X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Fcan-utils.cpp;h=5a845b31c4dc49a035c51867e88069b6566df05a;hb=035493b81d5bb6d909de05e9a06a0f61588a35aa;hp=de9e8ce1533bfd8f75a29353002a62592f91cfbd;hpb=ae49e206b6cf7c8db153f50a1c6f6bc87bb8b07d;p=apps%2Fagl-service-can-low-level.git diff --git a/src/can-utils.cpp b/src/can-utils.cpp index de9e8ce1..5a845b31 100644 --- a/src/can-utils.cpp +++ b/src/can-utils.cpp @@ -17,14 +17,32 @@ #include "can-utils.hpp" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +extern "C" +{ + #include +} + /******************************************************************************** * * CanMessage method implementation * *********************************************************************************/ -can_message_t::can_message_t(const struct afb_binding_interface* interface) - : interface_{interface}, id_{0}, length_{0}, format_{CanMessageFormat::ERROR}, data_{0,0,0,0,0,0,0,0} +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 @@ -71,7 +89,7 @@ void can_message_t::set_id(const uint32_t new_id) id_ = new_id & CAN_EFF_MASK; break; default: - ERROR(interface_, "ERROR: Can set id, not a compatible format or format not set prior to set id."); + ERROR(binder_interface, "ERROR: Can set id, not a compatible format or format not set prior to set id."); break; } } @@ -81,13 +99,13 @@ void can_message_t::set_format(const CanMessageFormat new_format) if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED) format_ = new_format; else - ERROR(interface_, "ERROR: Can set format, wrong format chosen"); + ERROR(binder_interface, "ERROR: Can set format, wrong format chosen"); } void can_message_t::set_data(const uint8_t new_data) { if ((sizeof(new_data) / sizeof(uint8_t) > CAN_MESSAGE_SIZE)) - ERROR(interface_, "Can set data, your data array is too big"); + ERROR(binder_interface, "Can set data, your data array is too big"); else { ::memcpy(&data_, &new_data, sizeof(new_data)); @@ -119,7 +137,7 @@ void can_message_t::convert_from_canfd_frame(const canfd_frame& frame) if (sizeof(frame.data) <= sizeof(data_)) ::memcpy(&data_, frame.data, length_); else if (sizeof(frame.data) >= CAN_MAX_DLEN) - ERROR(interface_, "can_message_t: canfd_frame data too long to be stored into CanMessage object"); + ERROR(binder_interface, "can_message_t: canfd_frame data too long to be stored into CanMessage object"); } canfd_frame can_message_t::convert_to_canfd_frame() @@ -133,11 +151,159 @@ canfd_frame can_message_t::convert_to_canfd_frame() ::memcpy(frame.data, get_data(), length_); } else - ERROR(interface_, "can_message_t not correctly initialized to be sent"); + ERROR(binder_interface, "can_message_t not correctly initialized to be sent"); return frame; } +/******************************************************************************** +* +* can_bus_t method implementation +* +*********************************************************************************/ + +can_bus_t::can_bus_t(int& conf_file) + : conf_file_{conf_file} +{ +} + +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)); +} + + +int can_bus_t::init_can_dev() +{ + std::vector devices_name; + int i; + size_t t; + + devices_name = read_conf(); + + if (! devices_name.empty()) + { + 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; + } + 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) + { + 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; + } + 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()) + { + 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; + } + + NOTICE(binder_interface, "next_can_message: End of can message queue"); + has_can_message_ = false; + return can_msg; +} + +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()) + { + 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; +} + +void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg) +{ + vehicle_message_q_.push(v_msg); + has_vehicle_message_ = true; +} + +bool can_bus_t::has_vehicle_message() const +{ + return has_vehicle_message_; +} + +/******************************************************************************** +* +* 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 @@ -149,20 +315,36 @@ can_bus_dev_t::can_bus_dev_t(const std::string &dev_name) { } -int can_bus_dev_t::open(const struct afb_binding_interface* interface) +int can_bus_dev_t::event_loop_connection() +{ + 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; +} + +int can_bus_dev_t::open() { const int canfd_on = 1; struct ifreq ifr; struct timeval timeout = {1, 0}; - DEBUG(interface, "open_can_dev: CAN Handler socket : %d", can_socket_); + 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(interface, "open_can_dev: socket could not be created"); + ERROR(binder_interface, "socket could not be created"); } else { @@ -171,7 +353,7 @@ int can_bus_dev_t::open(const struct afb_binding_interface* interface) /* 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."); + NOTICE(binder_interface, "Can