#include "can-utils.hpp"
+
+/********************************************************************************
+*
+* 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
+{
+ (id_ != 0) ? return id_ : return 0;
+}
+
+int can_message_t::get_format() const
+{
+ (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
+{
+ return lenght_;
+}
+
+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.");
+}
+
+void can_message_t::set_format(CanMessageFormat &new_format)
+{
+ if(new_format == CanMessageFormat::SIMPLE || new_format == CanMessageFormat::EXTENDED)
+ format = new_format;
+ else
+ ERROR(interface_, "ERROR: Can set format, wrong format chosen");
+}
+
+void can_message_t::set_data(uint8_t &new_data)
+{
+ ::memcpy(data_, new_data, new_data.size());
+ lenght_ = new_data(size);
+}
+
+/*
+ * 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)
+{
+ 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;
+
+ 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");
+}
+
+canfd_frame can_message_t::convert_to_canfd_frame()
+{
+ canfd_frame frame;
+
+ frame.can_id = get_id();
+ frame.len = get_lenght();
+ ::memcpy(frame.data, get_data(), lenght_);
+
+ return frame;
+}
/********************************************************************************
*
* can_bus_dev_t method implementation
{
}
-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);
+ ::strcpy(ifr.ifr_name, device_name_.c_str());
if(::ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0)
- ERROR(interface_, "open_can_dev: ioctl failed");
+ 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
{
can_socket_ = -1;
}
-
-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;
if(! can_message_q_.empty())
{
can_message_t can_msg = can_message_q_.front();
- can_message_q_.pop()
- return &can_msg;
+ can_message_q_.pop();
+ return can_msg;
}
has_can_message_ = false;
return has_can_message_;
}
+/**
+ * @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)
+{
+ size_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_));
+
+ if (nbytes == -1)
+ {
+ ERROR(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);
+ }
+ return 0;
+}
/********************************************************************************
*
* can_bus_t method implementation
* params[std::ifstream& conf_file] conf_file ifstream to the JSON configuration
* file located at the rootdir of the binding
*/
-int init_can_dev()
+int can_bus_t::init_can_dev()
{
std::vector<std::string> devices_name;
- int i, t, ret;
+ int i;
+ size_t t;
- devices_name = read_conf(conf_file_);
+ devices_name = read_conf();
- if (devices_name)
+ if (! devices_name.empty())
{
t = devices_name.size();
- i=0
+ i=0;
for(const auto& device : devices_name)
{
- can_bus_dev_t(device);
+ can_bus_dev_t can_bus_device_handler(device);
+ can_bus_device_handler.open(interface_);
+ can_bus_device_handler.start_reading();
i++;
}
*
* @return[std:vector<std::string>] return a vector of device name
*/
-std::vector<std::string> read_conf()
+std::vector<std::string> can_bus_t::read_conf()
{
std::vector<std::string> ret;
- json_object jo, canbus;
+ json_object *jo, *canbus;
int n, i, ok;
- if (conf_file_)
+ FILE *fd = fdopen(conf_file_, "r");
+ if (fd)
{
std::string fd_conf_content;
- std::fseek(conf_file_, 0, SEEK_END);
- fd_conf_content.resize(std::ftell(conf_file_));
- std::rewind(fp);
- std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), conf_file_);
- std::fclose(conf_file_);
+ 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);
+ jo = json_tokener_parse(fd_conf_content.c_str());
- if (jo == NULL || !json_object_object_get_ex(&jo, "canbus", &&canbus))
+ 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 = nullptr;
+ ret.clear();
}
else if (json_object_get_type(canbus) != json_type_array)
- ret.push_back(json_object_get_string(a));
+ ret.push_back(json_object_get_string(canbus));
else
{
- n = json_object_array_length(a);
+ n = json_object_array_length(canbus);
ok = 0;
for (i = 0 ; i < n ; i++)
- ret.push_back(json_object_get_string(json_object_array_get_idx(a, i)));
+ ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
}
- return ret;
+ return ret;
}
ERROR(interface_, "Problem at reading the conf file");
- return nullptr;
-}
-
-/**
- * @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)
-{
- int 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));
-
- if (nbytes == -1)
- {
- ERROR(interface_, "send_can_message: Sending CAN frame failed.");
- return -1;
- }
- return nbytes;
- }
- else
- {
- ERROR(interface_, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
- open();
- }
- return 0;
+ ret.clear();
+ return ret;
}
/**
*
* @return the next queue element or NULL if queue is empty.
*/
-openxc_VehicleMessage* can_bus_t::next_vehicle_message()
+openxc_VehicleMessage can_bus_t::next_vehicle_message()
{
if(! vehicle_message_q_.empty())
{
openxc_VehicleMessage v_msg = vehicle_message_q_.front();
vehicle_message_q_.pop();
- return &v_msg;
+ return v_msg;
}
has_vehicle_message_ = false;
bool can_bus_t::has_vehicle_message() const
{
return has_vehicle_message_;
-}
-
-/********************************************************************************
-*
-* CanMessage method implementation
-*
-*********************************************************************************/
-
-can_message_t::can_message_t(afb_binding_interface *itf)
- : interface_{itf}
-{}
-
-uint32_t can_message_t::get_id() const
-{
- (id_ != 0) ? return id_ : return 0;
-}
-
-int can_message_t::get_format() const
-{
- (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
-{
- return lenght_;
-}
-
-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.");
-}
-
-void can_message_t::set_format(CanMessageFormat &new_format)
-{
- if(new_format == CanMessageFormat::SIMPLE || new_format == CanMessageFormat::EXTENDED)
- format = new_format;
- else
- ERROR(interface_, "ERROR: Can set format, wrong format chosen");
-}
-
-void can_message_t::set_data(uint8_t &new_data)
-{
- ::memcpy(data_, new_data, new_data.size());
- lenght_ = new_data(size);
-}
-
-/*
- * 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)
-{
- 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;
-
- 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");
-}
-
-canfd_frame can_message_t::convert_to_canfd_frame()
-{
- canfd_frame frame;
-
- frame.can_id = get_id();
- frame.len = get_lenght();
- ::memcpy(frame.data, get_data(), lenght_);
-
- return frame;
-}
+}
\ No newline at end of file
Code Review / apps / agl-service-can-low-level.git / blobdiff