X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Fcan-utils.cpp;h=5a845b31c4dc49a035c51867e88069b6566df05a;hb=035493b81d5bb6d909de05e9a06a0f61588a35aa;hp=3aa2ca884c37350ab3ca9f1f526469b2220e48ff;hpb=d9237e07858fb243eb35f78ded3664aec69f524d;p=apps%2Fagl-service-can-low-level.git diff --git a/src/can-utils.cpp b/src/can-utils.cpp index 3aa2ca88..5a845b31 100644 --- a/src/can-utils.cpp +++ b/src/can-utils.cpp @@ -15,172 +15,145 @@ * 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 +} /******************************************************************************** * -* can_bus_dev_t method implementation +* CanMessage method implementation * *********************************************************************************/ +can_message_t::can_message_t() + : id_{0}, length_{0}, format_{CanMessageFormat::ERROR}, data_{0,0,0,0,0,0,0,0} +{} -can_bus_dev_t::can_bus_dev_t(afb_binding_interface *itf, const std:string &dev_name) - : device_name_{dev_name} +uint32_t can_message_t::get_id() const { + return id_; } -int can_bus_dev_t::open() +int can_message_t::get_format() const { - const int canfd_on = 1; - struct ifreq ifr; - struct timeval timeout = {1, 0}; - - DEBUG(interface_, "open_can_dev: CAN Handler socket : %d", can_socket_); - if (can_socket_ >= 0) - return 0; - - can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW); - if (socket < 0) - { - ERROR(interface_, "open_can_dev: 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(interface_, "open_can_dev: 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); - if(ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0) - ERROR(interface_, "open_can_dev: 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(interface_, "open_can_dev: bind failed"); - } - else - { - ::fcntl(can_socket_, F_SETFL, O_NONBLOCK); - return 0; - } - } - close(); - } - return -1; + if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED) + return CanMessageFormat::ERROR; + return format_; } -int can_bus_dev_t::close() +const uint8_t* can_message_t::get_data() const { - ::close(can_socket_); - can_socket_ = -1; + return data_; } - - -canfd_frame can_bus_dev_t::read() +uint8_t can_message_t::get_length() const { - ssize_t nbytes; - //int maxdlen; - canfd_frame canfd_frame; + return length_; +} - /* Test that socket is really opened */ - if (can_socket_ < 0) +bool can_message_t::is_correct_to_send() +{ + if (id_ != 0 && length_ != 0 && format_ != CanMessageFormat::ERROR) { - ERROR(interface_, "read_can: Socket unavailable. Closing thread."); - is_running_ = false; + int i; + for(i=0;i CAN_MESSAGE_SIZE)) + ERROR(binder_interface, "Can set data, your data array is too big"); + else + { + ::memcpy(&data_, &new_data, sizeof(new_data)); + length_ = sizeof(new_data); + } } -/** - * @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() +void can_message_t::convert_from_canfd_frame(const canfd_frame& frame) { - if(! can_message_q_.empty()) + 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) { - can_message_t can_msg = can_message_q_.front(); - can_message_q_.pop() - return &can_msg; + id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG); + format_ = CanMessageFormat::ERROR; + } + 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; } - - has_can_message_ = false; -} -/** - * @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_dev_t::push_new_can_message(const can_message_t& can_msg) -{ - can_message_q_.push(can_msg); + 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"); } -/** - * @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 +canfd_frame can_message_t::convert_to_canfd_frame() { - return has_can_message_; + 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; } /******************************************************************************** @@ -189,164 +162,134 @@ bool can_bus_dev_t::has_can_message() const * *********************************************************************************/ -can_bus_t::can_bus_t(afb_binding_interface *itf, std::ifstream& conf_file) - : interface{itf}, conf_file_{conf_file} +can_bus_t::can_bus_t(int& conf_file) + : conf_file_{conf_file} { } -/** - * @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)); } -/** - * @brief Initialize as many as can_bus_dev_t objects with their respective reading thread - * - * params[std::ifstream& conf_file] conf_file ifstream to the JSON configuration - * file located at the rootdir of the binding - */ - void init_can_dev() - { - std::vector devices_name; - int i, t; - - devices_name = read_conf(conf_file_); - - t = devices_name.size(); - i=0 - - for(const auto& device : devices_name) - { - can_bus_dev_t(device); - i++; - } - - NOTICE(interface_, "Initialized %d/%d can bus device(s)", i, t); - } - -/** - * @brief Read the conf file and extract device name - * - * @params[std::ifstream& conf_file] conf_file JSON configuration - * file located at the rootdir of the binding - * - * @return[std:vector] return a vector of device name - */ - std::vector read_conf(std::ifstream& conf_file) - { - std::vector ret; - std::string fd_conf_content; - json_object jo, canbus; - int n, i, ok; - - /* Open JSON conf file */ - if (conf_file) +int can_bus_t::init_can_dev() +{ + std::vector devices_name; + int i; + size_t t; + + devices_name = read_conf(); + + if (! devices_name.empty()) { - conf_file.seekg(0, std::ios::end); - conf_file.resize(conf_file.tellg()); - conf_file.seekg(0, std::ios::beg); - conf_file.read(&fd_conf_content[0], fd_conf_content.size()); - conf_file.close(); - - jo = json_tokener_parse(&fd_conf_content); - - 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."); - else if (json_object_get_type(canbus) != json_type_array) - ret.push_back(json_object_get_string(a)); - else - { - n = json_object_array_length(a); - ok = 0; - for (i = 0 ; i < n ; i++) - ret.push_back(json_object_get_string(json_object_array_get_idx(a, i))); - } - return ret; + t = devices_name.size(); + i=0; + + for(const auto& device : devices_name) + { + can_bus_dev_t can_bus_device_handler(device); + can_bus_device_handler.open(); + can_bus_device_handler.start_reading(std::ref(*this)); + i++; + } + + NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t); + return 0; } - else - { - ERROR(interface_, "Problem at reading the conf file"); - return 0; - } + 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; } -/** - * @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 - * - */ -int can_bus_t::send_can_message(const can_message_t &can_msg) +std::vector can_bus_t::read_conf() { - int nbytes; - canfd_frame *f; - - f = can_msg.convert_to_canfd_frame(); + std::vector ret; + json_object *jo, *canbus; + int n, i; - if(can_socket_ >= 0) + FILE *fd = fdopen(conf_file_, "r"); + if (fd) { - nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0, - (struct sockaddr*)&txAddress, sizeof(txAddress)); - - if (nbytes == -1) + 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(interface_, "send_can_message: Sending CAN frame failed."); - return -1; + ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it."); + ret.clear(); } - return nbytes; + 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; } - else + ERROR(binder_interface, "Problem at reading the conf file"); + ret.clear(); + return ret; +} + +can_message_t can_bus_t::next_can_message() +{ + can_message_t can_msg; + + if(!can_message_q_.empty()) { - 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(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 0; + + NOTICE(binder_interface, "next_can_message: End of can message queue"); + has_can_message_ = false; + return can_msg; } -/** - * @brief: Get a VehicleMessage from vehicle_message_q and return it - * then point to the next VehicleMessage in queue. - * - * @return the next queue element or NULL if queue is empty. - */ -openxc_VehicleMessage* can_bus_t::next_vehicle_message() +void can_bus_t::push_new_can_message(const can_message_t& can_msg) +{ + can_message_q_.push(can_msg); +} + +bool can_bus_t::has_can_message() const { + return has_can_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(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; } -/** - * @brief Append a new element to the vehicle message queue and set - * has_vehicle_message_ boolean to true - * - * @params[const openxc_VehicleMessage& v_msg] the openxc_VehicleMessage to append - * - */ void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg) { vehicle_message_q_.push(v_msg); has_vehicle_message_ = true; } -/** - * @brief Flag that let you know when vehicle message queue is exhausted - * - * @return[bool] has_vehicle_message_ bool - */ bool can_bus_t::has_vehicle_message() const { return has_vehicle_message_; @@ -354,97 +297,173 @@ bool can_bus_t::has_vehicle_message() const /******************************************************************************** * -* CanMessage method implementation +* This is the sd_event_add_io callback function declaration. +* Its implementation can be found into low-can-binding.cpp. * *********************************************************************************/ -can_message_t::can_message_t(afb_binding_interface *itf) - : interface_{itf} -{} +int can_frame_received(sd_event_source *s, int fd, uint32_t revents, void *userdata); -uint32_t can_message_t::get_id() const -{ - (id_ != 0) ? return id_ : return 0; -} +/******************************************************************************** +* +* can_bus_dev_t method implementation +* +*********************************************************************************/ -int can_message_t::get_format() const +can_bus_dev_t::can_bus_dev_t(const std::string &dev_name) + : device_name_{dev_name} { - (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 +int can_bus_dev_t::event_loop_connection() { - return lenght_; -} + sd_event_source *source; + int rc; -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."); + /* 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 can_message_t::set_format(CanMessageFormat &new_format) +int can_bus_dev_t::open() { - if(new_format == CanMessageFormat::SIMPLE || new_format == CanMessageFormat::EXTENDED) - format = new_format; + 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 - ERROR(interface_, "ERROR: Can set format, wrong format chosen"); + { + /* 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 can_message_t::set_data(uint8_t &new_data) +int can_bus_dev_t::close() { - ::memcpy(data_, new_data, new_data.size()); - lenght_ = new_data(size); + ::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 can_message_t::convert_from_canfd_frame(canfd_frame &frame) +canfd_frame can_bus_dev_t::read() { - lenght_ = (frame.len > CAN_MAX_DLEN) ? CAN_MAX_DLEN : frame.len; - lenght_ = (frame.len > CANFD_MAX_DLEN) ? CANFD_MAX_DLEN : frame.len; + ssize_t nbytes; + //int maxdlen; + canfd_frame canfd_frame; + + /* 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 (frame.can_id): - case (frame.can_id & CAN_ERR_FLAG): - id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG); + 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 (frame.can_id & CAN_EFF_FLAG): - id_ = 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_ = 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(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"); +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_; +} + +int can_bus_dev_t::send_can_message(can_message_t& can_msg) +{ + ssize_t nbytes; + canfd_frame f; - frame.can_id = get_id(); - frame.len = get_lenght(); - ::memcpy(frame.data, get_data(), lenght_); + f = can_msg.convert_to_canfd_frame(); - return 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