binding/configuration.cpp
binding/configuration-generated.cpp
can/can-bus.cpp
- can/can-bus-dev.cpp
can/can-message-set.cpp
can/can-message-definition.cpp
can/can-message.cpp
return can_bus_manager_;
}
-const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& configuration_t::get_can_bus_devices()
-{
- return can_bus_manager_.get_can_devices();
-}
-
diagnostic_manager_t& configuration_t::get_diagnostic_manager()
{
return diagnostic_manager_;
can_bus_t& get_can_bus_manager();
- const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& get_can_bus_devices();
-
const std::string get_diagnostic_bus() const;
diagnostic_manager_t& get_diagnostic_manager() ;
{
can_bus_t& can_bus_manager = configuration_t::instance().get_can_bus_manager();
- /// Initialize CAN socket
- if(can_bus_manager.init_can_dev() == 0)
- {
- can_bus_manager.start_threads();
+ can_bus_manager.start_threads();
- /// Initialize Diagnostic manager that will handle obd2 requests.
- /// We pass by default the first CAN bus device to its Initialization.
- /// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus.
- if(configuration_t::instance().get_diagnostic_manager().initialize())
- return 0;
- }
+ /// Initialize Diagnostic manager that will handle obd2 requests.
+ /// We pass by default the first CAN bus device to its Initialization.
+ /// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus.
+ if(configuration_t::instance().get_diagnostic_manager().initialize())
+ return 0;
- ERROR(binder_interface, "%s: There was something wrong with CAN device Initialization. Check your config file maybe", __FUNCTION__);
+ ERROR(binder_interface, "%s: There was something wrong with CAN device Initialization.", __FUNCTION__);
return 1;
}
};
+++ /dev/null
-/*
-* Copyright (C) 2015, 2016, 2017 "IoT.bzh"
-* Author "Romain Forlot" <romain.forlot@iot.bzh>
-* Author "Loïc Collignon" <loic.collignon@iot.bzh>
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-* http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*/
-
-#include <map>
-#include <mutex>
-#include <unistd.h>
-#include <linux/can/raw.h>
-#include <linux/can/bcm.h>
-
-#include "can-bus.hpp"
-#include "can-message.hpp"
-#include "../binding/low-can-hat.hpp"
-
-/// @brief Class constructor
-///
-/// @param[in] dev_name - String representing the device name into the linux /dev tree
-/// @param[in] index - integer identifier of the bus, set using init_can_dev from can_bus_t.
-can_bus_dev_t::can_bus_dev_t(const std::string& dev_name, int index)
- : device_name_{dev_name}, index_{index}
-{}
-
-std::string can_bus_dev_t::get_device_name() const
-{
- return device_name_;
-}
-
-int can_bus_dev_t::get_index() const
-{
- return index_;
-}
-utils::socketcan_t& can_bus_dev_t::get_socket()
-{
- return can_socket_;
-}
-
-/// @brief Open the can socket and returning it
-///
-/// We try to open CAN socket and apply the following options
-/// timestamp received messages and pass the socket to FD mode.
-///
-/// @return socket value or -1 if something wrong.
-int can_bus_dev_t::open()
-{
- return can_socket_.open(device_name_);
-}
-
-/// @brief Set some option on the socket, timestamp and canfd frame usage.
-void can_bus_dev_t::configure()
-{
- if (can_socket_)
- {
- const int timestamp_on = 1;
- const int canfd_on = 1;
-
- DEBUG(binder_interface, "%s: CAN Handler socket correctly initialized : %d", __FUNCTION__, can_socket_.socket());
-
- // try to switch the socket into CAN_FD mode
- if (can_socket_.setopt(SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
- {
- NOTICE(binder_interface, "%s: Can not switch into CAN Extended frame format: %s", __FUNCTION__, ::strerror(errno));
- }
-
- if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, ×tamp_on, sizeof(timestamp_on)) < 0)
- WARNING(binder_interface, "%s: setsockopt SO_TIMESTAMP error: %s", __FUNCTION__, ::strerror(errno));
- }
- else
- {
- ERROR(binder_interface, "open_raw: socket could not be created. Error was : %s", ::strerror(errno));
- }
-}
-
-/// @brief Close the bus.
-///
-/// @return interger return value of socket.close() function
-int can_bus_dev_t::close()
-{
- return can_socket_.close();
-}
-
-/// @brief Read the can socket and retrieve canfd_frame.
-///
-/// Read operation are blocking and we try to read CANFD frame
-/// rather than classic CAN frame. CANFD frame are retro compatible.
