#include <mutex>
#include <unistd.h>
#include <linux/can/raw.h>
-
-#include "can-bus-dev.hpp"
+#include <linux/can/bcm.h>
+#include <cmath>
#include "can-bus.hpp"
#include "can-message.hpp"
#include "../low-can-binding.hpp"
+#include "canutil/write.h"
/// @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 address_;
+ return index_;
+}
}
/// @brief Open the can socket and returning it
/// We try to open CAN socket and apply the following options
/// timestamp received messages and pass the socket to FD mode.
///
-/// @return -1 if something wrong.
-int can_bus_dev_t::open(bool bcm)
+/// @return socket value or -1 if something wrong.
+int can_bus_dev_t::open()
{
- const int canfd_on = 1;
- const int timestamp_on = 1;
- struct timeval timeout;
-
- DEBUG(binder_interface, "open_raw: CAN Handler socket : %d", can_socket_.socket());
- return can_socket_.open(device_name_, bcm);
+ return can_socket_.open(device_name_);
+}
- // Set some option on the socket : timeout, timestamp and canfd frame usage.
+/// @brief Set some option on the socket, timestamp and canfd frame usage.
+void can_bus_dev_t::configure()
+{
if (can_socket_)
{
- DEBUG(binder_interface, "open_raw: CAN Handler socket correctly initialized : %d", can_socket_.socket());
-
- // Set timeout for read
- can_socket_.setopt(SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
+ const int timestamp_on = 1;
- // Set timestamp for receveid frame
+ DEBUG(binder_interface, "%s: CAN Handler socket correctly initialized : %d", __FUNCTION__, can_socket_.socket());
if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, ×tamp_on, sizeof(timestamp_on)) < 0)
- WARNING(binder_interface, "open_raw: setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
- DEBUG(binder_interface, "open_raw: Switch CAN Handler socket to use fd mode");
-
- // 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, "open_raw: Can not switch into CAN Extended frame format.");
- is_fdmode_on_ = false;
- }
- else
- {
- DEBUG(binder_interface, "open_raw: Correctly set up CAN socket to use FD frames.");
- is_fdmode_on_ = true;
- }
+ WARNING(binder_interface, "%s: setsockopt SO_TIMESTAMP error: %s", __FUNCTION__, ::strerror(errno));
}
else
+ {
ERROR(binder_interface, "open_raw: socket could not be created. Error was : %s", ::strerror(errno));
- return -1;
+ }
}
/// @brief Close the bus.
::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,
+ 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);
}
+/// @brief Create a RX_SETUP receive job using the BCM socket.
+///
+/// @return 0 if ok else -1
+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;
+
+ 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());
+
+ bcm_msg.msg_head.opcode = RX_SETUP;
+ bcm_msg.msg_head.can_id = can_id;
+ bcm_msg.msg_head.nframes = 1;
+ U64_DATA(&bcm_msg.frames[0]) = filter;
+
+ if(can_socket_ << bcm_msg)
+ return 0;
+ return -1;
+}
+
/// @brief start reading threads and set flag is_running_
/// @param[in] can_bus 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");
+ DEBUG(binder_interface, "%s: Launching reading thread", __FUNCTION__);
is_running_ = true;
th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
if(!th_reading_.joinable())
/// @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.");
- open(true);
+ ERROR(binder_interface, "%s: socket not initialized. Attempt to reopen can device socket.", __FUNCTION__);
+ open();
return -1;
}
return 0;
/// @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(true);
+ open();
+ return false;
}
- return false;
+ return true;
}
Code Review / apps / agl-service-can-low-level.git / blobdiff