meta-agl - meta-agl layer (core AGL)

Age	Commit message (Expand)	Author	Files	Lines
2021-08-23	Convert to new override syntax	Scott Murray	1	-1/+1
2021-04-26	meta-pipewire: update to pipewire 0.3.25 and wireplumber master	George Kiagiadakis	1	-1/+5
2020-12-17	SPEC-3723: restructure meta-agl	Jan-Simon Moeller	1	-2/+0
2020-06-26	Move meta-agl-profile-graphical-html5 and meta-pipewire into the main layer	Jan-Simon Möller	1	-0/+17

/* * 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 <string.h> #include <net/if.h> #include <sys/ioctl.h> #include <linux/can/raw.h> #include "can-bus-dev.hpp" #include "can-bus.hpp" #include "can-message.hpp" #include "../low-can-binding.hpp" /// @brief Class constructor /// /// @param[in] dev_name - String representing the device name into the linux /dev tree /// @param[in] address - 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, int32_t address) : device_name_{dev_name}, address_{address} {} std::string can_bus_dev_t::get_device_name() const { return device_name_; } uint32_t can_bus_dev_t::get_address() const { return address_; } /// @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 -1 if something wrong. int can_bus_dev_t::open() { const int canfd_on = 1; const int timestamp_on = 1; struct ifreq ifr; struct timeval timeout; DEBUG(binder_interface, "open: CAN Handler socket : %d", can_socket_.socket()); if (can_socket_) return 0; can_socket_.open(PF_CAN, SOCK_RAW, CAN_RAW); if (can_socket_) { DEBUG(binder_interface, "open: CAN Handler socket correctly initialized : %d", can_socket_.socket()); // Set timeout for read can_socket_.setopt(SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout)); // Set timestamp for receveid frame if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, &timestamp_on, sizeof(timestamp_on)) < 0) WARNING(binder_interface, "open: setsockopt SO_TIMESTAMP error: %s", ::strerror(errno)); DEBUG(binder_interface, "open: Switch CAN Handler socket to use fd mode"); // 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, "open: Can not switch into CAN Extended frame format."); is_fdmode_on_ = false; } else { DEBUG(binder_interface, "open: Correctly set up CAN socket to use FD frames."); is_fdmode_on_ = true; } // Attempts to open a socket to CAN bus ::strcpy(ifr.ifr_name, device_name_.c_str()); DEBUG(binder_interface, "open: ifr_name is : %s", ifr.ifr_name); if(::ioctl(can_socket_.socket(), SIOCGIFINDEX, &ifr) < 0) { ERROR(binder_interface, "open: ioctl failed. Error was : %s", strerror(errno)); } else { txAddress_.can_family = AF_CAN; txAddress_.can_ifindex = ifr.ifr_ifindex; // And bind it to txAddress DEBUG(binder_interface, "Bind the socket"); if (can_socket_.bind((struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0) ERROR(binder_interface, "Bind failed. %s", strerror(errno)); else return 0; } close(); } else ERROR(binder_interface, "open: socket could not be created. Error was : %s", ::strerror(errno)); return -1; } /// @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, "read: Socket unavailable. Closing thread."); 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, "read: %s CAN device down", device_name_.c_str()); ERROR(binder_interface, "read: Incomplete CAN(FD) frame"); ::memset(&cfd, 0, sizeof(cfd)); } DEBUG(binder_interface, "read: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", 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_canfd_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, "Launching reading thread"); 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) { ssize_t nbytes; canfd_frame f; f = can_msg.convert_to_canfd_frame(); if(can_socket_) { nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0, (struct sockaddr*)&txAddress_, sizeof(txAddress_)); if (nbytes == -1) { ERROR(binder_interface, "send_can_message: Sending CAN frame failed."); return -1; } return (int)nbytes; } else { ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket."); open(); } 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) { ssize_t nbytes; canfd_frame f; f.can_id = arbitration_id; f.len = size; ::memcpy(f.data, data, size); if(can_socket_) { nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0, (struct sockaddr*)&txAddress_, sizeof(txAddress_)); if (nbytes == -1) { ERROR(binder_interface, "send_can_message: Sending CAN frame failed."); return false; } return true; } else { ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket."); open(); } return false; }