X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Fcan%2Fcan-bus-dev.cpp;h=fb76498f1d9eda579fc8bc054820818f1c3ca041;hb=7b336475a398d37c4d5c4a534c87919263ae4b01;hp=5166550e4ad7eadba641b420d30d463920650916;hpb=9519e9d5b875b45fbf6f32267b728b1d11377276;p=apps%2Fagl-service-can-low-level.git diff --git a/src/can/can-bus-dev.cpp b/src/can/can-bus-dev.cpp index 5166550e..fb76498f 100644 --- a/src/can/can-bus-dev.cpp +++ b/src/can/can-bus-dev.cpp @@ -1,38 +1,59 @@ /* - * Copyright (C) 2015, 2016, 2017 "IoT.bzh" - * Author "Romain Forlot" - * Author "Loïc Collignon" - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ +* Copyright (C) 2015, 2016, 2017 "IoT.bzh" +* Author "Romain Forlot" +* Author "Loïc Collignon" +* +* Licensed under the Apache License, Version 2.0 (the "License"); +* you may not use this file except in compliance with the License. +* You may obtain a copy of the License at +* +* http://www.apache.org/licenses/LICENSE-2.0 +* +* Unless required by applicable law or agreed to in writing, software +* distributed under the License is distributed on an "AS IS" BASIS, +* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +* See the License for the specific language governing permissions and +* limitations under the License. +*/ +#include +#include +#include #include -#include #include #include +#include #include "can-bus-dev.hpp" -#include "low-can-binding.hpp" -/// @brief Class constructor -/// @param dev_name String representing the device name into the linux /dev tree -can_bus_dev_t::can_bus_dev_t(const std::string& dev_name) - : device_name_{dev_name} +#include "can-bus.hpp" +#include "can-message.hpp" +#include "../low-can-binding.hpp" + +/// @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} +{} + +std::string can_bus_dev_t::get_device_name() const { + return device_name_; } -/// @brief Open the can socket and returning it -/// @return -1 +uint32_t can_bus_dev_t::get_address() const +{ + return address_; +} + +/// @brief Open the can socket and returning it +/// +/// We try to open CAN socket and apply the following options +/// timestamp received messages and pass the socket to FD mode. +/// +/// @return -1 if something wrong. int can_bus_dev_t::open() { const int canfd_on = 1; @@ -40,39 +61,42 @@ int can_bus_dev_t::open() struct ifreq ifr; struct timeval timeout; - DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_.socket()); - if (can_socket_) return 0; + DEBUG(binder_interface, "open: CAN Handler socket : %d", can_socket_.socket()); + if (can_socket_) + return 0; can_socket_.open(PF_CAN, SOCK_RAW, CAN_RAW); if (can_socket_) { - DEBUG(binder_interface, "CAN Handler socket correctly initialized : %d", can_socket_.socket()); - + DEBUG(binder_interface, "open: CAN Handler socket correctly initialized : %d", can_socket_.socket()); + // Set timeout for read can_socket_.setopt(SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout)); - + // Set timestamp for receveid frame if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, ×tamp_on, sizeof(timestamp_on)) < 0) - WARNING(binder_interface, "setsockopt SO_TIMESTAMP error: %s", ::strerror(errno)); - DEBUG(binder_interface, "Switch CAN Handler socket to use fd mode"); - + WARNING(binder_interface, "open: setsockopt SO_TIMESTAMP error: %s", ::strerror(errno)); + DEBUG(binder_interface, "open: 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, "Can not switch into CAN Extended frame format."); + NOTICE(binder_interface, "open: Can not switch into CAN Extended frame format."); is_fdmode_on_ = false; } else { - DEBUG(binder_interface, "Correctly set up CAN socket to use FD frames."); + DEBUG(binder_interface, "open: Correctly set up CAN socket to use FD frames."); is_fdmode_on_ = true; } // Attempts to open a socket to CAN bus ::strcpy(ifr.ifr_name, device_name_.c_str()); - DEBUG(binder_interface, "ifr_name is : %s", ifr.ifr_name); + DEBUG(binder_interface, "open: ifr_name is : %s", ifr.ifr_name); if(::ioctl(can_socket_.socket(), SIOCGIFINDEX, &ifr) < 