X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Fcan-utils.cpp;h=5a845b31c4dc49a035c51867e88069b6566df05a;hb=035493b81d5bb6d909de05e9a06a0f61588a35aa;hp=09f49476ef1f3532daf9e5719ed6a3346d4a7bdb;hpb=b162907a78a1846d99f0951a052d6d721eb96f08;p=apps%2Fagl-service-can-low-level.git diff --git a/src/can-utils.cpp b/src/can-utils.cpp index 09f49476..5a845b31 100644 --- a/src/can-utils.cpp +++ b/src/can-utils.cpp @@ -15,235 +15,455 @@ * limitations under the License. */ -#pragma once +#include "can-utils.hpp" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +extern "C" +{ + #include +} /******************************************************************************** * -* 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() + : id_{0}, length_{0}, format_{CanMessageFormat::ERROR}, data_{0,0,0,0,0,0,0,0} +{} + +uint32_t can_message_t::get_id() const { - interface = itf; - deviceName = dev_name; + return id_; } -int CanBus_c::open() +int can_message_t::get_format() const { - const int canfd_on = 1; - struct ifreq ifr; - struct timeval timeout = {1, 0}; + if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED) + return CanMessageFormat::ERROR; + return format_; +} - DEBUG(interface, "open_can_dev: CAN Handler socket : %d", socket); - if (socket >= 0) - close(socket); +const uint8_t* can_message_t::get_data() const +{ + return data_; +} +uint8_t can_message_t::get_length() const +{ + return length_; +} - socket = socket(PF_CAN, SOCK_RAW, CAN_RAW); - if (socket < 0) +bool can_message_t::is_correct_to_send() +{ + if (id_ != 0 && length_ != 0 && format_ != CanMessageFormat::ERROR) { - ERROR(interface, "open_can_dev: socket could not be created"); + int i; + for(i=0;i CAN_MESSAGE_SIZE)) + ERROR(binder_interface, "Can set data, your data array is too big"); else { - /* Set timeout for read */ - setsockopt(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) - { - NOTICE(interface, "open_can_dev: Can not switch into CAN Extended frame format."); - is_fdmode_on = false; - } else { - is_fdmode_on = true; - } + ::memcpy(&data_, &new_data, sizeof(new_data)); + length_ = sizeof(new_data); + } +} - /* Attempts to open a socket to CAN bus */ - strcpy(ifr.ifr_name, device); - if(ioctl(socket, SIOCGIFINDEX, &ifr) < 0) - ERROR(interface, "open_can_dev: ioctl failed"); - else - { - txAddress.can_family = AF_CAN; - txAddress.can_ifindex = ifr.ifr_ifindex; +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; - /* And bind it to txAddress */ - if (bind(socket, (struct sockaddr *)&txAddress, sizeof(txAddress)) < 0) - { - ERROR(interface, "open_can_dev: bind failed"); - } - else - { - fcntl(socket, F_SETFL, O_NONBLOCK); - return 0; - } - } - close(socket); - socket = -1; + if (frame.can_id & CAN_ERR_FLAG) + { + id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG); + format_ = CanMessageFormat::ERROR; } - return -1; + 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(binder_interface, "can_message_t: canfd_frame data too long to be stored into CanMessage object"); } -int CanBus_c::close() +canfd_frame can_message_t::convert_to_canfd_frame() { - close(socket); - socket = -1; + canfd_frame frame; + + if(is_correct_to_send()) + { + frame.can_id = get_id(); + frame.len = get_length(); + ::memcpy(frame.data, get_data(), length_); + } + else + ERROR(binder_interface, "can_message_t not correctly initialized to be sent"); + + return frame; } -void CanBus_c::start_threads() +/******************************************************************************** +* +* can_bus_t method implementation +* +*********************************************************************************/ + +can_bus_t::can_bus_t(int& conf_file) + : conf_file_{conf_file} { - std::queue 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); +void can_bus_t::start_threads() +{ + th_decoding_ = std::thread(can_decode_message, std::ref(*this)); + th_pushing_ = std::thread(can_event_push, std::ref(*this)); } -/* - * Send a can message from a CanMessage_c object. - */ -int CanBus_c::send_can_message(CanMessage_c can_msg) + +int can_bus_t::init_can_dev() { - int nbytes; - canfd_frame *f; + std::vector devices_name; + int i; + size_t t; - f = can_msg.convert_to_canfd_frame(); + devices_name = read_conf(); - if(socket >= 0) + if (! devices_name.empty()) { - nbytes = sendto(socket, &f, sizeof(struct