X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=CAN-binder%2Flow-can-binding%2Fcan%2Fcan-bus-dev.cpp;h=1aaefc91901b05dbdff7c8071da7927544de7b2d;hb=45dd042f924236be04d4e4292de111f80a004060;hp=5c484eed9e4927e18acf0bdecddf8f47df92fb64;hpb=f0973849c4df5740ffb241a21fc08398fa741a7e;p=apps%2Fagl-service-can-low-level.git diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.cpp b/CAN-binder/low-can-binding/can/can-bus-dev.cpp index 5c484eed..1aaefc91 100644 --- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp +++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp @@ -20,19 +20,22 @@ #include #include #include - -#include "can-bus-dev.hpp" +#include +#include #include "can-bus.hpp" #include "can-message.hpp" #include "../low-can-binding.hpp" +#include "canutil/write.h" + +#define U64_DATA(p) (*(unsigned long long*)(p)->data) /// @brief Class constructor /// /// @param[in] dev_name - String representing the device name into the linux /dev tree -/// @param[in] address - integer identifier of the bus, set using init_can_dev from can_bus_t. -can_bus_dev_t::can_bus_dev_t(const std::string& dev_name, int32_t address) - : device_name_{dev_name}, address_{address} +/// @param[in] index - integer identifier of the bus, set using init_can_dev from can_bus_t. +can_bus_dev_t::can_bus_dev_t(const std::string& dev_name, int index) + : device_name_{dev_name}, index_{index} {} std::string can_bus_dev_t::get_device_name() const @@ -40,9 +43,10 @@ std::string can_bus_dev_t::get_device_name() const return device_name_; } -uint32_t can_bus_dev_t::get_address() const +int can_bus_dev_t::get_index() const { - return address_; + return index_; +} } /// @brief Open the can socket and returning it @@ -50,13 +54,10 @@ uint32_t can_bus_dev_t::get_address() const /// We try to open CAN socket and apply the following options /// timestamp received messages and pass the socket to FD mode. /// -/// @param[in] bcm boolean value indicating wether or not we initialize a Broadcast CAN Manager socket. -/// /// @return socket value or -1 if something wrong. -int can_bus_dev_t::open(bool bcm) +int can_bus_dev_t::open() { - DEBUG(binder_interface, "%s: CAN Handler using BCM socket ? %s", __FUNCTION__, bcm ? "true" : "false"); - return can_socket_.open(device_name_, bcm); + return can_socket_.open(device_name_); } /// @brief Set some option on the socket, timestamp and canfd frame usage. @@ -65,26 +66,10 @@ void can_bus_dev_t::configure() if (can_socket_) { const int timestamp_on = 1; - const int canfd_on = 1; DEBUG(binder_interface, "%s: CAN Handler socket correctly initialized : %d", __FUNCTION__, can_socket_.socket()); - - // Set timestamp for receveid frame if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, ×tamp_on, sizeof(timestamp_on)) < 0) WARNING(binder_interface, "%s: setsockopt SO_TIMESTAMP error: %s", __FUNCTION__, ::strerror(errno)); - DEBUG(binder_interface, "%s: Switch CAN Handler socket to use fd mode", __FUNCTION__); - - // try to switch the socket into CAN_FD mode - if (can_socket_.setopt(SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0) - { - NOTICE(binder_interface, "%s: Can not switch into CAN Extended frame format.", __FUNCTION__); - is_fdmode_on_ = false; - } - else - { - DEBUG(binder_interface, "%s: Correctly set up CAN socket to use FD frames.", __FUNCTION__); - is_fdmode_on_ = true; - } } else { @@ -132,6 +117,29 @@ can_message_t can_bus_dev_t::read() return can_message_t::convert_from_canfd_frame(cfd, nbytes); } +/// @brief Create a RX_SETUP receive job using the BCM socket. +/// +/// @return 0 if ok else -1 +int can_bus_dev_t::create_rx_filter(const can_signal_t& s) +{ + uint32_t can_id = s.get_message().get_id(); + + struct utils::canfd_bcm_msg bcm_msg; + + uint8_t bit_size = s.get_bit_size(); + float val = (float)exp2(bit_size); + uint64_t filter = eightbyte_encode_float(val, s.get_bit_position(), bit_size, s.get_factor(), s.get_offset()); + + bcm_msg.msg_head.opcode = RX_SETUP; + bcm_msg.msg_head.can_id = can_id; + bcm_msg.msg_head.nframes = 1; + U64_DATA(&bcm_msg.frames[0]) = filter; + + if(can_socket_ << bcm_msg) + return 0; + return -1; +} + /// @brief start reading threads and set flag is_running_ /// @param[in] can_bus reference can_bus_t. it will be passed to the thread to allow using can_bus_t queue. void can_bus_dev_t::start_reading(can_bus_t& can_bus) @@ -170,25 +178,22 @@ void can_bus_dev_t::can_reader(can_bus_t& can_bus) /// @return 0 if message snet, -1 if something wrong. int can_bus_dev_t::send(can_message_t& can_msg) { - ssize_t nbytes; canfd_frame f; - f = can_msg.convert_to_canfd_frame(); if(can_socket_) { - nbytes = can_socket_.send(f); - if (nbytes == -1) + can_socket_ << f; + if(!can_socket_) { - ERROR(binder_interface, "send_can_message: Sending CAN frame failed."); + ERROR(binder_interface, "%s: Sending CAN frame failed.", __FUNCTION__); return -1; } - return (int)nbytes; } else { - ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket."); - open(true); + ERROR(binder_interface, "%s: socket not initialized. Attempt to reopen can device socket.", __FUNCTION__); + open(); return -1; } return 0; @@ -206,7 +211,6 @@ int can_bus_dev_t::send(can_message_t& can_msg) /// @return True if message sent, false if not. bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size) { - ssize_t nbytes; canfd_frame f; f.can_id = arbitration_id; @@ -215,18 +219,18 @@ bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* dat if(can_socket_) { - nbytes = can_socket_.send(f); - if (nbytes == -1) + can_socket_ << f; + if (!can_socket_) { ERROR(binder_interface, "send_can_message: Sending CAN frame failed."); return false; } - return true; } else { ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket."); - open(true); + open(); + return false; } - return false; + return true; }