- const int canfd_on = 1;
- const int timestamp_on = 1;
- struct ifreq ifr;
- struct timeval timeout;
-
- DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_);
- if (can_socket_ >= 0)
- return 0;
-
- can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW);
- DEBUG(binder_interface, "CAN Handler socket correctly initialized : %d", can_socket_);
- if (can_socket_ < 0)
- ERROR(binder_interface, "socket could not be created. Error was : %s", ::strerror(errno));
- else
- {
- /* Set timeout for read */
- ::setsockopt(can_socket_, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
- /* Set timestamp for receveid frame */
- if (::setsockopt(can_socket_, SOL_SOCKET, SO_TIMESTAMP, ×tamp_on, sizeof(timestamp_on)) < 0)
- WARNING(binder_interface, "setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
- DEBUG(binder_interface, "Switch CAN Handler socket to use fd mode");
- /* try to switch the socket into CAN_FD mode */
- if (::setsockopt(can_socket_, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
- {
- NOTICE(binder_interface, "Can not switch into CAN Extended frame format.");
- is_fdmode_on_ = false;
- } else {
- DEBUG(binder_interface, "Correctly set up CAN socket to use FD frames.");
- is_fdmode_on_ = true;
- }
-
- /* Attempts to open a socket to CAN bus */
- ::strcpy(ifr.ifr_name, device_name_.c_str());
- DEBUG(binder_interface, "ifr_name is : %s", ifr.ifr_name);
- if(::ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0)
- ERROR(binder_interface, "ioctl failed. Error was : %s", strerror(errno));
- else
- {
- txAddress_.can_family = AF_CAN;
- txAddress_.can_ifindex = ifr.ifr_ifindex;
-
- /* And bind it to txAddress */
- DEBUG(binder_interface, "Bind the socket");
- if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
- ERROR(binder_interface, "Bind failed. %s", strerror(errno));
- else
- return 0;
- }
- close();
- }
- return -1;
-}
-
-/**
- * @brief Open the can socket and returning it
- *
- * @return
- */
-int can_bus_dev_t::close()
-{
- ::close(can_socket_);
- can_socket_ = -1;
- return can_socket_;
-}
-
-/**
-* @brief Read the can socket and retrieve canfd_frame
-*
-* @param const struct afb_binding_interface* interface pointer. Used to be able to log
-* using application framework logger.
-*/
-std::pair<struct canfd_frame&, size_t> can_bus_dev_t::read()
-{
- ssize_t nbytes;
- //int maxdlen;
- struct canfd_frame cfd;
-
- /* Test that socket is really opened */
- if (can_socket_ < 0)
- {
- ERROR(binder_interface, "read_can: Socket unavailable. Closing thread.");
- is_running_ = false;
- }
-
- nbytes = ::read(can_socket_, &cfd, CANFD_MTU);
-
- /* if we did not fit into CAN sized messages then stop_reading. */
- if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
- {
- if (errno == ENETDOWN)
- ERROR(binder_interface, "read: %s CAN device down", device_name_);
- ERROR(binder_interface, "read: Incomplete CAN(FD) frame");
- ::memset(&cfd, 0, sizeof(cfd));
- }
-
- DEBUG(binder_interface, "read: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", cfd.can_id, cfd.len,
- cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]);
- return std::pair<struct canfd_frame&, size_t>(cfd, nbytes);
-}
-
-/**
-* @brief start reading threads and set flag is_running_
-*
-* @param can_bus_t reference can_bus_t. it will be passed to the thread
-* to allow using can_bus_t queue.
-*/
-void can_bus_dev_t::start_reading(can_bus_t& can_bus)
-{
- DEBUG(binder_interface, "Launching reading thread");
- is_running_ = true;
- th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
- if(!th_reading_.joinable())
- is_running_ = false;
-}
-
-/**
-* @brief stop the reading thread setting flag is_running_ to false and
-* and wait that the thread finish its job.
-*/
-void can_bus_dev_t::stop_reading()
-{
- is_running_ = false;
-}
-
-/**
-*
-* @brief Thread function used to read the can socket.
-*
-* @param[in] can_bus_dev_t object to be used to read the can socket
-* @param[in] can_bus_t object used to fill can_message_q_ queue
-*/
-void can_bus_dev_t::can_reader(can_bus_t& can_bus)
-{
- can_message_t can_message;
-
- while(is_running_)
- {
- can_message.convert_from_canfd_frame(read());
-
- {
- std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex());
- can_bus.push_new_can_message(can_message);
- }
- can_bus.get_new_can_message_cv().notify_one();
- }