-can_message_t can_bus_dev_t::read()
-{
- ssize_t nbytes;
- struct canfd_frame cfd;
-
- // Test that socket is really opened
- if (!can_socket_)
- {
- ERROR(binder_interface, "%s: Socket unavailable. Closing thread.", __FUNCTION__);
- is_running_ = false;
- }
-
- nbytes = ::read(can_socket_.socket(), &cfd, CANFD_MTU);
-
- // if we did not fit into CAN sized messages then stop_reading.
- if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
- {
- if (errno == ENETDOWN)
- ERROR(binder_interface, "%s: %s CAN device down", __FUNCTION__, device_name_.c_str());
- ERROR(binder_interface, "%s: Incomplete CAN(FD) frame", __FUNCTION__);
- ::memset(&cfd, 0, sizeof(cfd));
- }
-
- DEBUG(binder_interface, "%s: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", __FUNCTION__, cfd.can_id, cfd.len,
- cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]);
- return can_message_t::convert_from_frame(cfd, nbytes);
-}
-
-/// @brief start reading threads and set flag is_running_
-/// @param[in] can_bus reference can_bus_t. it will be passed to the thread to allow using can_bus_t queue.
-void can_bus_dev_t::start_reading(can_bus_t& can_bus)
-{
- DEBUG(binder_interface, "%s: Launching reading thread", __FUNCTION__);
- is_running_ = true;
- th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
- if(!th_reading_.joinable())
- is_running_ = false;
-}
-
-/// @brief stop the reading thread setting flag is_running_ to false and and wait that the thread finish its job.
-void can_bus_dev_t::stop_reading()
-{
- is_running_ = false;
-}
-
-/// @brief Thread function used to read the can socket.
-/// @param[in] can_bus - object to be used to read the can socket
-void can_bus_dev_t::can_reader(can_bus_t& can_bus)
-{
- while(is_running_)
- {
- can_message_t msg = read();
- {
- std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex());
- can_bus.push_new_can_message(msg);
- }
- can_bus.get_new_can_message_cv().notify_one();
- }
-}
-
-/// @brief Send a can message from a can_message_t object.
-/// @param[in] can_msg - the can message object to send
-///
-/// @return 0 if message snet, -1 if something wrong.
-int can_bus_dev_t::send(can_message_t& can_msg)
-{
- canfd_frame f;
- f = can_msg.convert_to_canfd_frame();
-
- if(can_socket_)
- {
- can_socket_ << f;
- if(!can_socket_)
- {
- ERROR(binder_interface, "%s: Sending CAN frame failed.", __FUNCTION__);
- return -1;
- }
- }
- else
- {
- ERROR(binder_interface, "%s: socket not initialized. Attempt to reopen can device socket.", __FUNCTION__);
- open();
- return -1;
- }
- return 0;
-}
-
-/// @brief Static method used to send diagnostic CAN message
-/// that follow isotp SendShimsMessage signature. This method is launched
-/// from diagnostic manager's' same name method. It will use the diagnostic
-/// manager configured CAN bus device to send the CAN message.
-///
-/// @param[in] arbitration_id - CAN arbitration id.
-/// @param[in] data - CAN message payload to send
-/// @param[in] size - size of the data to send
-///
-/// @return True if message sent, false if not.
-bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
-{
- canfd_frame f;
-
- f.can_id = arbitration_id;
- f.len = size;
- ::memcpy(f.data, data, size);
-
- if(can_socket_)
- {
- can_socket_ << f;
- if (!can_socket_)
- {
- ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
- return false;
- }
- }
- else
- {
- ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
- open();
- return false;
- }
- return true;
-}
+++ /dev/null
-/*
- * Copyright (C) 2015, 2016, 2017 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- * Author "Loïc Collignon" <loic.collignon@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#pragma once
-
-#include <stdint.h>
-#include <string>
-#include <thread>
-
-#include "../utils/socketcan-raw.hpp"
-
-class can_bus_t;
-class can_message_t;
-class can_signal_t;
-
-/// @brief Object representing a can device. Handle opening, closing and reading on the
-/// socket. This is the low level object to be initialized and use by can_bus_t.
-class can_bus_dev_t
-{
-private:
- std::string device_name_; ///< a string identifier identitfying the linux CAN device.
- utils::socketcan_raw_t can_socket_; ///< can_socket_ - A Raw socket attached to a specified device
-
- int index_; ///< index_ - An index number, it's the index number to access this object using the can_devices_ map from can_bus_t class
-
- std::thread th_reading_; ///< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t
- bool is_running_ = false; ///< boolean telling whether or not reading is running or not
- void can_reader(can_bus_t& can_bus);
-
-public:
- can_bus_dev_t(const std::string& dev_name, int index);
-
- std::string get_device_name() const;
- int get_index() const;
- utils::socketcan_t& get_socket();
-
- int open();
- void configure();
- int close();
-
- void start_reading(can_bus_t& can_bus);
-
- void stop_reading();
-
- can_message_t read();
-
- int send(can_message_t& can_msg);
- bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size);
-};
: conf_file_{conf_file}
{}
-std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::can_devices_;
-
/// @brief Will make the decoding operation on a classic CAN message. It will not
/// handle CAN commands nor diagnostic messages that have their own method to get
/// this happens.
is_pushing_ = false;
}
-/// @brief Will initialize can_bus_dev_t objects after reading
-/// the configuration file passed in the constructor. All CAN buses
-/// Initialized here will be added to a vector holding them for
-/// inventory and later access.
