* 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>
+}
/********************************************************************************
*
-* can_bus_dev_t method implementation
+* CanMessage method implementation
*
*********************************************************************************/
+can_message_t::can_message_t()
+ : id_{0}, length_{0}, format_{CanMessageFormat::ERROR}, data_{0,0,0,0,0,0,0,0}
+{}
-can_bus_dev_t::can_bus_dev_t(afb_binding_interface *itf, const std:string &dev_name)
- : device_name_{dev_name}
+uint32_t can_message_t::get_id() const
{
+ return id_;
}
-int can_bus_dev_t::open()
+int can_message_t::get_format() const
{
- const int canfd_on = 1;
- struct ifreq ifr;
- struct timeval timeout = {1, 0};
-
- DEBUG(interface_, "open_can_dev: CAN Handler socket : %d", can_socket_);
- if (can_socket_ >= 0)
- return 0;
-
- can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW);
- if (socket < 0)
- {
- ERROR(interface_, "open_can_dev: 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(interface_, "open_can_dev: 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);
- if(ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0)
- ERROR(interface_, "open_can_dev: 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(interface_, "open_can_dev: bind failed");
- }
- else
- {
- ::fcntl(can_socket_, F_SETFL, O_NONBLOCK);
- return 0;
- }
- }
- close();
- }
- return -1;
+ if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED)
+ return CanMessageFormat::ERROR;
+ return format_;
}
-int can_bus_dev_t::close()
+const uint8_t* can_message_t::get_data() const
{
- ::close(can_socket_);
- can_socket_ = -1;
+ return data_;
}
-
-
-canfd_frame can_bus_dev_t::read()
+uint8_t can_message_t::get_length() const
{
- ssize_t nbytes;
- //int maxdlen;
- canfd_frame canfd_frame;
+ return length_;
+}
- /* Test that socket is really opened */
- if (can_socket_ < 0)
+bool can_message_t::is_correct_to_send()
+{
+ if (id_ != 0 && length_ != 0 && format_ != CanMessageFormat::ERROR)
{
- ERROR(interface_, "read_can: Socket unavailable. Closing thread.");
- is_running_ = false;
+ int i;
+ for(i=0;i<CAN_MESSAGE_SIZE;i++)
+ if(data_[i] != 0)
+ return true;
}
+ return false;
+}
- nbytes = ::read(can_socket_, &canfd_frame, CANFD_MTU);
-
- switch(nbytes)
+void can_message_t::set_id(const uint32_t new_id)
+{
+ switch(format_)
{
- case CANFD_MTU:
- DEBUG(interface_, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
- //maxdlen = CANFD_MAX_DLEN;
+ case CanMessageFormat::STANDARD:
+ id_ = new_id & CAN_SFF_MASK;
break;
- case CAN_MTU:
- DEBUG(interface_, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
- //maxdlen = CAN_MAX_DLEN;
+ case CanMessageFormat::EXTENDED:
+ id_ = new_id & CAN_EFF_MASK;
break;
default:
- if (errno == ENETDOWN)
- ERROR(interface_, "read_can: %s interface down", device);
- ERROR(interface_, "read_can: Error reading CAN bus");
- ::memset(&canfd_frame, 0, sizeof(canfd_frame));
+ ERROR(binder_interface, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
break;
}
-
- return canfd_frame;
}
-/**
- * @brief start reading threads and set flag is_running_
- *
- */
-void can_bus_dev_t::start_reading()
+void can_message_t::set_format(const CanMessageFormat new_format)
{
- th_reading_ = std::thread(can_reader, this);
- is_running_ = true;
+ if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED)
+ format_ = new_format;
+ else
+ ERROR(binder_interface, "ERROR: Can set format, wrong format chosen");
}
-/*
- * Return is_running_ bool
- */
-bool can_bus_dev_t::is_running()
+void can_message_t::set_data(const uint8_t new_data)
{
- return is_running_;
+ if ((sizeof(new_data) / sizeof(uint8_t) > CAN_MESSAGE_SIZE))
+ ERROR(binder_interface, "Can set data, your data array is too big");
+ else
+ {
+ ::memcpy(&data_, &new_data, sizeof(new_data));
+ length_ = sizeof(new_data);
+ }
}
-/**
- * @brief: Get a can_message_t from can_message_q and return it
- * then point to the next can_message_t in queue.
- *
- * @return the next queue element or NULL if queue is empty.
