#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>
+}
+
/********************************************************************************
*
* CanMessage method implementation
*
*********************************************************************************/
-can_message_t::can_message_t(const struct afb_binding_interface* interface)
- : interface_{interface}
+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
{
- if (id_ != 0)
- return id_;
- return 0;
+ return id_;
}
int can_message_t::get_format() const
{
if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED)
- return -1;
+ return CanMessageFormat::ERROR;
return format_;
}
const uint8_t* can_message_t::get_data() const
{
- return &data_;
+ return data_;
}
uint8_t can_message_t::get_length() const
{
return length_;
}
+bool can_message_t::is_correct_to_send()
+{
+ if (id_ != 0 && length_ != 0 && format_ != CanMessageFormat::ERROR)
+ {
+ 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_)
id_ = new_id & CAN_EFF_MASK;
break;
default:
- ERROR(interface_, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
+ ERROR(binder_interface, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
break;
}
}
if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED)
format_ = new_format;
else
- ERROR(interface_, "ERROR: Can set format, wrong format chosen");
+ ERROR(binder_interface, "ERROR: Can set format, wrong format chosen");
}
void can_message_t::set_data(const uint8_t new_data)
{
- ::memcpy(&data_, &new_data, sizeof(new_data));
- length_ = sizeof(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
+ {
+ ::memcpy(&data_, &new_data, sizeof(new_data));
+ length_ = sizeof(new_data);
+ }
}
-/*
- * @brief This is the preferred way to initialize a CanMessage object
- * from a read canfd_frame message.
- *
- * @param: canfd_frame pointer
- */
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;
if (frame.can_id & CAN_ERR_FLAG)
+ {
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;
if (sizeof(frame.data) <= sizeof(data_))
::memcpy(&data_, frame.data, length_);
else if (sizeof(frame.data) >= CAN_MAX_DLEN)
- ERROR(interface_, "can_message_t: canfd_frame data too long to be stored into CanMessage object");
+ ERROR(binder_interface, "can_message_t: canfd_frame data too long to be stored into CanMessage object");
}
canfd_frame can_message_t::convert_to_canfd_frame()
{
canfd_frame frame;
- frame.can_id = get_id();
- frame.len = get_length();
- ::memcpy(frame.data, get_data(), length_);
-
+ 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 method implementation
+*
+*********************************************************************************/
+
+can_bus_t::can_bus_t(int& conf_file)
+ : conf_file_{conf_file}
+{
+}
+
+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));
+}
+
+
+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())
+ {
+ 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;
+ }
+ 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)
+ {
+ 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;
+ }
+ 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())
+ {
+ 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;
+ }
+
+ NOTICE(binder_interface, "next_can_message: End of can message queue");
+ has_can_message_ = false;
+ return can_msg;
+}
+
+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())
+ {
+ 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;
+}
+
+void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
+{
+ vehicle_message_q_.push(v_msg);
+ has_vehicle_message_ = true;
+}
+
+bool can_bus_t::has_vehicle_message() const
+{
+ return has_vehicle_message_;
+}
+
+/********************************************************************************
+*
+* 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
{
}
-int can_bus_dev_t::open(const struct afb_binding_interface* interface)
+int can_bus_dev_t::event_loop_connection()
+{
+ 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;
+}
+
+int can_bus_dev_t::open()
{
const int canfd_on = 1;
struct ifreq ifr;
struct timeval timeout = {1, 0};
- DEBUG(interface, "open_can_dev: CAN Handler socket : %d", can_socket_);
+ 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(interface, "open_can_dev: socket could not be created");
+ ERROR(binder_interface, "socket could not be created");
}
else
{
/* 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.");
+ 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(interface, "open_can_dev: ioctl failed");
+ ERROR(binder_interface, "ioctl failed");
else
{
txAddress_.can_family = AF_CAN;