-///
-/// That will initialize CAN socket reading too using a new thread.
-///
-/// @return 0 if ok, other if not.
-int can_bus_t::init_can_dev()
-{
- std::vector<std::string> devices_name;
- int i = 0;
- size_t t;
-
- if(conf_file_.check_conf())
- {
- devices_name = conf_file_.get_devices_name();
- if (! devices_name.empty())
- {
- t = devices_name.size();
-
- for(const auto& device : devices_name)
- {
- can_bus_t::can_devices_[device] = std::make_shared<can_bus_dev_t>(device, i);
- if (can_bus_t::can_devices_[device]->open() >= 0)
- {
- can_bus_t::can_devices_[device]->configure();
- DEBUG(binder_interface, "%s: Start reading thread", __FUNCTION__);
- NOTICE(binder_interface, "%s: %s device opened and reading", __FUNCTION__, device.c_str());
- //can_bus_t::can_devices_[device]->start_reading(*this);
- i++;
- }
- else
- {
- ERROR(binder_interface, "%s: Can't open device %s", __FUNCTION__, device.c_str());
- return 1;
- }
- }
- NOTICE(binder_interface, "%s: Initialized %d/%d can bus device(s)", __FUNCTION__, i, (int)t);
- return 0;
- }
- ERROR(binder_interface, "%s: Error at CAN device initialization. No devices read from configuration file", __FUNCTION__);
- return 1;
- }
- ERROR(binder_interface, "%s: Can't read INI configuration file", __FUNCTION__);
- return 2;
-}
-
/// @brief return new_can_message_cv_ member
///
/// @return return new_can_message_cv_ member
vehicle_message_q_.push(v_msg);
}
-/// @brief Return a map with the can_bus_dev_t initialized
-///
-/// @return map can_bus_dev_m_ map
-const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const
-{
- return can_bus_t::can_devices_;
-}
-
/// @brief Return the shared pointer on the can_bus_dev_t initialized
/// with device_name "bus"
///
/// @param[in] bus - CAN bus device name to retrieve.
///
/// @return A shared pointer on an object can_bus_dev_t
-std::shared_ptr<can_bus_dev_t> can_bus_t::get_can_device(std::string bus)
+void can_bus_t::set_can_devices()
+{
+ can_devices_ = conf_file_.get_devices_name();
+}
+
+int can_bus_t::get_can_device_index(std::string bus_name) const
{
- return can_bus_t::can_devices_[bus];
+ int i = 0;
+ for(const auto& d: can_devices_)
+ {
+ if(d.first == bus_name)
+ break;
+ i++;
+ }
+ return i;
}
+
+const std::string can_bus_t::get_can_device_name(std::string id_name) const
+{
+ std::string ret;
+ for(const auto& d: can_devices_)
+ {
+ if(d.first == id_name)
+ {
+ ret = d.second;
+ break;
+ }
+ }
+ return ret;
+}
\ No newline at end of file
#include "openxc.pb.h"
#include "can-message.hpp"
-#include "can-bus-dev.hpp"
#include "can-signals.hpp"
#include "../utils/config-parser.hpp"
#include "../diagnostic/diagnostic-manager.hpp"
can_bus_t(utils::config_parser_t conf_file);
can_bus_t(can_bus_t&&);
- int init_can_dev();
- std::vector<std::string> read_conf();
void start_threads();
void stop_threads();
openxc_VehicleMessage next_vehicle_message();
void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
-
- const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& get_can_devices() const;
- static std::shared_ptr<can_bus_dev_t> get_can_device(std::string bus);
};
#define CAN_MESSAGE_SIZE 8
-class can_bus_dev_t;
-
/**
* @enum can_message_format_t
* @brief The ID format for a CAN message.
#include "uds/uds.h"
#include "uds/uds_types.h"
#include "../utils/timer.hpp"
-#include "../can/can-bus-dev.hpp"
class active_diagnostic_request_t;
class diagnostic_manager_t;
const DiagnosticResponseCallback callback, float frequencyHz);
uint32_t get_id() const;
- const std::shared_ptr<can_bus_dev_t> get_can_bus_dev() const;
DiagnosticRequestHandle* get_handle();
uint16_t get_pid() const;
const std::string get_name() const;
Code Review / apps / agl-service-can-low-level.git / commitdiff