canfd_frame), 0, - (struct sockaddr*)&txAddress, sizeof(txAddress)); - - if (nbytes == -1) + t = devices_name.size(); + i=0; + + for(const auto& device : devices_name) { - ERROR(interface, "send_can_message: Sending CAN frame failed."); - return -1; + can_bus_dev_t can_bus_device_handler(device); + can_bus_device_handler.open(); + can_bus_device_handler.start_reading(std::ref(*this)); + i++; } - return nbytes; + + NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t); + return 0; } - else + ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read into configuration file. Did you specify canbus JSON object ?"); + return 1; +} + +std::vector can_bus_t::read_conf() +{ + std::vector ret; + json_object *jo, *canbus; + int n, i; + + FILE *fd = fdopen(conf_file_, "r"); + if (fd) { - ERROR(interface, "send_can_message: socket not initialized. Attempt to reopen can device socket."); - open_can_dev(); + 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(binder_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); + for (i = 0 ; i < n ; i++) + ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i))); + } + return ret; } - return 0; + ERROR(binder_interface, "Problem at reading the conf file"); + ret.clear(); + return ret; } -/* - * Get a CanMessage from can_message_q and return it - * then point to the next CanMessage in queue. - * - * Return the next queue element or NULL if queue is empty. - */ -CanMessage_c* CanBus_c::next_can_message() +can_message_t can_bus_t::next_can_message() { - if(! can_message_q.empty()) + can_message_t can_msg; + + if(!can_message_q_.empty()) { - CanMessage_c can_msg = can_message_q.front(); - can_message_q.pop() - return &can_msg; + can_msg = can_message_q_.front(); + can_message_q_.pop(); + DEBUG(binder_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 NULL; + + NOTICE(binder_interface, "next_can_message: End of can message queue"); + has_can_message_ = false; + return can_msg; } -void CanBus_c::insert_new_can_message(CanMessage_c *can_msg) +void can_bus_t::push_new_can_message(const can_message_t& can_msg) { - can_message_q.push(can_msg); + can_message_q_.push(can_msg); } -/******************************************************************************** -* -* CanMessage method implementation -* -*********************************************************************************/ - -uint32_t CanMessage_c::get_id() +bool can_bus_t::has_can_message() const { - return id; + return has_can_message_; } -int CanMessage_c::get_format() +openxc_VehicleMessage can_bus_t::next_vehicle_message() { - return format; + openxc_VehicleMessage v_msg; + + if(! vehicle_message_q_.empty()) + { + v_msg = vehicle_message_q_.front(); + vehicle_message_q_.pop(); + DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped"); + return v_msg; + } + + NOTICE(binder_interface, "next_vehicle_message: End of vehicle message queue"); + has_vehicle_message_ = false; + return v_msg; } -uint8_t CanMessage_c::get_data() +void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg) { - return data; + vehicle_message_q_.push(v_msg); + has_vehicle_message_ = true; } -uint8_t CanMessage_c::get_lenght() + +bool can_bus_t::has_vehicle_message() const { - return lenght; + return has_vehicle_message_; } -void CanMessage_c::set_id(uint32_t new_id) +/******************************************************************************** +* +* This is the sd_event_add_io callback function declaration. +* Its implementation can be found into low-can-binding.cpp. +* +*********************************************************************************/ + +int can_frame_received(sd_event_source *s, int fd, uint32_t revents, void *userdata); + +/******************************************************************************** +* +* can_bus_dev_t method implementation +* +*********************************************************************************/ + +can_bus_dev_t::can_bus_dev_t(const std::string &dev_name) + : device_name_{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."); } -void CanMessage_c::set_format(CanMessageFormat new_format) +int can_bus_dev_t::event_loop_connection() { - if(new_format == CanMessageFormat::SIMPLE || new_format == CanMessageFormat::EXTENDED) - format = new_format; - else - ERROR(interface, "ERROR: Can set