* limitations under the License.
*/
-
-
+#include <map>
+#include <mutex>
+#include <unistd.h>
#include <string.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <linux/can/raw.h>
-#include <mutex>
-
#include "can-bus-dev.hpp"
#include "can-bus.hpp"
#include "can-message.hpp"
-#include "low-can-binding.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}
+///
+/// @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}
+{}
+
+std::string can_bus_dev_t::get_device_name() const
+{
+ return device_name_;
+}
+
+uint32_t can_bus_dev_t::get_address() const
{
+ return address_;
}
/// @brief Open the can socket and returning it
-/// @return -1
+///
+/// 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()
{
const int canfd_on = 1;
struct ifreq ifr;
struct timeval timeout;
- DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_.socket());
- if (can_socket_) return 0;
+ DEBUG(binder_interface, "open: CAN Handler socket : %d", can_socket_.socket());
+ 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());
+ DEBUG(binder_interface, "open: 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");
+ WARNING(binder_interface, "open: setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
+ DEBUG(binder_interface, "open: 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, "Can not switch into CAN Extended frame format.");
+ NOTICE(binder_interface, "open: 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.");
+ DEBUG(binder_interface, "open: 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);
+ DEBUG(binder_interface, "open: 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));
+ ERROR(binder_interface, "open: ioctl failed. Error was : %s", strerror(errno));
}
else
{
}
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.
-void can_bus_dev_t::close()
+///
+/// @return interger return value of socket.close() function
+int can_bus_dev_t::close()
{
- can_socket_.close();
+ return can_socket_.close();
}
-/// @brief Read the can socket and retrieve canfd_frame
-std::pair<struct canfd_frame&, size_t> can_bus_dev_t::read()
+/// @brief Read the can socket and retrieve canfd_frame.
+///
+/// Read operation are blocking and we try to read CANFD frame
+/// rather than classic CAN frame. CANFD frame are retro compatible.
+can_message_t can_bus_dev_t::read()
{
ssize_t nbytes;
struct canfd_frame cfd;
// Test that socket is really opened
- if (can_socket_)
+ if (!can_socket_)
{
- ERROR(binder_interface, "read_can: Socket unavailable. Closing thread.");
+ ERROR(binder_interface, "read: Socket unavailable. Closing thread.");
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
+/// @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_)
}
/// @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(can_message_t& can_msg)
+/// @param[in] can_msg - the can message object to send
+///
+/// @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;
}
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
+///
+/// @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;
+ 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 false;
+ }
+ return true;
+ }
+ else
+ {
+ ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
+ open();
+ }
+ return false;
+}
Code Review / apps / low-level-can-service.git / blobdiff