* limitations under the License.
*/
-#pragma once
+#include "can-utils.hpp"
+
+#include <map>
+#include <vector>
+#include <cstdio>
+#include <string>
+#include <fcntl.h>
+#include <unistd.h>
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <json-c/json.h>
+#include <linux/can/raw.h>
+#include <systemd/sd-event.h>
+
+extern "C"
+{
+ #include <afb/afb-binding.h>
+}
/********************************************************************************
*
-* CanBus method implementation
+* CanMessage method implementation
*
*********************************************************************************/
-CanBus_c::CanBus_c(afb_binding_interface *itf, const std:string& dev_name)
+can_message_t::can_message_t()
+ : id_{0}, length_{0}, format_{CanMessageFormat::ERROR}, data_{0,0,0,0,0,0,0,0}
+{}
+
+uint32_t can_message_t::get_id() const
{
- interface = itf;
- deviceName = dev_name;
+ return id_;
}
-int CanBus_c::open()
+int can_message_t::get_format() const
{
- const int canfd_on = 1;
- struct ifreq ifr;
- struct timeval timeout = {1, 0};
+ if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED)
+ return CanMessageFormat::ERROR;
+ return format_;
+}
- DEBUG(interface, "open_can_dev: CAN Handler socket : %d", socket);
- if (socket >= 0)
- close(socket);
+const uint8_t* can_message_t::get_data() const
+{
+ return data_;
+}
+uint8_t can_message_t::get_length() const
+{
+ return length_;
+}
- socket = socket(PF_CAN, SOCK_RAW, CAN_RAW);
- if (socket < 0)
+bool can_message_t::is_correct_to_send()
+{
+ if (id_ != 0 && length_ != 0 && format_ != CanMessageFormat::ERROR)
{
- ERROR(interface, "open_can_dev: socket could not be created");
+ int i;
+ for(i=0;i<CAN_MESSAGE_SIZE;i++)
+ if(data_[i] != 0)
+ return true;
}
+ return false;
+}
+
+void can_message_t::set_id(const uint32_t new_id)
+{
+ switch(format_)
+ {
+ case CanMessageFormat::STANDARD:
+ id_ = new_id & CAN_SFF_MASK;
+ break;
+ case CanMessageFormat::EXTENDED:
+ id_ = new_id & CAN_EFF_MASK;
+ break;
+ default:
+ ERROR(binder_interface, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
+ break;
+ }
+}
+
+void can_message_t::set_format(const CanMessageFormat new_format)
+{
+ if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED)
+ format_ = new_format;
+ else
+ ERROR(binder_interface, "ERROR: Can set format, wrong format chosen");
+}
+
+void can_message_t::set_data(const uint8_t new_data)
+{
+ if ((sizeof(new_data) / sizeof(uint8_t) > CAN_MESSAGE_SIZE))
+ ERROR(binder_interface, "Can set data, your data array is too big");
else
{
- /* Set timeout for read */
- setsockopt(socket, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
- /* try to switch the socket into CAN_FD mode */
- if (setsockopt(socket, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
- {
- NOTICE(interface, "open_can_dev: Can not switch into CAN Extended frame format.");
- is_fdmode_on = false;
- } else {
- is_fdmode_on = true;
- }
+ ::memcpy(&data_, &new_data, sizeof(new_data));
+ length_ = sizeof(new_data);
+ }
+}
- /* Attempts to open a socket to CAN bus */
- strcpy(ifr.ifr_name, device);
- if(ioctl(socket, SIOCGIFINDEX, &ifr) < 0)
- ERROR(interface, "open_can_dev: ioctl failed");
- else
- {
- txAddress.can_family = AF_CAN;
- txAddress.can_ifindex = ifr.ifr_ifindex;
+void can_message_t::convert_from_canfd_frame(const canfd_frame& frame)
+{
+ length_ = (frame.len > CAN_MAX_DLEN) ? (uint8_t)CAN_MAX_DLEN : frame.len;
+ length_ = (frame.len > CANFD_MAX_DLEN) ? (uint8_t)CANFD_MAX_DLEN : frame.len;
- /* And bind it to txAddress */
- if (bind(socket, (struct sockaddr *)&txAddress, sizeof(txAddress)) < 0)
- {
- ERROR(interface, "open_can_dev: bind failed");
- }
- else
- {
- fcntl(socket, F_SETFL, O_NONBLOCK);
- return 0;
- }
- }
- close(socket);
- socket = -1;
+ if (frame.can_id & CAN_ERR_FLAG)
+ {
