X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Fcan-utils.cpp;h=de9e8ce1533bfd8f75a29353002a62592f91cfbd;hb=b0975e4bfa534153657a7ee8acaee0f950056e97;hp=72f00aa9ca99a7751e600e73e8863ed94daa3e82;hpb=c8a9ae83b95b3105717c58e390ba216567937772;p=apps%2Fagl-service-can-low-level.git diff --git a/src/can-utils.cpp b/src/can-utils.cpp index 72f00aa9..de9e8ce1 100644 --- a/src/can-utils.cpp +++ b/src/can-utils.cpp @@ -17,6 +17,127 @@ #include "can-utils.hpp" +/******************************************************************************** +* +* 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} +{} + +uint32_t can_message_t::get_id() const +{ + return id_; +} + +int can_message_t::get_format() const +{ + if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED) + return CanMessageFormat::ERROR; + return format_; +} + +const uint8_t* can_message_t::get_data() const +{ + return data_; +} +uint8_t can_message_t::get_length() const +{ + return length_; +} + +bool can_message_t::is_correct_to_send() +{ + if (id_ != 0 && length_ != 0 && format_ != CanMessageFormat::ERROR) + { + int i; + for(i=0;i CAN_MESSAGE_SIZE)) + ERROR(interface_, "Can set data, your data array is too big"); + else + { + ::memcpy(&data_, &new_data, sizeof(new_data)); + length_ = sizeof(new_data); + } +} + +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; + + if (frame.can_id & CAN_ERR_FLAG) + { + 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; + } + + 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"); +} + +canfd_frame can_message_t::convert_to_canfd_frame() +{ + 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(interface_, "can_message_t not correctly initialized to be sent"); + + return frame; +} + /******************************************************************************** * * can_bus_dev_t method implementation @@ -28,20 +149,20 @@ can_bus_dev_t::can_bus_dev_t(const std::string &dev_name) { } -int can_bus_dev_t::open() +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", can_socket_); + 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) + if (can_socket_ < 0) { - ERROR(interface_, "open_can_dev: socket could not be created"); + ERROR(interface, "open_can_dev: socket could not be created"); } else { @@ -50,25 +171,25 @@ int can_bus_dev_t::open() /* 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(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); + ::strcpy(ifr.ifr_name, device_name_.c_str()); if(::ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0) - ERROR(interface_, "open_can_dev: ioctl failed"); + 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(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0) { - ERROR(interface_, "open_can_dev: bind failed"); + ERROR(interface, "open_can_dev: bind failed"); } else { @@ -85,10 +206,10 @@ int can_bus_dev_t::close() { ::close(can_socket_); can_socket_ = -1; + return can_socket_; } - -canfd_frame can_bus_dev_t::read() +canfd_frame can_bus_dev_t::read(const struct afb_binding_interface* interface) { ssize_t nbytes; //int maxdlen; @@ -97,7 +218,7 @@ canfd_frame can_bus_dev_t::read() /* Test that socket is really opened */ if (can_socket_ < 0) { - ERROR(interface_, "read_can: Socket unavailable. Closing thread."); + ERROR(interface, "read_can: Socket unavailable. Closing thread."); is_running_ = false; } @@ -106,17 +227,17 @@ canfd_frame can_bus_dev_t::read() switch(nbytes) { case CANFD_MTU: - DEBUG(interface_, "read_can: Got an CAN FD frame with length %d", canfd_frame.len); + 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); + 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); - ERROR(interface_, "read_can: Error reading CAN bus"); + 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; @@ -125,13 +246,9 @@ canfd_frame can_bus_dev_t::read() return canfd_frame; } -/** - * @brief start reading threads and set flag is_running_ - * - */ -void can_bus_dev_t::start_reading() +void can_bus_dev_t::start_reading(can_bus_t& can_bus) { - th_reading_ = std::thread(can_reader, this); + th_reading_ = std::thread(can_reader, std::ref(*this), std::ref(can_bus)); is_running_ = true; } @@ -143,89 +260,67 @@ bool can_bus_dev_t::is_running() return is_running_; } -/** - * @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() +int can_bus_dev_t::send_can_message(can_message_t& can_msg, const struct afb_binding_interface* interface) { - if(! can_message_q_.empty()) - { - can_message_t can_msg = can_message_q_.front(); - can_message_q_.pop() - return &can_msg; - } - - has_can_message_ = false; -} + ssize_t nbytes; + canfd_frame f; -/** - * @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); -} + f = can_msg.convert_to_canfd_frame(); -/** - * @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 -{ - return has_can_message_; + 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; } - /******************************************************************************** * * can_bus_t method implementation * *********************************************************************************/ -can_bus_t::can_bus_t(const afb_binding_interface *itf, int& conf_file) - : interface_{itf}, conf_file_{conf_file} +can_bus_t::can_bus_t(const struct afb_binding_interface *interface, int& conf_file) + : conf_file_{conf_file}, interface_{interface} { } -/** - * @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 - */ -int init_can_dev() + +int can_bus_t::init_can_dev() { std::vector devices_name; - int i, t, ret; + int i; + size_t t; - devices_name = read_conf(conf_file_); + devices_name = read_conf(); - if (devices_name) + if (! devices_name.empty()) { t = devices_name.size(); - i=0 + i=0; for(const auto& device : devices_name) { - can_bus_dev_t(device); + 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++; } @@ -236,216 +331,95 @@ int init_can_dev() return 1; } -/** - * @brief Read the conf file and extract device name - * - * @return[std:vector] return a vector of device name - */ -std::vector read_conf() +std::vector can_bus_t::read_conf() { std::vector ret; - json_object jo, canbus; - int n, i, ok; + json_object *jo, *canbus; + int n, i; - if (conf_file_) + FILE *fd = fdopen(conf_file_, "r"); + if (fd) { std::string fd_conf_content; - std::fseek(conf_file_, 0, SEEK_END); - fd_conf_content.resize(std::ftell(conf_file_)); - std::rewind(fp); - std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), conf_file_); - std::fclose(conf_file_); + 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); + jo = json_tokener_parse(fd_conf_content.c_str()); - if (jo == NULL || !json_object_object_get_ex(&jo, "canbus", &&canbus)) + 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 = nullptr; + ret.clear(); } else if (json_object_get_type(canbus) != json_type_array) - ret.push_back(json_object_get_string(a)); + ret.push_back(json_object_get_string(canbus)); else { - n = json_object_array_length(a); - ok = 0; + n = json_object_array_length(canbus); for (i = 0 ; i < n ; i++) - ret.push_back(json_object_get_string(json_object_array_get_idx(a, i))); + ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i))); } - return ret; + return ret; } ERROR(interface_, "Problem at reading the conf file"); - return nullptr; + ret.clear(); + return ret; } -/** - * @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) +can_message_t can_bus_t::next_can_message() { - int nbytes; - canfd_frame *f; + can_message_t can_msg(interface_); - 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 nbytes; - } - else + 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(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(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(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; } -/** - * @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_; -} - -/******************************************************************************** -* -* CanMessage method implementation -* -*********************************************************************************/ - -can_message_t::can_message_t(afb_binding_interface *itf) - : interface_{itf} -{} - -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) -{ - 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 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; -} +} \ No newline at end of file