* limitations under the License.
*/
-#pragma once
+#include "can-utils.hpp"
+
/********************************************************************************
*
-* 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(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)
{
- interface = itf;
- deviceName = 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.");
}
-int CanBus_c::open()
+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
+*
+*********************************************************************************/
+
+can_bus_dev_t::can_bus_dev_t(const std::string &dev_name)
+ : device_name_{dev_name}
+{
+}
+
+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", socket);
- if (socket >= 0)
- close(socket);
+ DEBUG(interface, "open_can_dev: CAN Handler socket : %d", can_socket_);
+ if (can_socket_ >= 0)
+ return 0;
- socket = socket(PF_CAN, SOCK_RAW, CAN_RAW);
- if (socket < 0)
+ can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW);
+ if (can_socket_ < 0)
{
ERROR(interface, "open_can_dev: socket could not be created");
}
else
{
/* Set timeout for read */
- setsockopt(socket, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
+ ::setsockopt(can_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)
+ 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;
+ is_fdmode_on_ = false;
} else {
- is_fdmode_on = true;
+ is_fdmode_on_ = true;
}
/* Attempts to open a socket to CAN bus */
- strcpy(ifr.ifr_name, device);
- if(ioctl(socket, SIOCGIFINDEX, &ifr) < 0)
+ ::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(socket, (struct sockaddr *)&txAddress, sizeof(txAddress)) < 0)
+ if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
{
ERROR(interface, "open_can_dev: bind failed");
}
else
{
- fcntl(socket, F_SETFL, O_NONBLOCK);
+ ::fcntl(can_socket_, F_SETFL, O_NONBLOCK);
return 0;
}
}
- close(socket);
- socket = -1;
+ close();
}
return -1;
}
-int CanBus_c::close()
+int can_bus_dev_t::close()
{
- close(socket);
- socket = -1;
+ ::close(can_socket_);
+ can_socket_ = -1;
}
-void CanBus_c::start_threads()
+canfd_frame can_bus_dev_t::read(const struct afb_binding_interface* interface)
{
- 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);
-}
+ ssize_t nbytes;
+ //int maxdlen;
+ canfd_frame canfd_frame;
-/*
- * Send a can message from a CanMessage_c object.
- */
-int CanBus_c::send_can_message(CanMessage_c can_msg)
-{
- int nbytes;
- canfd_frame *f;
-
- f = can_msg.convert_to_canfd_frame();
-
- if(socket >= 0)
+ /* Test that socket is really opened */
+ if (can_socket_ < 0)
{
- nbytes = sendto(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;
+ ERROR(interface, "read_can: Socket unavailable. Closing thread.");
+ is_running_ = false;
}
- else
+
+ nbytes = ::read(can_socket_, &canfd_frame, CANFD_MTU);
+
+ switch(nbytes)
{
- ERROR(interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
- open_can_dev();
+ case CANFD_MTU:
+ 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);
+ //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");
+ ::memset(&canfd_frame, 0, sizeof(canfd_frame));
+ is_running_ = false;
+ break;
}
- return 0;
+
+ return canfd_frame;
}
-/*
- * Get a CanMessage from can_message_q and return it
- * then point to the next CanMessage in queue.
+/**
+ * @brief start reading threads and set flag is_running_
*
- * Return the next queue element or NULL if queue is empty.
*/
-CanMessage_c* CanBus_c::next_can_message()
+void can_bus_dev_t::start_reading()
{
- if(! can_message_q.empty())
- {
- CanMessage_c can_msg = can_message_q.front();
- can_message_q.pop()
- return &can_msg;
- }
-
- return nullptr;
+ th_reading_ = std::thread(can_reader, this);
+ is_running_ = true;
}
-void CanBus_c::insert_new_can_message(CanMessage_c *can_msg)
+/*
+ * Return is_running_ bool
+ */
+bool can_bus_dev_t::is_running()
{
- can_message_q.push(can_msg);
+ return is_running_;
}
-/*
- * Get a VehicleMessage from vehicle_message_q and return it
- * then point to the next VehicleMessage in queue.