- */
-can_message_t can_bus_dev_t::next_can_message()
+void can_message_t::convert_from_canfd_frame(const canfd_frame& frame)
{
- if(! can_message_q_.empty())
+ 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;
+
+ if (frame.can_id & CAN_ERR_FLAG)
{
- can_message_t can_msg = can_message_q_.front();
- can_message_q_.pop()
- return &can_msg;
+ id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+ format_ = CanMessageFormat::ERROR;
+ }
+ 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;
}
-
- has_can_message_ = false;
-}
-/**
- * @brief Append a new element to the can message queue and set
- * has_can_message_ boolean to true
- *
- * @params[const can_message_t& can_msg] the can_message_t to append
- *
- */
-void can_bus_dev_t::push_new_can_message(const can_message_t& can_msg)
-{
- can_message_q_.push(can_msg);
+ 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");
}
-/**
- * @brief Flag that let you know when can message queue is exhausted
- *
- * @return[bool] has_can_message_ bool
- */
-bool can_bus_dev_t::has_can_message() const
+canfd_frame can_message_t::convert_to_canfd_frame()
{
- return has_can_message_;
+ 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;
}
/********************************************************************************
*
*********************************************************************************/
-can_bus_t::can_bus_t(afb_binding_interface *itf, std::ifstream& conf_file)
- : interface{itf}, conf_file_{conf_file}
+can_bus_t::can_bus_t(int& conf_file)
+ : conf_file_{conf_file}
{
}
-/**
- * @brief start threads relative to the can bus: decoding and pushing
- * as the reading is handled by can_bus_dev_t object
- *
- */
void can_bus_t::start_threads()
{
- th_decoding_ = std::thread(can_decoder, this);
- th_pushing_ = std::thread(can_event_push, this);
+ th_decoding_ = std::thread(can_decode_message, std::ref(*this));
+ th_pushing_ = std::thread(can_event_push, std::ref(*this));
}
-/**
- * @brief Initialize as many as can_bus_dev_t objects with their respective reading thread
- *
- * params[std::ifstream& conf_file] conf_file ifstream to the JSON configuration
- * file located at the rootdir of the binding
- */
- void init_can_dev()
- {
- std::vector<std::string> devices_name;
- int i, t;
-
- devices_name = read_conf(conf_file_);
-
- t = devices_name.size();
- i=0
-
- for(const auto& device : devices_name)
- {
- can_bus_dev_t(device);
- i++;
- }
-
- NOTICE(interface_, "Initialized %d/%d can bus device(s)", i, t);
- }
-
-/**
- * @brief Read the conf file and extract device name
- *
- * @params[std::ifstream& conf_file] conf_file JSON configuration
- * file located at the rootdir of the binding
- *
- * @return[std:vector<std::string>] return a vector of device name
- */
- std::vector<std::string> read_conf(std::ifstream& conf_file)
- {
- std::vector<std::string> ret;
- std::string fd_conf_content;
- json_object jo, canbus;
- int n, i, ok;
-
- /* Open JSON conf file */
- if (conf_file)
+int can_bus_t::init_can_dev()
+{
+ std::vector<std::string> devices_name;
+ int i;
+ size_t t;
+
+ devices_name = read_conf();
+
+ if (! devices_name.empty())
{
- conf_file.seekg(0, std::ios::end);
- conf_file.resize(conf_file.tellg());
- conf_file.seekg(0, std::ios::beg);
- conf_file.read(&fd_conf_content[0], fd_conf_content.size());
- conf_file.close();
-
- jo = json_tokener_parse(&fd_conf_content);
-
- if (jo == NULL || !json_object_object_get_ex(&jo, "canbus", &&canbus))
- ERROR(interface_, "Can't find canbus node in the configuration file. Please review it.");
- else if (json_object_get_type(canbus) != json_type_array)
- ret.push_back(json_object_get_string(a));
- else
- {
- n = json_object_array_length(a);
- ok = 0;
- for (i = 0 ; i < n ; i++)
- ret.push_back(json_object_get_string(json_object_array_get_idx(a, i)));
- }
- return ret;
+ t = devices_name.size();
+ i=0;
+
+ for(const auto& device : devices_name)
+ {
+ can_bus_dev_t can_bus_device_handler(device);
+ can_bus_device_handler.open();
+ can_bus_device_handler.start_reading(std::ref(*this));
+ i++;
+ }
+
+ NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
+ return 0;
}
- else
- {
- ERROR(interface_, "Problem at reading the conf file");
- return 0;
- }
+ 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;
}
-/**
- * @brief Send a can message from a can_message_t object.
- * TODO: specify which can_dev to use as we can use many
- *
- * params[const can_message_t& can_msg] the can message object to send
- *
- */
-int can_bus_t::send_can_message(const can_message_t &can_msg)
+std::vector<std::string> can_bus_t::read_conf()
{
- int nbytes;
- canfd_frame *f;
-
- f = can_msg.convert_to_canfd_frame();
+ std::vector<std::string> ret;
+ json_object *jo, *canbus;
+ int n, i;
- if(can_socket_ >= 0)
+ FILE *fd = fdopen(conf_file_, "r");
+ if (fd)
{
- nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0,
- (struct sockaddr*)&txAddress, sizeof(txAddress));
-
- if (nbytes == -1)
+ 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(interface_, "send_can_message: Sending CAN frame failed.");
- return -1;
+ ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
+ ret.clear();
}
- return nbytes;
+ 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;
}
- else
+ ERROR(binder_interface, "Problem at reading the conf file");
+ ret.clear();
+ return ret;
+}
+
+can_message_t can_bus_t::next_can_message()
+{
+ can_message_t can_msg;
+
+ if(!can_message_q_.empty())
{
- ERROR(interface_, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
- open();
+ 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 0;
+
+ NOTICE(binder_interface, "next_can_message: End of can message queue");
+ has_can_message_ = false;
+ return can_msg;
}
-/**
- * @brief: Get a VehicleMessage from vehicle_message_q and return it
- * then point to the next VehicleMessage in queue.
