 445 /*
 446  * Return is_running_ bool
 447  */
 448 bool can_bus_dev_t::is_running()
 449 {
 450         return is_running_;
 451 }
 452
 453 int can_bus_dev_t::send_can_message(can_message_t& can_msg)
 454 {
 455         ssize_t nbytes;
 456         canfd_frame f;
 457
 458         f = can_msg.convert_to_canfd_frame();
 459
 460         if(can_socket_ >= 0)
 461         {
 462                 nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0,
 463                                 (struct sockaddr*)&txAddress_, sizeof(txAddress_));
 464                 if (nbytes == -1)
 465                 {
 466                         ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
 467                         return -1;
 468                 }
 469                 return (int)nbytes;
 470         }
 471         else
 472         {
 473                 ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
 474                 open();
 475         }
 476         return 0;
 477 }