/*
- * Copyright (C) 2015, 2016, 2017 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- * Author "Loïc Collignon" <loic.collignon@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
+* Copyright (C) 2015, 2016, 2017 "IoT.bzh"
+* Author "Romain Forlot" <romain.forlot@iot.bzh>
+* Author "Loïc Collignon" <loic.collignon@iot.bzh>
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+* http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*/
+#include <map>
+#include <mutex>
+#include <unistd.h>
#include <string.h>
-#include <linux/can/raw.h>
#include <net/if.h>
#include <sys/ioctl.h>
+#include <linux/can/raw.h>
#include "can-bus-dev.hpp"
-#include "low-can-binding.hpp"
-/// @brief Class constructor
+#include "can-bus.hpp"
+#include "can-message.hpp"
+#include "../low-can-binding.hpp"
+
+/// @brief Class constructor
/// @param dev_name String representing the device name into the linux /dev tree
-can_bus_dev_t::can_bus_dev_t(const std::string& dev_name)
- : device_name_{dev_name}
+can_bus_dev_t::can_bus_dev_t(const std::string& dev_name, int32_t address)
+ : device_name_{dev_name}, address_{address}
+{}
+
+std::string can_bus_dev_t::get_device_name() const
{
+ return device_name_;
}
-/// @brief Open the can socket and returning it
-/// @return -1
+uint32_t can_bus_dev_t::get_address() const
+{
+ return address_;
+}
+
+/// @brief Open the can socket and returning it
+/// @return -1 if something wrong.
int can_bus_dev_t::open()
{
const int canfd_on = 1;
struct timeval timeout;
DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_.socket());
- if (can_socket_) return 0;
+ if (can_socket_)
+ return 0;
can_socket_.open(PF_CAN, SOCK_RAW, CAN_RAW);
if (can_socket_)
{
DEBUG(binder_interface, "CAN Handler socket correctly initialized : %d", can_socket_.socket());
-
+
// Set timeout for read
can_socket_.setopt(SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
-
+
// Set timestamp for receveid frame
if (can_socket_.setopt(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 (can_socket_.setopt(SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
{
::strcpy(ifr.ifr_name, device_name_.c_str());
DEBUG(binder_interface, "ifr_name is : %s", ifr.ifr_name);
if(::ioctl(can_socket_.socket(), SIOCGIFINDEX, &ifr) < 0)
+ {
ERROR(binder_interface, "ioctl failed. Error was : %s", strerror(errno));
+ }
else
{
txAddress_.can_family = AF_CAN;
// And bind it to txAddress
DEBUG(binder_interface, "Bind the socket");
- if (::bind(can_socket_.socket(), (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
+ if (can_socket_.bind((struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
ERROR(binder_interface, "Bind failed. %s", strerror(errno));
- else
- return 0;
+ else return 0;
}
close();
}
- else ERROR(binder_interface, "socket could not be created. Error was : %s", ::strerror(errno));
+ else ERROR(binder_interface, "open: socket could not be created. Error was : %s", ::strerror(errno));
return -1;
}
+
+/// @brief Close the bus.
+int can_bus_dev_t::close()
+{
+ return can_socket_.close();
+}
+
+/// @brief Read the can socket and retrieve canfd_frame
+can_message_t can_bus_dev_t::read()
+{
+ ssize_t nbytes;
+ struct canfd_frame cfd;
+
+ // Test that socket is really opened
+ if (!can_socket_)
+ {
+ ERROR(binder_interface, "read: Socket unavailable. Closing thread.");
+ is_running_ = false;
+ }
+
+ nbytes = ::read(can_socket_.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_.c_str());
+ 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 can_message_t::convert_from_canfd_frame(cfd, nbytes);
+}
+
+/// @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");
+ 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 object to be used to read the can socket
+void can_bus_dev_t::can_reader(can_bus_t& can_bus)
+{
+ while(is_running_)
+ {
+ can_message_t msg = read();
+ {
+ std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex());
+ can_bus.push_new_can_message(msg);
+ }
+ can_bus.get_new_can_message_cv().notify_one();
+ }
+}
+
+/// @brief Send a can message from a can_message_t object.
+/// @param[in] can_msg the can message object to send
+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 = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0,
+ (struct sockaddr*)&txAddress_, sizeof(txAddress_));
+ if (nbytes == -1)
+ {
+ ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
+ return -1;
+ }
+ return (int)nbytes;
+ }
+ else
+ {
+ ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
+ open();
+ }
+ return 0;
+}
+
+/// @brief Static method used to send diagnostic CAN message
+/// that follow isotp SendShimsMessage signature. This method is launched
+/// from diagnostic manager's' same name method. It will use the diagnostic
+/// manager configured CAN bus device to send the CAN message.
+///
+/// @param[in] arbitration_id - CAN arbitration id.
+/// @param[in] data - CAN message payload to send
+/// @param[in] size - size of the data to send
+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;
+ f.len = size;
+ ::memcpy(f.data, data, size);
+
+ if(can_socket_)
+ {
+ nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0,
+ (struct sockaddr*)&txAddress_, sizeof(txAddress_));
+ if (nbytes == -1)
+ {
+ ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
+ return -1;
+ }
+ return (int)nbytes;
+ }
+ else
+ {
+ ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
+ open();
+ }
+ return 0;
+}
Code Review / apps / agl-service-can-low-level.git / blobdiff