+ id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+ format_ = CanMessageFormat::ERROR;
}
- return -1;
+ else if (frame.can_id & CAN_EFF_FLAG)
+ {
+ id_ = frame.can_id & CAN_EFF_MASK;
+ format_ = CanMessageFormat::EXTENDED;
+ }
+ else
+ {
+ id_ = frame.can_id & CAN_SFF_MASK;
+ format_ = CanMessageFormat::STANDARD;
+ }
+
+ if (sizeof(frame.data) <= sizeof(data_))
+ ::memcpy(&data_, frame.data, length_);
+ else if (sizeof(frame.data) >= CAN_MAX_DLEN)
+ ERROR(binder_interface, "can_message_t: canfd_frame data too long to be stored into CanMessage object");
}
-int CanBus_c::close()
+canfd_frame can_message_t::convert_to_canfd_frame()
{
- close(socket);
- socket = -1;
+ canfd_frame frame;
+
+ if(is_correct_to_send())
+ {
+ frame.can_id = get_id();
+ frame.len = get_length();
+ ::memcpy(frame.data, get_data(), length_);
+ }
+ else
+ ERROR(binder_interface, "can_message_t not correctly initialized to be sent");
+
+ return frame;
}
-void CanBus_c::start_threads()
+/********************************************************************************
+*
+* can_bus_t method implementation
+*
+*********************************************************************************/
+
+can_bus_t::can_bus_t(int& conf_file)
+ : conf_file_{conf_file}
{
- std::queue <CanMessage_c> can_message_q;
+}
- th_reading = std::thread(can_reader, interface, socket, can_message_q);
- th_decoding = std::thread(can_decoder, interface, can_message_q, can_message_q);
- th_pushing = std::thread(can_event_push, interface, can_message_q);
+void can_bus_t::start_threads()
+{
+ th_decoding_ = std::thread(can_decode_message, std::ref(*this));
+ th_pushing_ = std::thread(can_event_push, std::ref(*this));
}
-/*
- * Send a can message from a CanMessage_c object.
- */
-int CanBus_c::send_can_message(CanMessage_c can_msg)
+
+int can_bus_t::init_can_dev()
{
- int nbytes;
- canfd_frame *f;
+ std::vector<std::string> devices_name;
+ int i;
+ size_t t;
- f = can_msg.convert_to_canfd_frame();
+ devices_name = read_conf();
- if(socket >= 0)
+ if (! devices_name.empty())
{
- nbytes = sendto(socket, &f, sizeof(struct canfd_frame), 0,
- (struct sockaddr*)&txAddress, sizeof(txAddress));
-
- if (nbytes == -1)
+ t = devices_name.size();
+ i=0;
+
+ for(const auto& device : devices_name)
{
- ERROR(interface, "send_can_message: Sending CAN frame failed.");
- return -1;
+ can_bus_dev_t can_bus_device_handler(device);
+ can_bus_device_handler.open();
+ can_bus_device_handler.start_reading(std::ref(*this));
+ i++;
}
- return nbytes;
+
+ NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
+ return 0;
}
- else
+ ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read into configuration file. Did you specify canbus JSON object ?");
+ return 1;
+}
+
+std::vector<std::string> can_bus_t::read_conf()
+{
+ std::vector<std::string> ret;
+ json_object *jo, *canbus;
+ int n, i;
+
+ FILE *fd = fdopen(conf_file_, "r");
+ if (fd)
{
- ERROR(interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
- open_can_dev();
+ std::string fd_conf_content;
+ std::fseek(fd, 0, SEEK_END);
+ fd_conf_content.resize(std::ftell(fd));
+ std::rewind(fd);
+ std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
+ std::fclose(fd);
+
+ jo = json_tokener_parse(fd_conf_content.c_str());
+
+ if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
+ {
+ ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
+ ret.clear();
+ }
+ else if (json_object_get_type(canbus) != json_type_array)
+ ret.push_back(json_object_get_string(canbus));
+ else
+ {
+ n = json_object_array_length(canbus);
+ for (i = 0 ; i < n ; i++)
+ ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
+ }
+ return ret;
}
- return 0;
+ ERROR(binder_interface, "Problem at reading the conf file");
+ ret.clear();
+ return ret;
}
-/*
- * Get a CanMessage from can_message_q and return it
- * then point to the next CanMessage in queue.
