* limitations under the License.
*/
-#pragma once
+#include "can-utils.hpp"
/********************************************************************************
*
-* CanBus method implementation
+* CanMessage method implementation
+*
+*********************************************************************************/
+
+can_message_t::can_message_t(const struct afb_binding_interface* interface)
+ : interface_{interface}
+{}
+
+uint32_t can_message_t::get_id() const
+{
+ if (id_ != 0)
+ return id_;
+ return 0;
+}
+
+int can_message_t::get_format() const
+{
+ if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED)
+ return -1;
+ return format_;
+}
+
+const uint8_t* can_message_t::get_data() const
+{
+ return &data_;
+}
+uint8_t can_message_t::get_length() const
+{
+ return length_;
+}
+
+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(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(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);
+}
+
+/*
+ * @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);
+ 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(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_);
+
+ return frame;
+}
+/********************************************************************************
+*
+* can_bus_dev_t method implementation
*
*********************************************************************************/
-can_bus_dev_t::can_bus_dev_t(afb_binding_interface *itf, const std:string &dev_name)
- : interface{itf}, deviceName{dev_name}
+can_bus_dev_t::can_bus_dev_t(const std::string &dev_name)
+ : device_name_{dev_name}
{
}
-int can_bus_dev_t::open()
+int can_bus_dev_t::open(const struct afb_binding_interface* interface)
{
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(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)
+ if (can_socket_ < 0)
{
- ERROR(interface_, "open_can_dev: socket could not be created");
+ ERROR(interface, "open_can_dev: 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(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");
+ ::strcpy(ifr.ifr_name, device_name_.c_str());
+ 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;
+ 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");
+ ERROR(interface, "open_can_dev: bind failed");
}
else
{
{
::close(can_socket_);
can_socket_ = -1;
+ return can_socket_;
}
-
-canfd_frame can_bus_dev_t::read()
+canfd_frame can_bus_dev_t::read(const struct afb_binding_interface* interface)
{
ssize_t nbytes;
//int maxdlen;
/* Test that socket is really opened */
if (can_socket_ < 0)
{
- ERROR(interface_, "read_can: Socket unavailable. Closing thread.");
+ ERROR(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(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(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);
- ERROR(interface_, "read_can: Error reading CAN bus");
+ ERROR(interface, "read_can: %s interface down", device_name_);
+ ERROR(interface, "read_can: Error reading CAN bus");
::memset(&canfd_frame, 0, sizeof(canfd_frame));
+ is_running_ = false;
break;
}
return canfd_frame;
}
-/*
- * Return is_running_ bool
+/**
+ * @brief start reading threads and set flag is_running_
+ *
*/
-bool can_bus_dev_t::is_running()
-{
- return is_running_;
-}
-
-can_bus_t::can_bus_t(afb_binding_interface *itf, const std:string &dev_name)
- : interface{itf}
+void can_bus_dev_t::start_reading(can_bus_t& can_bus)
{
-}
-
-void can_bus_t::start_threads()
-{
- th_reading_ = std::thread(can_reader, interface, socket, can_message_q_);
+ th_reading_ = std::thread(can_reader, std::ref(*this), std::ref(can_bus));
is_running_ = true;
-
- th_decoding_ = std::thread(can_decoder, interface, can_message_q, can_message_q_);
- th_pushing_ = std::thread(can_event_push, interface, can_message_q_);
}
/*
- * 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.
+ * Return is_running_ bool
*/
-can_message_t can_bus_dev_t::next_can_message()
+bool can_bus_dev_t::is_running()
{
- if(! can_message_q_.empty())
- {
- can_message_t can_msg = can_message_q_.front();
- can_message_q_.pop()
- return &can_msg;
- }
- has_can_message_ = false;
+ return is_running_;
}
/**
- * @return has_can_message_ bool
- */
-bool can_bus_dev_t::has_can_message() const
-{
- return has_can_message_;
-}
-
-void can_bus_dev_t::push_new_can_message(const can_message_t& can_msg)
-{
- can_message_q_.push(can_msg);
-}
-
-/*
- * Send a can message from a can_message_t object.