/* And bind it to txAddress */
if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
{
- ERROR(interface, "open_can_dev: bind failed");
+ ERROR(binder_interface, "Bind failed");
}
else
{
return can_socket_;
}
-canfd_frame can_bus_dev_t::read(const struct afb_binding_interface* interface)
+canfd_frame can_bus_dev_t::read()
{
ssize_t nbytes;
//int maxdlen;
/* Test that socket is really opened */
if (can_socket_ < 0)
{
- ERROR(interface, "read_can: Socket unavailable. Closing thread.");
+ ERROR(binder_interface, "read_can: Socket unavailable. Closing thread.");
is_running_ = false;
}
switch(nbytes)
{
case CANFD_MTU:
- DEBUG(interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
+ DEBUG(binder_interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
//maxdlen = CANFD_MAX_DLEN;
break;
case CAN_MTU:
- DEBUG(interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
+ DEBUG(binder_interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
//maxdlen = CAN_MAX_DLEN;
break;
default:
if (errno == ENETDOWN)
- ERROR(interface, "read_can: %s interface down", device_name_);
- ERROR(interface, "read_can: Error reading CAN bus");
+ 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;
}
-/**
- * @brief start reading threads and set flag is_running_
- *
- */
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));
return is_running_;
}
-/**
- * @brief Send a can message from a can_message_t object.
- *
- * params[const can_message_t& can_msg] the can message object to send
- *
- */
-int can_bus_dev_t::send_can_message(can_message_t& can_msg, const struct afb_binding_interface* interface)
+int can_bus_dev_t::send_can_message(can_message_t& can_msg)
{
ssize_t nbytes;
canfd_frame f;
(struct sockaddr*)&txAddress_, sizeof(txAddress_));
if (nbytes == -1)
{
- ERROR(interface, "send_can_message: Sending CAN frame failed.");
+ ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
return -1;
}
return (int)nbytes;
}
else
{
- ERROR(interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
- open(interface);
+ ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
+ open();
}
return 0;
-}
-/********************************************************************************
-*
-* can_bus_t method implementation
-*
-*********************************************************************************/
-
-can_bus_t::can_bus_t(const struct afb_binding_interface *interface, int& conf_file)
- : interface_{interface}, 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_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
- */
-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())
- {
- 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(interface_);
- can_bus_device_handler.start_reading(std::ref(*this));
- i++;
- }
-
- NOTICE(interface_, "Initialized %d/%d can bus device(s)", i, t);
- return 0;
- }
- ERROR(interface_, "init_can_dev: Error at CAN device initialization.");
- return 1;
-}
-
-/**
- * @brief Read the conf file and extract device name
- *
- * @return[std:vector<std::string>] return a vector of device name
- */
-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)
- {
- 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_, "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;
- }
- ERROR(interface_, "Problem at reading the conf file");
- ret.clear();
- return ret;
-}
-
-/**
- * @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_t::next_can_message()
-{
- can_message_t can_msg(interface_);
-
- if(!can_message_q_.empty())
- {
- can_msg = can_message_q_.front();
- can_message_q_.pop();
- DEBUG(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;
- }
-
- NOTICE(interface_, "next_can_message: End of can message queue");
- has_can_message_ = false;
- return can_msg;
-}
-
-/**
- * @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_t::push_new_can_message(const can_message_t& can_msg)
-{
- can_message_q_.push(can_msg);
-}
-
-/**
- * @brief Flag that let you know when can message queue is exhausted
- *
- * @return[bool] has_can_message_ bool
- */
-bool can_bus_t::has_can_message() const
-{
- return has_can_message_;
-}
-
-/**
- * @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()
-{
- openxc_VehicleMessage v_msg;
-
- if(! vehicle_message_q_.empty())
- {
- v_msg = vehicle_message_q_.front();
- vehicle_message_q_.pop();
- DEBUG(interface_, "next_vehicle_message: next vehicle message poped");
- return v_msg;
- }
-
- NOTICE(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_;
}
\ No newline at end of file
Code Review / apps / agl-service-can-low-level.git / blobdiff