#include <mutex>
#include <unistd.h>
#include <linux/can/raw.h>
-
-#include "can-bus-dev.hpp"
+#include <linux/can/bcm.h>
#include "can-bus.hpp"
#include "can-message.hpp"
-#include "../low-can-binding.hpp"
+#include "../binding/low-can-hat.hpp"
/// @brief Class constructor
///
/// @param[in] dev_name - String representing the device name into the linux /dev tree
-/// @param[in] address - integer identifier of the bus, set using init_can_dev from can_bus_t.
-can_bus_dev_t::can_bus_dev_t(const std::string& dev_name, int32_t address)
- : device_name_{dev_name}, address_{address}
+/// @param[in] index - integer identifier of the bus, set using init_can_dev from can_bus_t.
+can_bus_dev_t::can_bus_dev_t(const std::string& dev_name, int index)
+ : device_name_{dev_name}, index_{index}
{}
std::string can_bus_dev_t::get_device_name() const
return device_name_;
}
-uint32_t can_bus_dev_t::get_address() const
+int can_bus_dev_t::get_index() const
+{
+ return index_;
+}
+utils::socketcan_t& can_bus_dev_t::get_socket()
{
- return address_;
+ return can_socket_;
}
/// @brief Open the can socket and returning it
if (can_socket_)
{
const int timestamp_on = 1;
+ const int canfd_on = 1;
DEBUG(binder_interface, "%s: CAN Handler socket correctly initialized : %d", __FUNCTION__, can_socket_.socket());
+
+ // try to switch the socket into CAN_FD mode
+ if (can_socket_.setopt(SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
+ {
+ NOTICE(binder_interface, "%s: Can not switch into CAN Extended frame format: %s", __FUNCTION__, ::strerror(errno));
+ }
+
if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, ×tamp_on, sizeof(timestamp_on)) < 0)
WARNING(binder_interface, "%s: setsockopt SO_TIMESTAMP error: %s", __FUNCTION__, ::strerror(errno));
}
// Test that socket is really opened
if (!can_socket_)
{
- ERROR(binder_interface, "read: Socket unavailable. Closing thread.");
+ ERROR(binder_interface, "%s: Socket unavailable. Closing thread.", __FUNCTION__);
is_running_ = false;
}
if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
{
if (errno == ENETDOWN)
- ERROR(binder_interface, "read: %s CAN device down", device_name_.c_str());
- ERROR(binder_interface, "read: Incomplete CAN(FD) frame");
+ ERROR(binder_interface, "%s: %s CAN device down", __FUNCTION__, device_name_.c_str());
+ ERROR(binder_interface, "%s: Incomplete CAN(FD) frame", __FUNCTION__);
::memset(&cfd, 0, sizeof(cfd));
}
DEBUG(binder_interface, "%s: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", __FUNCTION__, 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 can_message_t::convert_from_canfd_frame(cfd, nbytes);
+ return can_message_t::convert_from_frame(cfd, nbytes);
}
/// @brief start reading threads and set flag is_running_
/// @return 0 if message snet, -1 if something wrong.
int can_bus_dev_t::send(can_message_t& can_msg)
{
- ssize_t nbytes;
canfd_frame f;
-
f = can_msg.convert_to_canfd_frame();
if(can_socket_)
{
- nbytes = can_socket_.send(f);
- if (nbytes == -1)
+ can_socket_ << f;
+ if(!can_socket_)
{
- ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
+ ERROR(binder_interface, "%s: Sending CAN frame failed.", __FUNCTION__);
return -1;
}
- return (int)nbytes;
}
else
{
- ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
+ ERROR(binder_interface, "%s: socket not initialized. Attempt to reopen can device socket.", __FUNCTION__);
open();
return -1;
}
/// @return True if message sent, false if not.
bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
{
- ssize_t nbytes;
canfd_frame f;
f.can_id = arbitration_id;
if(can_socket_)
{
- nbytes = can_socket_.send(f);
- if (nbytes == -1)
+ can_socket_ << f;
+ if (!can_socket_)
{
ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
return false;
}
- return true;
}
else
{
ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
open();
+ return false;
}
- return false;
+ return true;
}