+ * @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_t::send_can_message(can_message_t &can_msg)
+int can_bus_dev_t::send_can_message(can_message_t& can_msg, const struct afb_binding_interface* interface)
{
- int nbytes;
- canfd_frame *f;
+ ssize_t nbytes;
+ canfd_frame f;
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));
-
+ (struct sockaddr*)&txAddress_, sizeof(txAddress_));
if (nbytes == -1)
{
- ERROR(interface_, "send_can_message: Sending CAN frame failed.");
+ ERROR(interface, "send_can_message: Sending CAN frame failed.");
return -1;
}
- return nbytes;
+ return (int)nbytes;
}
else
{
- ERROR(interface_, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
- open();
+ ERROR(interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
+ open(interface);
}
return 0;
}
+/********************************************************************************
+*
+* can_bus_t method implementation
+*
+*********************************************************************************/
-/*
- * 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()
+can_bus_t::can_bus_t(const struct afb_binding_interface *interface, int& conf_file)
+ : interface_{interface}, conf_file_{conf_file}
{
- if(! vehicle_message_q_.empty())
- {
- openxc_VehicleMessage v_msg = vehicle_message_q_.front();
- vehicle_message_q_.pop();
- return &v_msg;
- }
-
- has_vehicle_message_ = false;
}
-void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
+/**
+ * @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()
{
- vehicle_message_q_.push(v_msg);
- has_vehicle_message_ = true;
+ th_decoding_ = std::thread(can_decode_message, std::ref(*this));
+ th_pushing_ = std::thread(can_event_push, std::ref(*this));
}
-/*
- * Return has_can_message_ bool
+/**
+ * @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
*/
-bool can_bus_t::has_vehicle_message() const
+int can_bus_t::init_can_dev()
{
- return has_vehicle_message_;
-}
+ std::vector<std::string> devices_name;
+ int i;
+ size_t t;
-/********************************************************************************
-*
-* CanMessage method implementation
-*
-*********************************************************************************/
+ devices_name = read_conf();
-can_message_t::can_message_t(afb_binding_interface *itf)
- : interface_{itf}
-{}
+ if (! devices_name.empty())
+ {
+ t = devices_name.size();
+ i=0;
-uint32_t can_message_t::get_id() const
-{
- (id_ != 0) ? return id_ : return 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++;
+ }
-int can_message_t::get_format() const
-{
- (format_ != CanMessageFormat::SIMPLE || format_ != CanMessageFormat::EXTENDED) return -1 : return format_;
+ 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;
}
-uint8_t can_message_t::get_data() const
-{
- return data_;
-}
-uint8_t can_message_t::get_lenght() const
+/**
+ * @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()
{
- return lenght_;
+ 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;
}
-void can_message_t::set_id(uint32_t &new_id)
+/**
+ * @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()
{
- 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.");
+ 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;
}
-void can_message_t::set_format(CanMessageFormat &new_format)
+/**
+ * @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)
{
- if(new_format == CanMessageFormat::SIMPLE || new_format == CanMessageFormat::EXTENDED)
- format = new_format;
- else
- ERROR(interface_, "ERROR: Can set format, wrong format chosen");
+ can_message_q_.push(can_msg);
}
-void can_message_t::set_data(uint8_t &new_data)
+/**
+ * @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
{
- ::memcpy(data_, new_data, new_data.size());
- lenght_ = new_data(size);
+ return has_can_message_;
}
-/*
- * This is the preferred way to initialize a CanMessage object
- * from a read canfd_frame message.
+/**
+ * @brief: Get a VehicleMessage from vehicle_message_q and return it
+ * then point to the next VehicleMessage in queue.
*
- * params: canfd_frame pointer
+ * @return the next queue element or NULL if queue is empty.
*/
-void can_message_t::convert_from_canfd_frame(canfd_frame &frame)
+openxc_VehicleMessage can_bus_t::next_vehicle_message()
{
- lenght_ = (frame.len > CAN_MAX_DLEN) ? CAN_MAX_DLEN : frame.len;
- lenght_ = (frame.len > CANFD_MAX_DLEN) ? CANFD_MAX_DLEN : frame.len;
-
- switch (frame.can_id):
- case (frame.can_id & CAN_ERR_FLAG):
- id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
- break;
- case (frame.can_id & CAN_EFF_FLAG):
- id_ = frame.can_id & CAN_EFF_MASK;
- format_ = CanMessageFormat::EXTENDED;
- break;
- default:
- format_ = CanMessageFormat::STANDARD;
- id_ = frame.can_id & CAN_SFF_MASK;
- break;
+ openxc_VehicleMessage v_msg;
- if (sizeof(frame.data) <= data_.size())
+ if(! vehicle_message_q_.empty())
{
- ::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");
+ 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;
}
-canfd_frame convert_to_canfd_frame()
+/**
+ * @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)
{
- canfd_frame frame;
-
- frame.can_id = get_id();
- frame.len = get_lenght();
- ::memcpy(frame.data, get_data(), lenght_);
-
- return frame;
+ 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