not switch into CAN Extended frame format."); is_fdmode_on_ = false; } else { is_fdmode_on_ = true; @@ -180,7 +362,7 @@ int can_bus_dev_t::open(const struct afb_binding_interface* interface) /* Attempts to open a socket to CAN bus */ ::strcpy(ifr.ifr_name, device_name_.c_str()); if(::ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0) - ERROR(interface, "open_can_dev: ioctl failed"); + ERROR(binder_interface, "ioctl failed"); else { txAddress_.can_family = AF_CAN; @@ -189,7 +371,7 @@ int can_bus_dev_t::open(const struct afb_binding_interface* interface) /* And bind it to txAddress */ if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0) { - ERROR(interface, "open_can_dev: bind failed"); + ERROR(binder_interface, "Bind failed"); } else { @@ -209,7 +391,7 @@ int can_bus_dev_t::close() return can_socket_; } -canfd_frame can_bus_dev_t::read(const struct afb_binding_interface* interface) +canfd_frame can_bus_dev_t::read() { ssize_t nbytes; //int maxdlen; @@ -218,7 +400,7 @@ canfd_frame can_bus_dev_t::read(const struct afb_binding_interface* interface) /* Test that socket is really opened */ if (can_socket_ < 0) { - ERROR(interface, "read_can: Socket unavailable. Closing thread."); + ERROR(binder_interface, "read_can: Socket unavailable. Closing thread."); is_running_ = false; } @@ -227,17 +409,17 @@ canfd_frame can_bus_dev_t::read(const struct afb_binding_interface* interface) switch(nbytes) { case CANFD_MTU: - DEBUG(interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len); + DEBUG(binder_interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len); //maxdlen = CANFD_MAX_DLEN; break; case CAN_MTU: - DEBUG(interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len); + DEBUG(binder_interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len); //maxdlen = CAN_MAX_DLEN; break; default: if (errno == ENETDOWN) - ERROR(interface, "read_can: %s interface down", device_name_); - ERROR(interface, "read_can: Error reading CAN bus"); + 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; @@ -260,7 +442,7 @@ bool can_bus_dev_t::is_running() return is_running_; } -int can_bus_dev_t::send_can_message(can_message_t& can_msg, const struct afb_binding_interface* interface) +int can_bus_dev_t::send_can_message(can_message_t& can_msg) { ssize_t nbytes; canfd_frame f; @@ -273,153 +455,15 @@ int can_bus_dev_t::send_can_message(can_message_t& can_msg, const struct afb_bin (struct sockaddr*)&txAddress_, sizeof(txAddress_)); if (nbytes == -1) { - ERROR(interface, "send_can_message: Sending CAN frame failed."); + ERROR(binder_interface, "send_can_message: Sending CAN frame failed."); return -1; } return (int)nbytes; } else { - ERROR(interface, "send_can_message: socket not initialized. Attempt to reopen can device socket."); - open(interface); + ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket."); + open(); } return 0; -} -/******************************************************************************** -* -* can_bus_t method implementation -* -*********************************************************************************/ - -can_bus_t::can_bus_t(const struct afb_binding_interface *interface, int& conf_file) - : conf_file_{conf_file}, interface_{interface} -{ -} - -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)); -} - - -int can_bus_t::init_can_dev() -{ - std::vector devices_name; - int i; - size_t t; - - devices_name = read_conf(); - - if (! devices_name.empty()) - { - 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(interface_); - can_bus_device_handler.start_reading(std::ref(*this)); - i++; - } - - NOTICE(interface_, "Initialized %d/%d can bus device(s)", i, t); - return 0; - } - ERROR(interface_, "init_can_dev: Error at CAN device initialization."); - 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) - { - 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_, "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; - } - ERROR(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(interface_); - - if(!can_message_q_.empty()) - { - can_msg = can_message_q_.front(); - can_message_q_.pop(); - DEBUG(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; - } - - NOTICE(interface_, "next_can_message: End of can message queue"); - has_can_message_ = false; - return can_msg; -} - -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()) - { - v_msg = vehicle_message_q_.front(); - vehicle_message_q_.pop(); - DEBUG(interface_, "next_vehicle_message: next vehicle message poped"); - return v_msg; - } - - NOTICE(interface_, "next_vehicle_message: End of vehicle message queue"); - has_vehicle_message_ = false; - return v_msg; -} - -void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg) -{ - vehicle_message_q_.push(v_msg); - has_vehicle_message_ = true; -} - -bool can_bus_t::has_vehicle_message() const -{ - return has_vehicle_message_; } \ No newline at end of file