X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Fcan-utils.cpp;h=fb6025ce7df9da87fd0d8a1060f9fb5b2125b252;hb=836feaecd602e86ea6d954ae018a2d7bbc04aa7a;hp=e41230b9b541fd36636a51e45e095604d9d83adf;hpb=860d6bd4a829ee5aca50b93122474c9bf68fff9d;p=apps%2Fagl-service-can-low-level.git diff --git a/src/can-utils.cpp b/src/can-utils.cpp index e41230b9..fb6025ce 100644 --- a/src/can-utils.cpp +++ b/src/can-utils.cpp @@ -15,33 +15,136 @@ * limitations under the License. */ -#pragma once +#include "can-utils.hpp" /******************************************************************************** * -* CanBus method implementation +* CanMessage method implementation +* +*********************************************************************************/ + +can_message_t::can_message_t(const struct afb_binding_interface* interface) + : interface_{interface} +{} + +uint32_t can_message_t::get_id() const +{ + if (id_ != 0) + return id_; + return 0; +} + +int can_message_t::get_format() const +{ + if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED) + return -1; + return format_; +} + +const uint8_t* can_message_t::get_data() const +{ + return &data_; +} +uint8_t can_message_t::get_length() const +{ + return length_; +} + +void can_message_t::set_id(const uint32_t new_id) +{ + switch(format_) + { + case CanMessageFormat::STANDARD: + id_ = new_id & CAN_SFF_MASK; + break; + case CanMessageFormat::EXTENDED: + 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."); + break; + } +} + +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"); +} + +void can_message_t::set_data(const uint8_t new_data) +{ + ::memcpy(&data_, &new_data, sizeof(new_data)); + length_ = sizeof(new_data); +} + +/* + * @brief This is the preferred way to initialize a CanMessage object + * from a read canfd_frame message. + * + * @param: canfd_frame pointer + */ +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); + 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; + + frame.can_id = get_id(); + frame.len = get_length(); + ::memcpy(frame.data, get_data(), length_); + + return frame; +} +/******************************************************************************** +* +* can_bus_dev_t method implementation * *********************************************************************************/ -can_bus_dev_t::can_bus_dev_t(afb_binding_interface *itf, const std:string &dev_name) - : interface{itf}, deviceName{dev_name} +can_bus_dev_t::can_bus_dev_t(const std::string &dev_name) + : device_name_{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 +153,25 @@ 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); - if(ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0) - ERROR(interface_, "open_can_dev: ioctl failed"); + ::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(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 +188,10 @@ 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 +200,7 @@ 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; } @@ -106,231 +209,259 @@ 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; } return canfd_frame; } -/* - * Return is_running_ bool +/** + * @brief start reading threads and set flag is_running_ + * */ -bool can_bus_dev_t::is_running() -{ - return is_running_; -} - -can_bus_t::can_bus_t(afb_binding_interface *itf, const std:string &dev_name) - : interface{itf} +void can_bus_dev_t::start_reading(can_bus_t& can_bus) { -} - -void can_bus_t::start_threads() -{ - th_reading_ = std::thread(can_reader, interface, socket, can_message_q_); + th_reading_ = std::thread(can_reader, std::ref(*this), std::ref(can_bus)); is_running_ = true; - - th_decoding_ = std::thread(can_decoder, interface, can_message_q, can_message_q_); - th_pushing_ = std::thread(can_event_push, interface, can_message_q_); } /* - * 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. + * Return is_running_ bool */ -can_message_t can_bus_dev_t::next_can_message() +bool can_bus_dev_t::is_running() { - 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; + return is_running_; } /** - * @return has_can_message_ bool - */ -bool can_bus_dev_t::has_can_message() const -{ - return has_can_message_; -} - -void can_bus_dev_t::push_new_can_message(const can_message_t& can_msg) -{ - can_message_q_.push(can_msg); -} - -/* - * Send a can message from a can_message_t object. + * @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_t::send_can_message(can_message_t &can_msg) +int can_bus_dev_t::send_can_message(can_message_t& can_msg, const struct afb_binding_interface* interface) { - int nbytes; - canfd_frame *f; + ssize_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)); - + (struct sockaddr*)&txAddress_, sizeof(txAddress_)); if (nbytes == -1) { - ERROR(interface_, "send_can_message: Sending CAN frame failed."); + 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(); + ERROR(interface, "send_can_message: socket not initialized. Attempt to reopen can device socket."); + open(interface); } return 0; } +/******************************************************************************** +* +* can_bus_t method implementation +* +*********************************************************************************/ -/* - * 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() +can_bus_t::can_bus_t(const struct afb_binding_interface *interface, int& conf_file) + : conf_file_{conf_file}, interface_{interface} { - if(! vehicle_message_q_.empty()) - { - openxc_VehicleMessage v_msg = vehicle_message_q_.front(); - vehicle_message_q_.pop(); - return &v_msg; - } - - has_vehicle_message_ = false; } -void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg) +/** + * @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() { - vehicle_message_q_.push(v_msg); - has_vehicle_message_ = true; + th_decoding_ = std::thread(can_decode_message, std::ref(*this)); + th_pushing_ = std::thread(can_event_push, std::ref(*this)); } -/* - * Return has_can_message_ bool +/** + * @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 */ -bool can_bus_t::has_vehicle_message() const +int can_bus_t::init_can_dev() { - return has_vehicle_message_; -} + std::vector devices_name; + int i; + size_t t; -/******************************************************************************** -* -* CanMessage method implementation -* -*********************************************************************************/ + devices_name = read_conf(); -can_message_t::can_message_t(afb_binding_interface *itf) - : interface_{itf} -{} + if (! devices_name.empty()) + { + t = devices_name.size(); + i=0; -uint32_t can_message_t::get_id() const -{ - (id_ != 0) ? return id_ : return 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++; + } -int can_message_t::get_format() const -{ - (format_ != CanMessageFormat::SIMPLE || format_ != CanMessageFormat::EXTENDED) return -1 : return format_; + 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; } -uint8_t can_message_t::get_data() const -{ - return data_; -} -uint8_t can_message_t::get_lenght() const +/** + * @brief Read the conf file and extract device name + * + * @return[std:vector] return a vector of device name + */ +std::vector can_bus_t::read_conf() { - return lenght_; + 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; } -void can_message_t::set_id(uint32_t &new_id) +/** + * @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_t::next_can_message() { - 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."); + 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_message_t::set_format(CanMessageFormat &new_format) +/** + * @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_t::push_new_can_message(const can_message_t& can_msg) { - if(new_format == CanMessageFormat::SIMPLE || new_format == CanMessageFormat::EXTENDED) - format = new_format; - else - ERROR(interface_, "ERROR: Can set format, wrong format chosen"); + can_message_q_.push(can_msg); } -void can_message_t::set_data(uint8_t &new_data) +/** + * @brief Flag that let you know when can message queue is exhausted + * + * @return[bool] has_can_message_ bool + */ +bool can_bus_t::has_can_message() const { - ::memcpy(data_, new_data, new_data.size()); - lenght_ = new_data(size); + return has_can_message_; } -/* - * This is the preferred way to initialize a CanMessage object - * from a read canfd_frame message. +/** + * @brief: Get a VehicleMessage from vehicle_message_q and return it + * then point to the next VehicleMessage in queue. * - * params: canfd_frame pointer + * @return the next queue element or NULL if queue is empty. */ -void can_message_t::convert_from_canfd_frame(canfd_frame &frame) +openxc_VehicleMessage can_bus_t::next_vehicle_message() { - 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; + openxc_VehicleMessage v_msg; - if (sizeof(frame.data) <= data_.size()) + if(! vehicle_message_q_.empty()) { - ::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"); + 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() +/** + * @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) { - canfd_frame frame; - - frame.can_id = get_id(); - frame.len = get_lenght(); - ::memcpy(frame.data, get_data(), lenght_); - - return frame; + 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