X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Fcan-utils.cpp;h=de9e8ce1533bfd8f75a29353002a62592f91cfbd;hb=b0975e4bfa534153657a7ee8acaee0f950056e97;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..de9e8ce1 100644 --- a/src/can-utils.cpp +++ b/src/can-utils.cpp @@ -15,257 +15,411 @@ * 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}, 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 { - interface = itf; - deviceName = dev_name; + return length_; } -int CanBus_c::open() +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 +* +*********************************************************************************/ + +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; + return can_socket_; } -void CanBus_c::start_threads() +canfd_frame can_bus_dev_t::read(const struct afb_binding_interface* interface) { - std::queue can_message_q; + ssize_t nbytes; + //int maxdlen; + canfd_frame canfd_frame; + + /* Test that socket is really opened */ + if (can_socket_ < 0) + { + ERROR(interface, "read_can: Socket unavailable. Closing thread."); + is_running_ = false; + } + + nbytes = ::read(can_socket_, &canfd_frame, CANFD_MTU); + + switch(nbytes) + { + 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 canfd_frame; +} - 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_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; } /* - * Send a can message from a CanMessage_c object. + * Return is_running_ bool */ -int CanBus_c::send_can_message(CanMessage_c can_msg) +bool can_bus_dev_t::is_running() { - int nbytes; - canfd_frame *f; + return is_running_; +} + +int can_bus_dev_t::send_can_message(can_message_t& can_msg, const struct afb_binding_interface* interface) +{ + ssize_t nbytes; + canfd_frame f; f = can_msg.convert_to_canfd_frame(); - if(socket >= 0) + if(can_socket_ >= 0) { - nbytes = sendto(socket, &f, sizeof(struct canfd_frame), 0, - (struct sockaddr*)&txAddress, sizeof(txAddress)); - + 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; + return (int)nbytes; } else { ERROR(interface, "send_can_message: socket not initialized. Attempt to reopen can device socket."); - open_can_dev(); + open(interface); } return 0; } +/******************************************************************************** +* +* can_bus_t method implementation +* +*********************************************************************************/ -/* - * 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_bus_t::can_bus_t(const struct afb_binding_interface *interface, int& conf_file) + : conf_file_{conf_file}, interface_{interface} { - if(! can_message_q.empty()) - { - CanMessage_c can_msg = can_message_q.front(); - can_message_q.pop() - return &can_msg; - } - - return nullptr; } -void CanBus_c::insert_new_can_message(CanMessage_c *can_msg) +void can_bus_t::start_threads() { - can_message_q.push(can_msg); + th_decoding_ = std::thread(can_decode_message, std::ref(*this)); + th_pushing_ = std::thread(can_event_push, std::ref(*this)); } -/* - * 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* CanBus_c::next_vehicle_message() + +int can_bus_t::init_can_dev() { - if(! vehicle_message_q.empty()) + std::vector devices_name; + int i; + size_t t; + + devices_name = read_conf(); + + if (! devices_name.empty()) { - openxc_VehicleMessage v_msg = vehicle_message_q.front(); - vehicle_message_q.pop() - return &v_msg; - } + t = devices_name.size(); + i=0; - return nullptr; -} + 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++; + } -void CanBus_c::insert_new_vehicle_message(openxc_VehicleMessage *v_msg) -{ - vehicle_message_q.push(v_msg); + 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; } -/******************************************************************************** -* -* CanMessage method implementation -* -*********************************************************************************/ -uint32_t CanMessage_c::get_id() +std::vector can_bus_t::read_conf() { - return id; -} + std::vector ret; + json_object *jo, *canbus; + int n, i; -int CanMessage_c::get_format() -{ - return format; -} + 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); -uint8_t CanMessage_c::get_data() -{ - return data; -} -uint8_t CanMessage_c::get_lenght() -{ - return lenght; -} + jo = json_tokener_parse(fd_conf_content.c_str()); -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."); + 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; } -void CanMessage_c::set_format(CanMessageFormat new_format) +can_message_t can_bus_t::next_can_message() { - if(new_format == CanMessageFormat::SIMPLE || new_format == CanMessageFormat::EXTENDED) - format = new_format; - else - ERROR(interface, "ERROR: Can set format, wrong format chosen"); + 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 CanMessage_c::set_data(uint8_t new_data) +void can_bus_t::push_new_can_message(const can_message_t& can_msg) { - data = new_data; + can_message_q_.push(can_msg); } -void CanMessage_c::set_lenght(uint8_t new_length) +bool can_bus_t::has_can_message() const { - lenght = new_lenght; + return has_can_message_; } -/* - * 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) +openxc_VehicleMessage can_bus_t::next_vehicle_message() { - - lenght = (canfd_frame->len > maxdlen) ? maxdlen : canfd_frame->len; - - 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; + openxc_VehicleMessage v_msg; - if (sizeof(canfd_frame->data) <= sizeof(data)) + if(! vehicle_message_q_.empty()) { - 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"); + 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; } -canfd_frame* convert_to_canfd_frame() +void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg) { - canfd_frame frame; - - frame.id = can_msg.get_id(); - frame.len = can_msg.get_lenght(); - frame.data = can_msg.get_data(); - - return &frame; + 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