format, wrong format chosen"); + sd_event_source *source; + int rc; + + /* adds to the event loop */ + rc = sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &source, can_socket_, EPOLLIN, can_frame_received, this); + if (rc < 0) { + close(); + ERROR(binder_interface, "Can't coonect CAN device %s to the event loop", device_name_); + } else { + NOTICE(binder_interface, "Connected to %s", device_name_); + } + return rc; } -void CanMessage_c::set_data(uint8_t new_data) +int can_bus_dev_t::open() { - data = new_data; + const int canfd_on = 1; + struct ifreq ifr; + struct timeval timeout = {1, 0}; + + DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_); + if (can_socket_ >= 0) + return 0; + + can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW); + if (can_socket_ < 0) + { + ERROR(binder_interface, "socket could not be created"); + } + else + { + /* Set timeout for read */ + ::setsockopt(can_socket_, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout)); + /* try to switch the socket into CAN_FD mode */ + if (::setsockopt(can_socket_, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0) + { + NOTICE(binder_interface, "Can not switch into CAN Extended frame format."); + is_fdmode_on_ = false; + } else { + is_fdmode_on_ = true; + } + + /* Attempts to open a socket to CAN bus */ + ::strcpy(ifr.ifr_name, device_name_.c_str()); + if(::ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0) + ERROR(binder_interface, "ioctl failed"); + else + { + txAddress_.can_family = AF_CAN; + txAddress_.can_ifindex = ifr.ifr_ifindex; + + /* And bind it to txAddress */ + if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0) + { + ERROR(binder_interface, "Bind failed"); + } + else + { + ::fcntl(can_socket_, F_SETFL, O_NONBLOCK); + return 0; + } + } + close(); + } + return -1; } -void CanMessage_c::set_lenght(uint8_t new_length) +int can_bus_dev_t::close() { - lenght = new_lenght; + ::close(can_socket_); + can_socket_ = -1; + return can_socket_; } -/* - * This is the preferred way to initialize a CanMessage object - * from a read canfd_frame message. - * - * params: canfd_frame pointer - */ -void CanMessage_c::convert_from_canfd_frame(canfd_frame *frame) +canfd_frame can_bus_dev_t::read() { - - lenght = (canfd_frame->len > maxdlen) ? maxdlen : canfd_frame->len; + ssize_t nbytes; + //int maxdlen; + canfd_frame canfd_frame; - switch (canfd_frame->can_id): - case (canfd_frame->can_id & CAN_ERR_FLAG): - id = canfd_frame->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG); + /* Test that socket is really opened */ + if (can_socket_ < 0) + { + ERROR(binder_interface, "read_can: Socket unavailable. Closing thread."); + is_running_ = false; + } + + nbytes = ::read(can_socket_, &canfd_frame, CANFD_MTU); + + switch(nbytes) + { + case CANFD_MTU: + DEBUG(binder_interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len); + //maxdlen = CANFD_MAX_DLEN; break; - case (canfd_frame->can_id & CAN_EFF_FLAG): - id = canfd_frame->can_id & CAN_EFF_MASK; - format = CanMessageFormat::EXTENDED; + case CAN_MTU: + DEBUG(binder_interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len); + //maxdlen = CAN_MAX_DLEN; break; default: - format = CanMessageFormat::STANDARD; - id = canfd_frame->can_id & CAN_SFF_MASK; + if (errno == ENETDOWN) + ERROR(binder_interface, "read_can: %s binder_interface down", device_name_); + ERROR(binder_interface, "read_can: Error reading CAN bus"); + ::memset(&canfd_frame, 0, sizeof(canfd_frame)); + is_running_ = false; break; + } + + return canfd_frame; +} - if (sizeof(canfd_frame->data) <= sizeof(data)) - { - 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"); +void can_bus_dev_t::start_reading(can_bus_t& can_bus) +{ + th_reading_ = std::thread(can_reader, std::ref(*this), std::ref(can_bus)); + is_running_ = true; } -canfd_frame* convert_to_canfd_frame() +/* + * Return is_running_ bool + */ +bool can_bus_dev_t::is_running() { - canfd_frame frame; + return is_running_; +} - frame.id = can_msg.get_id(); - frame.len = can_msg.get_lenght(); - frame.data = can_msg.get_data(); +int can_bus_dev_t::send_can_message(can_message_t& can_msg) +{ + ssize_t nbytes; + canfd_frame f; - return &frame; -} + 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(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; +} \ No newline at end of file