- *
- * @return the next queue element or NULL if queue is empty.
- */
-openxc_VehicleMessage* can_bus_t::next_vehicle_message()
+void can_bus_t::push_new_can_message(const can_message_t& can_msg)
+{
+ can_message_q_.push(can_msg);
+}
+
+bool can_bus_t::has_can_message() const
{
+ return has_can_message_;
+}
+
+openxc_VehicleMessage can_bus_t::next_vehicle_message()
+{
+ openxc_VehicleMessage v_msg;
+
if(! vehicle_message_q_.empty())
{
- openxc_VehicleMessage v_msg = vehicle_message_q_.front();
+ v_msg = vehicle_message_q_.front();
vehicle_message_q_.pop();
- return &v_msg;
+ 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;
}
-/**
- * @brief Append a new element to the vehicle message queue and set
- * has_vehicle_message_ boolean to true
- *
- * @params[const openxc_VehicleMessage& v_msg] the openxc_VehicleMessage to append
- *
- */
void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
{
vehicle_message_q_.push(v_msg);
has_vehicle_message_ = true;
}
-/**
- * @brief Flag that let you know when vehicle message queue is exhausted
- *
- * @return[bool] has_vehicle_message_ bool
- */
bool can_bus_t::has_vehicle_message() const
{
return has_vehicle_message_;
/********************************************************************************
*
-* CanMessage method implementation
+* This is the sd_event_add_io callback function declaration.
+* Its implementation can be found into low-can-binding.cpp.
*
*********************************************************************************/
-can_message_t::can_message_t(afb_binding_interface *itf)
- : interface_{itf}
-{}
+int can_frame_received(sd_event_source *s, int fd, uint32_t revents, void *userdata);
-uint32_t can_message_t::get_id() const
-{
- (id_ != 0) ? return id_ : return 0;
-}
+/********************************************************************************
+*
+* can_bus_dev_t method implementation
+*
+*********************************************************************************/
-int can_message_t::get_format() const
+can_bus_dev_t::can_bus_dev_t(const std::string &dev_name)
+ : device_name_{dev_name}
{
- (format_ != CanMessageFormat::SIMPLE || format_ != CanMessageFormat::EXTENDED) return -1 : return format_;
}
-uint8_t can_message_t::get_data() const
-{
- return data_;
-}
-uint8_t can_message_t::get_lenght() const
+int can_bus_dev_t::event_loop_connection()
{
- return lenght_;
-}
+ sd_event_source *source;
+ int rc;
-void can_message_t::set_id(uint32_t &new_id)
-{
- 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.");
+ /* 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 can_message_t::set_format(CanMessageFormat &new_format)
+int can_bus_dev_t::open()
{
- if(new_format == CanMessageFormat::SIMPLE || new_format == CanMessageFormat::EXTENDED)
- format = new_format;
+ 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
- ERROR(interface_, "ERROR: Can set format, wrong format chosen");
+ {
+ /* 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 can_message_t::set_data(uint8_t &new_data)
+int can_bus_dev_t::close()
{
- ::memcpy(data_, new_data, new_data.size());
- lenght_ = new_data(size);
+ ::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 can_message_t::convert_from_canfd_frame(canfd_frame &frame)
+canfd_frame can_bus_dev_t::read()
{
- lenght_ = (frame.len > CAN_MAX_DLEN) ? CAN_MAX_DLEN : frame.len;
- lenght_ = (frame.len > CANFD_MAX_DLEN) ? CANFD_MAX_DLEN : frame.len;
+ ssize_t nbytes;
+ //int maxdlen;
+ canfd_frame canfd_frame;
+
+ /* 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 (frame.can_id):
- case (frame.can_id & CAN_ERR_FLAG):
- id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+ 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 (frame.can_id & CAN_EFF_FLAG):
- id_ = 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_ = 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(frame.data) <= data_.size())
- {
- ::memcpy(data_, canfd_frame.data, lenght_);
- return 0;
- } else if (sizeof(frame.data) >= CAN_MAX_DLEN)
- ERROR(interface_, "can_message_t: 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_;
+}
+
+int can_bus_dev_t::send_can_message(can_message_t& can_msg)
+{
+ ssize_t nbytes;
+ canfd_frame f;
- frame.can_id = get_id();
- frame.len = get_lenght();
- ::memcpy(frame.data, get_data(), lenght_);
+ f = can_msg.convert_to_canfd_frame();
- return 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