#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
+{
+ 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
{
::close(can_socket_);
can_socket_ = -1;
+ return can_socket_;
}
canfd_frame can_bus_dev_t::read(const struct afb_binding_interface* interface)
* @brief start reading threads and set flag is_running_
*
*/
-void can_bus_dev_t::start_reading()
+void can_bus_dev_t::start_reading(can_bus_t& can_bus)
{
- th_reading_ = std::thread(can_reader, this);
+ th_reading_ = std::thread(can_reader, std::ref(*this), std::ref(can_bus));
is_running_ = true;
}
}
/**
- * @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()
-{
- 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;
-}
-
-/**
- * @brief Append a new element to the can message queue and set
- * has_can_message_ boolean to true
+ * @brief Send a can message from a can_message_t object.
*
- * @params[const can_message_t& can_msg] the can_message_t to append
+ * params[const can_message_t& can_msg] the can message object to send
*
*/
-void can_bus_dev_t::push_new_can_message(const can_message_t& can_msg)
+int can_bus_dev_t::send_can_message(can_message_t& can_msg, const struct afb_binding_interface* interface)
{
- can_message_q_.push(can_msg);
-}
+ ssize_t nbytes;
+ canfd_frame f;
-/**
- * @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
-{
- return has_can_message_;
-}
+ 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
*
*********************************************************************************/
-can_bus_t::can_bus_t(const afb_binding_interface *itf, int& conf_file)
- : interface_{itf}, conf_file_{conf_file}
+can_bus_t::can_bus_t(const struct afb_binding_interface *interface, int& conf_file)
+ : conf_file_{conf_file}, interface_{interface}
{
}
/**
* @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));
}
/**
int can_bus_t::init_can_dev()
{
std::vector<std::string> devices_name;
- int i, ret;
+ int i;
size_t t;
devices_name = read_conf();
{
can_bus_dev_t can_bus_device_handler(device);
can_bus_device_handler.open(interface_);
- can_bus_device_handler.start_reading(interface_);
+ can_bus_device_handler.start_reading(std::ref(*this));
i++;
}
std::vector<std::string> can_bus_t::read_conf()
{
std::vector<std::string> ret;
- json_object jo, canbus;
- int n, i, ok;
+ json_object *jo, *canbus;
+ int n, i;
- 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.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);
- ok = 0;
+ n = json_object_array_length(canbus);
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;
}
ERROR(interface_, "Problem at reading the conf file");
- return ret.clear();
+ ret.clear();
+ return ret;
}
/**
- * @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
+ * @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.
*/
-int can_bus_t::send_can_message(const can_message_t &can_msg)
+can_message_t can_bus_t::next_can_message()
{
- int nbytes;
- canfd_frame *f;
-
- f = can_msg.convert_to_canfd_frame();
+ can_message_t can_msg(interface_);
- if(can_socket_ >= 0)
+ if(!can_message_q_.empty())
{
- 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();
+ 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;
}
- return 0;
+
+ 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_;
}
/**
*
* @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()
{
+ 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(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;
}
/**
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