X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Fcan-utils.cpp;h=a50bfd4c82e059e8c7ce885da5843dfb8f5f3351;hb=913ac4ead2a8140db8607cef8b216ca997b8401e;hp=f10b9689ea913b60913ca28148a7482b1accde2d;hpb=2d6451afed42c84fae3c056304af3b9dfb293ce9;p=apps%2Fagl-service-can-low-level.git diff --git a/src/can-utils.cpp b/src/can-utils.cpp index f10b9689..a50bfd4c 100644 --- a/src/can-utils.cpp +++ b/src/can-utils.cpp @@ -15,257 +15,439 @@ * limitations under the License. */ -#pragma once +#include "can-utils.hpp" + /******************************************************************************** * -* 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(const struct afb_binding_interface* interface) + : interface_{interface} +{} + +uint32_t can_message_t::get_id() const +{ + (id_ != 0) ? return id_ : return 0; +} + +int can_message_t::get_format() const +{ + (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 +{ + return lenght_; +} + +void can_message_t::set_id(uint32_t &new_id) { - interface = itf; - deviceName = 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."); } -int CanBus_c::open() +void can_message_t::set_format(CanMessageFormat &new_format) +{ + if(new_format == CanMessageFormat::SIMPLE || new_format == CanMessageFormat::EXTENDED) + format = new_format; + else + ERROR(interface_, "ERROR: Can set format, wrong format chosen"); +} + +void can_message_t::set_data(uint8_t &new_data) +{ + ::memcpy(data_, new_data, new_data.size()); + lenght_ = new_data(size); +} + +/* + * 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) +{ + lenght_ = (frame.len > CAN_MAX_DLEN) ? CAN_MAX_DLEN : frame.len; + lenght_ = (frame.len > CANFD_MAX_DLEN) ? CANFD_MAX_DLEN : frame.len; + + switch (frame.can_id): + case (frame.can_id & CAN_ERR_FLAG): + id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG); + break; + case (frame.can_id & CAN_EFF_FLAG): + id_ = frame.can_id & CAN_EFF_MASK; + format_ = CanMessageFormat::EXTENDED; + break; + default: + format_ = CanMessageFormat::STANDARD; + id_ = frame.can_id & CAN_SFF_MASK; + break; + + 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"); +} + +canfd_frame can_message_t::convert_to_canfd_frame() +{ + canfd_frame frame; + + frame.can_id = get_id(); + frame.len = get_lenght(); + ::memcpy(frame.data, get_data(), lenght_); + + return frame; +} +/******************************************************************************** +* +* can_bus_dev_t method implementation +* +*********************************************************************************/ + +can_bus_dev_t::can_bus_dev_t(const std::string &dev_name) + : device_name_{dev_name} +{ +} + +int can_bus_dev_t::open(const struct afb_binding_interface* interface) { const int canfd_on = 1; struct ifreq ifr; struct timeval timeout = {1, 0}; - DEBUG(interface, "open_can_dev: CAN Handler socket : %d", socket); - if (socket >= 0) - close(socket); + DEBUG(interface, "open_can_dev: CAN Handler socket : %d", can_socket_); + if (can_socket_ >= 0) + return 0; - socket = socket(PF_CAN, SOCK_RAW, CAN_RAW); - if (socket < 0) + can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW); + if (can_socket_ < 0) { ERROR(interface, "open_can_dev: socket could not be created"); } else { /* Set timeout for read */ - setsockopt(socket, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout)); + ::setsockopt(can_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) + 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; + is_fdmode_on_ = false; } else { - is_fdmode_on = true; + is_fdmode_on_ = true; } /* Attempts to open a socket to CAN bus */ - strcpy(ifr.ifr_name, device); - if(ioctl(socket, SIOCGIFINDEX, &ifr) < 0) + ::strcpy(ifr.ifr_name, device_name_.c_str()); + 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; + txAddress_.can_family = AF_CAN; + txAddress_.can_ifindex = ifr.ifr_ifindex; /* And bind it to txAddress */ - if (bind(socket, (struct sockaddr *)&txAddress, sizeof(txAddress)) < 0) + if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0) { ERROR(interface, "open_can_dev: bind failed"); } else { - fcntl(socket, F_SETFL, O_NONBLOCK); + ::fcntl(can_socket_, F_SETFL, O_NONBLOCK); return 0; } } - close(socket); - socket = -1; + close(); } return -1; } -int CanBus_c::close() +int can_bus_dev_t::close() { - close(socket); - socket = -1; + ::close(can_socket_); + can_socket_ = -1; } -void CanBus_c::start_threads() +canfd_frame can_bus_dev_t::read(const struct afb_binding_interface* interface) { - 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); -} + ssize_t nbytes; + //int maxdlen; + canfd_frame canfd_frame; -/* - * Send a can message from a CanMessage_c object. - */ -int CanBus_c::send_can_message(CanMessage_c can_msg) -{ - int nbytes; - canfd_frame *f; - - f = can_msg.convert_to_canfd_frame(); - - if(socket >= 0) + /* Test that socket is really opened */ + if (can_socket_ < 0) { - nbytes = sendto(socket, &f, sizeof(struct canfd_frame), 0, - (struct sockaddr*)&txAddress, sizeof(txAddress)); - - if (nbytes == -1) - { - ERROR(interface, "send_can_message: Sending CAN frame failed."); - return -1; - } - return nbytes; + ERROR(interface, "read_can: Socket unavailable. Closing thread."); + is_running_ = false; } - else + + nbytes = ::read(can_socket_, &canfd_frame, CANFD_MTU); + + switch(nbytes) { - ERROR(interface, "send_can_message: socket not initialized. Attempt to reopen can device socket."); - open_can_dev(); + case CANFD_MTU: + DEBUG(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); + //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"); + ::memset(&canfd_frame, 