- *
- * Return the next queue element or NULL if queue is empty.
- */
-CanMessage_c* CanBus_c::next_can_message()
+can_message_t can_bus_t::next_can_message()
{
- if(! can_message_q.empty())
+ can_message_t can_msg;
+
+ if(!can_message_q_.empty())
{
- CanMessage_c can_msg = can_message_q.front();
- can_message_q.pop()
- return &can_msg;
+ can_msg = can_message_q_.front();
+ can_message_q_.pop();
+ DEBUG(binder_interface, "next_can_message: Here is the next can message : id %d, length %d", can_msg.get_id(), can_msg.get_length());
+ return can_msg;
}
-
- return NULL;
+
+ NOTICE(binder_interface, "next_can_message: End of can message queue");
+ has_can_message_ = false;
+ return can_msg;
}
-void CanBus_c::insert_new_can_message(CanMessage_c *can_msg)
+void can_bus_t::push_new_can_message(const can_message_t& can_msg)
{
- can_message_q.push(can_msg);
+ can_message_q_.push(can_msg);
}
-/********************************************************************************
-*
-* CanMessage method implementation
-*
-*********************************************************************************/
-
-uint32_t CanMessage_c::get_id()
+bool can_bus_t::has_can_message() const
{
- return id;
+ return has_can_message_;
}
-int CanMessage_c::get_format()
+openxc_VehicleMessage can_bus_t::next_vehicle_message()
{
- return format;
+ openxc_VehicleMessage v_msg;
+
+ if(! vehicle_message_q_.empty())
+ {
+ v_msg = vehicle_message_q_.front();
+ vehicle_message_q_.pop();
+ DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
+ return v_msg;
+ }
+
+ NOTICE(binder_interface, "next_vehicle_message: End of vehicle message queue");
+ has_vehicle_message_ = false;
+ return v_msg;
}
-uint8_t CanMessage_c::get_data()
+void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
{
- return data;
+ vehicle_message_q_.push(v_msg);
+ has_vehicle_message_ = true;
}
-uint8_t CanMessage_c::get_lenght()
+
+bool can_bus_t::has_vehicle_message() const
{
- return lenght;
+ return has_vehicle_message_;
}
-void CanMessage_c::set_id(uint32_t new_id)
+/********************************************************************************
+*
+* This is the sd_event_add_io callback function declaration.
+* Its implementation can be found into low-can-binding.cpp.
+*
+*********************************************************************************/
+
+int can_frame_received(sd_event_source *s, int fd, uint32_t revents, void *userdata);
+
+/********************************************************************************
+*
+* can_bus_dev_t method implementation
+*
+*********************************************************************************/
+
+can_bus_dev_t::can_bus_dev_t(const std::string &dev_name)
+ : device_name_{dev_name}
{
- switch(format):
- case CanMessageFormat::SIMPLE:
- id = new_id & CAN_SFF_MASK;
- case CanMessageFormat::EXTENDED:
- id = new_id & CAN_EFF_MASK;
- default:
- ERROR(interface, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
}
-void CanMessage_c::set_format(CanMessageFormat new_format)
+int can_bus_dev_t::event_loop_connection()
{
- if(new_format == CanMessageFormat::SIMPLE || new_format == CanMessageFormat::EXTENDED)
- format = new_format;
- else
- ERROR(interface, "ERROR: Can set format, wrong format chosen");
+ sd_event_source *source;
+ int rc;
+
+ /* adds to the event loop */
+ rc = sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &source, can_socket_, EPOLLIN, can_frame_received, this);
+ if (rc < 0) {
+ close();
+ ERROR(binder_interface, "Can't coonect CAN device %s to the event loop", device_name_);
+ } else {
+ NOTICE(binder_interface, "Connected to %s", device_name_);
+ }
+ return rc;
}
-void CanMessage_c::set_data(uint8_t new_data)
+int can_bus_dev_t::open()
{
- data = new_data;
+ const int canfd_on = 1;
+ struct ifreq ifr;
+ struct timeval timeout = {1, 0};
+
+ DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_);
+ if (can_socket_ >= 0)
+ return 0;
+
+ can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW);
+ if (can_socket_ < 0)
+ {
+ ERROR(binder_interface, "socket could not be created");
+ }
+ else
+ {
+ /* Set timeout for read */
+ ::setsockopt(can_socket_, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
+ /* try to switch the socket into CAN_FD mode */
+ if (::setsockopt(can_socket_, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
+ {
+ NOTICE(binder_interface, "Can not switch into CAN Extended frame format.");
+ is_fdmode_on_ = false;
+ } else {
+ is_fdmode_on_ = true;
+ }
+
+ /* Attempts to open a socket to CAN bus */
+ ::strcpy(ifr.ifr_name, device_name_.c_str());
+ if(::ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0)
+ ERROR(binder_interface, "ioctl failed");
+ else
+ {
+ txAddress_.can_family = AF_CAN;
+ txAddress_.can_ifindex = ifr.ifr_ifindex;
+
+ /* And bind it to txAddress */
+ if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
+ {
+ ERROR(binder_interface, "Bind failed");
+ }
+ else
+ {
+ ::fcntl(can_socket_, F_SETFL, O_NONBLOCK);
+ return 0;
+ }
+ }
+ close();
+ }
+ return -1;
}
-void CanMessage_c::set_lenght(uint8_t new_length)
+int can_bus_dev_t::close()
{
- lenght = new_lenght;
+ ::close(can_socket_);
+ can_socket_ = -1;
+ return can_socket_;
}
-/*
- * This is the preferred way to initialize a CanMessage object
- * from a read canfd_frame message.
