X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=CAN-binder%2Flow-can-binding%2Fcan%2Fcan-bus-dev.cpp;h=955e617d521b8070bfe7fb02a2828acb14255db0;hb=e00c07be2835dd082862730189c87baacbfbdbeb;hp=765eda7f93d757d63d3c34d687466b88ff9eaf6f;hpb=211ce4dd58d40f33287354647b32bf241c5ddfdc;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 765eda7f..955e617d 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 +20,21 @@ #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" +#include "../bitfield/bitfield.h" /// @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 +42,13 @@ 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 index_; +} +utils::socketcan_t& can_bus_dev_t::get_socket() { - return address_; + return can_socket_; } /// @brief Open the can socket and returning it @@ -50,13 +56,10 @@ 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, "open_raw: CAN Handler socket : %d", can_socket_.socket()); - 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 +68,10 @@ void can_bus_dev_t::configure() if (can_socket_) { const int timestamp_on = 1; - const int canfd_on = 1; - - DEBUG(binder_interface, "open_raw: CAN Handler socket correctly initialized : %d", can_socket_.socket()); - // Set timestamp for receveid frame + DEBUG(binder_interface, "%s: CAN Handler socket correctly initialized : %d", __FUNCTION__, can_socket_.socket()); if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, ×tamp_on, sizeof(timestamp_on)) < 0) - WARNING(binder_interface, "open_raw: setsockopt SO_TIMESTAMP error: %s", ::strerror(errno)); - DEBUG(binder_interface, "open_raw: Switch CAN Handler socket to use fd mode"); - - // 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, "open_raw: Can not switch into CAN Extended frame format."); - is_fdmode_on_ = false; - } - else - { - DEBUG(binder_interface, "open_raw: Correctly set up CAN socket to use FD frames."); - is_fdmode_on_ = true; - } + WARNING(binder_interface, "%s: setsockopt SO_TIMESTAMP error: %s", __FUNCTION__, ::strerror(errno)); } else { @@ -127,16 +114,38 @@ can_message_t can_bus_dev_t::read() ::memset(&cfd, 0, sizeof(cfd)); } - DEBUG(binder_interface, "read: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", cfd.can_id, cfd.len, + DEBUG(binder_interface, "%s: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", __FUNCTION__, cfd.can_id, cfd.len, cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]); 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)-1; + + bcm_msg.msg_head.opcode = RX_SETUP; + bcm_msg.msg_head.can_id = can_id; + bcm_msg.msg_head.nframes = 1; + bitfield_encode_float(val, s.get_bit_position(), bit_size, s.get_factor(), s.get_offset(), bcm_msg.frames[0].data, CANFD_MAX_DLEN); + + 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) { - DEBUG(binder_interface, "Launching reading thread"); + DEBUG(binder_interface, "%s: Launching reading thread", __FUNCTION__); is_running_ = true; th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus)); if(!th_reading_.joinable()) @@ -170,25 +179,22 @@ 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 +212,6 @@ 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 +220,18 @@ 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; }