0, sizeof(canfd_frame)); + is_running_ = false; + break; } - return 0; + + return canfd_frame; } -/* - * Get a CanMessage from can_message_q and return it - * then point to the next CanMessage in queue. +/** + * @brief start reading threads and set flag is_running_ * - * Return the next queue element or NULL if queue is empty. */ -CanMessage_c* CanBus_c::next_can_message() +void can_bus_dev_t::start_reading() { - if(! can_message_q.empty()) - { - CanMessage_c can_msg = can_message_q.front(); - can_message_q.pop() - return &can_msg; - } - - return nullptr; + th_reading_ = std::thread(can_reader, this); + is_running_ = true; } -void CanBus_c::insert_new_can_message(CanMessage_c *can_msg) +/* + * Return is_running_ bool + */ +bool can_bus_dev_t::is_running() { - can_message_q.push(can_msg); + return is_running_; } -/* - * Get a VehicleMessage from vehicle_message_q and return it - * then point to the next VehicleMessage in queue. +/** + * @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. + * @return the next queue element or NULL if queue is empty. */ -openxc_VehicleMessage* CanBus_c::next_vehicle_message() +can_message_t can_bus_dev_t::next_can_message() { - if(! vehicle_message_q.empty()) + if(! can_message_q_.empty()) { - openxc_VehicleMessage v_msg = vehicle_message_q.front(); - vehicle_message_q.pop() - return &v_msg; + can_message_t can_msg = can_message_q_.front(); + can_message_q_.pop(); + return can_msg; } + + has_can_message_ = false; +} - return nullptr; +/** + * @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); } -void CanBus_c::insert_new_vehicle_message(openxc_VehicleMessage *v_msg) +/** + * @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 { - vehicle_message_q.push(v_msg); + return has_can_message_; +} + +/** + * @brief Send a can message from a can_message_t object. + * + * params[const can_message_t& can_msg] the can message object to send + * + */ +int can_bus_dev_t::send_can_message(can_message_t& can_msg, const struct afb_binding_interface* interface) +{ + size_t nbytes; + canfd_frame f; + + 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(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); + } + return 0; } /******************************************************************************** * -* CanMessage method implementation +* can_bus_t method implementation * *********************************************************************************/ -uint32_t CanMessage_c::get_id() +can_bus_t::can_bus_t(const afb_binding_interface *itf, int& conf_file) + : interface_{itf}, conf_file_{conf_file} { - return id; } -int CanMessage_c::get_format() +/** + * @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() { - return format; + th_decoding_ = std::thread(can_decoder, this); + th_pushing_ = std::thread(can_event_push, this); } -uint8_t CanMessage_c::get_data() -{ - return data; -} -uint8_t CanMessage_c::get_lenght() +/** + * @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 + */ +int can_bus_t::init_can_dev() { - return lenght; -} + std::vector devices_name; + int i; + size_t t; -void CanMessage_c::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."); -} + devices_name = read_conf(); -void CanMessage_c::set_format(CanMessageFormat new_format) -{ - if(new_format == CanMessageFormat::SIMPLE || new_format == CanMessageFormat::EXTENDED) - format = new_format; - else - ERROR(interface, "ERROR: Can set format, wrong format chosen"); -} + if (! devices_name.empty()) + { + t = devices_name.size(); + i=0; -void CanMessage_c::set_data(uint8_t new_data) -{ - data = new_data; -} + 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(); + i++; + } -void CanMessage_c::set_lenght(uint8_t new_length) -{ - lenght = new_lenght; + 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; } -/* - * This is the preferred way to initialize a CanMessage object - * from a read canfd_frame message. +/** + * @brief Read the conf file and extract device name * - * params: canfd_frame pointer + * @return[std:vector] return a vector of device name */ -void CanMessage_c::convert_from_canfd_frame(canfd_frame *frame) +std::vector can_bus_t::read_conf() { - - lenght = (canfd_frame->len > maxdlen) ? maxdlen : canfd_frame->len; + std::vector ret; + json_object *jo, *canbus; + int n, i, ok; - switch (canfd_frame->can_id): - case (canfd_frame->can_id & CAN_ERR_FLAG): - id = canfd_frame->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG); - break; - case (canfd_frame->can_id & CAN_EFF_FLAG): - id = canfd_frame->can_id & CAN_EFF_MASK; - format = CanMessageFormat::EXTENDED; - break; - default: - format = CanMessageFormat::STANDARD; - id = canfd_frame->can_id & CAN_SFF_MASK; - break; - - if (sizeof(canfd_frame->data) <= sizeof(data)) + FILE *fd = fdopen(conf_file_, "r"); + if (fd) { - 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"); + 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); + ok = 0; + 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; } -canfd_frame* convert_to_canfd_frame() +/** + * @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() { - canfd_frame frame; + if(! vehicle_message_q_.empty()) + { + openxc_VehicleMessage v_msg = vehicle_message_q_.front(); + vehicle_message_q_.pop(); + return v_msg; + } - frame.id = can_msg.get_id(); - frame.len = can_msg.get_lenght(); - frame.data = can_msg.get_data(); + has_vehicle_message_ = false; +} - return &frame; +/** + * @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_; +} \ No newline at end of file