- *
- * params: canfd_frame pointer
- */
-void CanMessage_c::convert_from_canfd_frame(canfd_frame *frame)
+canfd_frame can_bus_dev_t::read()
{
-
- lenght = (canfd_frame->len > maxdlen) ? maxdlen : canfd_frame->len;
+ ssize_t nbytes;
+ //int maxdlen;
+ canfd_frame canfd_frame;
- switch (canfd_frame->can_id):
- case (canfd_frame->can_id & CAN_ERR_FLAG):
- id = canfd_frame->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+ /* Test that socket is really opened */
+ if (can_socket_ < 0)
+ {
+ ERROR(binder_interface, "read_can: Socket unavailable. Closing thread.");
+ is_running_ = false;
+ }
+
+ nbytes = ::read(can_socket_, &canfd_frame, CANFD_MTU);
+
+ switch(nbytes)
+ {
+ case CANFD_MTU:
+ DEBUG(binder_interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
+ //maxdlen = CANFD_MAX_DLEN;
break;
- case (canfd_frame->can_id & CAN_EFF_FLAG):
- id = canfd_frame->can_id & CAN_EFF_MASK;
- format = CanMessageFormat::EXTENDED;
+ case CAN_MTU:
+ DEBUG(binder_interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
+ //maxdlen = CAN_MAX_DLEN;
break;
default:
- format = CanMessageFormat::STANDARD;
- id = canfd_frame->can_id & CAN_SFF_MASK;
+ if (errno == ENETDOWN)
+ ERROR(binder_interface, "read_can: %s binder_interface down", device_name_);
+ ERROR(binder_interface, "read_can: Error reading CAN bus");
+ ::memset(&canfd_frame, 0, sizeof(canfd_frame));
+ is_running_ = false;
break;
+ }
+
+ return canfd_frame;
+}
- if (sizeof(canfd_frame->data) <= sizeof(data))
- {
- memcpy(data, canfd_frame->data, lenght);
- return 0;
- } else if (sizeof(canfd_frame->data) >= CAN_MAX_DLEN)
- ERROR(interface, "CanMessage_c: canfd_frame data too long to be stored into CanMessage object");
+void can_bus_dev_t::start_reading(can_bus_t& can_bus)
+{
+ th_reading_ = std::thread(can_reader, std::ref(*this), std::ref(can_bus));
+ is_running_ = true;
}
-canfd_frame* convert_to_canfd_frame()
+/*
+ * Return is_running_ bool
+ */
+bool can_bus_dev_t::is_running()
{
- canfd_frame frame;
+ return is_running_;
+}
- frame.id = can_msg.get_id();
- frame.len = can_msg.get_lenght();
- frame.data = can_msg.get_data();
+int can_bus_dev_t::send_can_message(can_message_t& can_msg)
+{
+ ssize_t nbytes;
+ canfd_frame f;
- return &frame;
-}
+ f = can_msg.convert_to_canfd_frame();
+
+ if(can_socket_ >= 0)
+ {
+ nbytes = ::sendto(can_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;
+}
\ No newline at end of file
Code Review / apps / agl-service-can-low-level.git / blobdiff