0) - ERROR(binder_interface, "ioctl failed. Error was : %s", strerror(errno)); + { + ERROR(binder_interface, "open: ioctl failed. Error was : %s", strerror(errno)); + } else { txAddress_.can_family = AF_CAN; @@ -80,13 +104,152 @@ int can_bus_dev_t::open() // And bind it to txAddress DEBUG(binder_interface, "Bind the socket"); - if (::bind(can_socket_.socket(), (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0) + if (can_socket_.bind((struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0) ERROR(binder_interface, "Bind failed. %s", strerror(errno)); - else - return 0; + else return 0; } close(); } - else ERROR(binder_interface, "socket could not be created. Error was : %s", ::strerror(errno)); + else ERROR(binder_interface, "open: socket could not be created. Error was : %s", ::strerror(errno)); return -1; } + +/// @brief Close the bus. +/// +/// @return interger return value of socket.close() function +int can_bus_dev_t::close() +{ + return can_socket_.close(); +} + +/// @brief Read the can socket and retrieve canfd_frame. +/// +/// Read operation are blocking and we try to read CANFD frame +/// rather than classic CAN frame. CANFD frame are retro compatible. +can_message_t can_bus_dev_t::read() +{ + ssize_t nbytes; + struct canfd_frame cfd; + + // Test that socket is really opened + if (!can_socket_) + { + ERROR(binder_interface, "read: Socket unavailable. Closing thread."); + is_running_ = false; + } + + nbytes = ::read(can_socket_.socket(), &cfd, CANFD_MTU); + + // if we did not fit into CAN sized messages then stop_reading. + if (nbytes != CANFD_MTU && nbytes != CAN_MTU) + { + if (errno == ENETDOWN) + ERROR(binder_interface, "read: %s CAN device down", device_name_.c_str()); + ERROR(binder_interface, "read: Incomplete CAN(FD) frame"); + ::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, + 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 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"); + is_running_ = true; + th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus)); + if(!th_reading_.joinable()) + is_running_ = false; +} + +/// @brief stop the reading thread setting flag is_running_ to false and and wait that the thread finish its job. +void can_bus_dev_t::stop_reading() +{ + is_running_ = false; +} + +/// @brief Thread function used to read the can socket. +/// @param[in] can_bus - object to be used to read the can socket +void can_bus_dev_t::can_reader(can_bus_t& can_bus) +{ + while(is_running_) + { + can_message_t msg = read(); + { + std::lock_guard can_message_lock(can_bus.get_can_message_mutex()); + can_bus.push_new_can_message(msg); + } + can_bus.get_new_can_message_cv().notify_one(); + } +} + +/// @brief Send a can message from a can_message_t object. +/// @param[in] can_msg - the can message object to send +/// +/// @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 = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0, + (struct sockaddr*)&txAddress_, sizeof(txAddress_)); + if (nbytes == -1) + { + ERROR(binder_interface, "send_can_message: Sending CAN frame failed."); + return -1; + } + return (int)nbytes; + } + else + { + ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket."); + open(); + } + return 0; +} + +/// @brief Static method used to send diagnostic CAN message +/// that follow isotp SendShimsMessage signature. This method is launched +/// from diagnostic manager's' same name method. It will use the diagnostic +/// manager configured CAN bus device to send the CAN message. +/// +/// @param[in] arbitration_id - CAN arbitration id. +/// @param[in] data - CAN message payload to send +/// @param[in] size - size of the data to send +/// +/// @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; + f.len = size; + ::memcpy(f.data, data, size); + + if(can_socket_) + { + nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0, + (struct sockaddr*)&txAddress_, sizeof(txAddress_)); + if (nbytes == -1) + { + 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(); + } + return false; +}