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[apps/agl-service-can-low-level.git] / CAN-binder / low-can-binding / can / can-bus-dev.cpp

diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.cpp b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
index 6b8d914..601881d 100644 (file)
--- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
@@ -21,21 +21,17 @@
 #include <unistd.h>
 #include <linux/can/raw.h>
 #include <linux/can/bcm.h>
-#include <cmath>
 
 #include "can-bus.hpp"
 #include "can-message.hpp"
-#include "../low-can-binding.hpp"
-#include "canutil/write.h"
-
-#define U64_DATA(p) (*(unsigned long long*)(p)->data)
+#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
@@ -43,9 +39,13 @@ 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
@@ -65,8 +65,16 @@ void can_bus_dev_t::configure()
        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, &timestamp_on, sizeof(timestamp_on)) < 0)
                        WARNING(binder_interface, "%s: setsockopt SO_TIMESTAMP error: %s", __FUNCTION__, ::strerror(errno));
        }
@@ -96,7 +104,7 @@ can_message_t can_bus_dev_t::read()
        // 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;
        }
 
@@ -106,14 +114,14 @@ can_message_t can_bus_dev_t::read()
        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 Create a RX_SETUP receive job using the BCM socket.
@@ -123,16 +131,27 @@ int can_bus_dev_t::create_rx_filter(const can_signal_t& s)
 {
        uint32_t can_id  = s.get_message().get_id();
 
-       struct utils::canfd_bcm_msg bcm_msg;
+       struct utils::simple_bcm_msg bcm_msg;
+       struct can_frame cfd;
 
+       memset(&cfd, 0, sizeof(cfd));
+       memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
        uint8_t bit_size = s.get_bit_size();
-       float val = (float)exp2(bit_size);
-       uint64_t filter = eightbyte_encode_float(val, s.get_bit_position(), bit_size, s.get_factor(), s.get_offset());
+       float val = (float)(1 << bit_size)-1;
 
        bcm_msg.msg_head.opcode  = RX_SETUP;
        bcm_msg.msg_head.can_id  = can_id;
+       bcm_msg.msg_head.flags = 0;
        bcm_msg.msg_head.nframes = 1;
-       U64_DATA(&bcm_msg.frames[0]) = filter;
+       bitfield_encode_float(val,
+                                                                               s.get_bit_position(),
+                                                                               bit_size,
+                                                                               s.get_factor(),
+                                                                               s.get_offset(),
+                                                                               cfd.data,
+                                                                               CAN_MAX_DLEN);
+
+       bcm_msg.frames = cfd;
 
        if(can_socket_ << bcm_msg)
                return 0;