+/**
+ * @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.
+ * @return the next queue element or NULL if queue is empty.
*/
-openxc_VehicleMessage* CanBus_c::next_vehicle_message()
+can_message_t can_bus_dev_t::next_can_message()
{
- if(! vehicle_message_q.empty())
+ if(! can_message_q_.empty())
{
- openxc_VehicleMessage v_msg = vehicle_message_q.front();
- vehicle_message_q.pop()
- return &v_msg;
+ can_message_t can_msg = can_message_q_.front();
+ can_message_q_.pop();
+ return can_msg;
}
+
+ has_can_message_ = false;
+}
- return nullptr;
+/**
+ * @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);
}
-void CanBus_c::insert_new_vehicle_message(openxc_VehicleMessage *v_msg)
+/**
+ * @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
{
- vehicle_message_q.push(v_msg);
+ 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;
}
/********************************************************************************
*
-* CanMessage method implementation
+* can_bus_t method implementation
*
*********************************************************************************/
-uint32_t CanMessage_c::get_id()
+can_bus_t::can_bus_t(const afb_binding_interface *itf, int& conf_file)
+ : interface_{itf}, conf_file_{conf_file}
{
- return id;
}
-int CanMessage_c::get_format()
+/**
+ * @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()
{
- return format;
+ th_decoding_ = std::thread(can_decoder, this);
+ th_pushing_ = std::thread(can_event_push, this);
}
-uint8_t CanMessage_c::get_data()
-{
- return data;
-}
-uint8_t CanMessage_c::get_lenght()
+/**
+ * @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()
{
- return lenght;
-}
+ std::vector<std::string> devices_name;
+ int i;
+ size_t t;
-void CanMessage_c::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.");
-}
+ devices_name = read_conf();
-void CanMessage_c::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");
-}
+ if (! devices_name.empty())
+ {
+ t = devices_name.size();
+ i=0;
-void CanMessage_c::set_data(uint8_t new_data)
-{
- data = new_data;
-}
+ 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();
+ i++;
+ }
-void CanMessage_c::set_lenght(uint8_t new_length)
-{
- lenght = new_lenght;
+ 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;
}
-/*
- * This is the preferred way to initialize a CanMessage object
- * from a read canfd_frame message.
+/**
+ * @brief Read the conf file and extract device name
*
- * params: canfd_frame pointer
+ * @return[std:vector<std::string>] return a vector of device name
*/
-void CanMessage_c::convert_from_canfd_frame(canfd_frame *frame)
+std::vector<std::string> can_bus_t::read_conf()
{
-
- lenght = (canfd_frame->len > maxdlen) ? maxdlen : canfd_frame->len;
+ std::vector<std::string> ret;
+ json_object *jo, *canbus;
+ int n, i, ok;
- switch (canfd_frame->can_id):
- case (canfd_frame->can_id & CAN_ERR_FLAG):
- id = canfd_frame->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
- break;
- case (canfd_frame->can_id & CAN_EFF_FLAG):
- id = canfd_frame->can_id & CAN_EFF_MASK;
- format = CanMessageFormat::EXTENDED;
- break;
- default:
- format = CanMessageFormat::STANDARD;
- id = canfd_frame->can_id & CAN_SFF_MASK;
- break;
-
- if (sizeof(canfd_frame->data) <= sizeof(data))
+ FILE *fd = fdopen(conf_file_, "r");
+ if (fd)
{
- 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");
+ 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);
+ ok = 0;
+ 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;
}
-canfd_frame* convert_to_canfd_frame()
+/**
+ * @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()
{
- canfd_frame frame;
+ if(! vehicle_message_q_.empty())
+ {
+ openxc_VehicleMessage v_msg = vehicle_message_q_.front();
+ vehicle_message_q_.pop();
+ return v_msg;
+ }
- frame.id = can_msg.get_id();
- frame.len = can_msg.get_lenght();
- frame.data = can_msg.get_data();
+ has_vehicle_message_ = false;
+}
- return &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)
+{
+ 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