Remove can-bus-dev following RAW->BCM sockets migration

No needs to get RAW socket for now, so can_bus_dev_t class is useless and
now removed from project.

Change-Id: I37b3e187ef28ba393beae7a99da4f422f74a298e
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

10 files changed, 35 insertions, 373 deletions

diff --git a/CAN-binder/low-can-binding/CMakeLists.txt b/CAN-binder/low-can-binding/CMakeLists.txt
index c408388f..276097fc 100644
--- a/CAN-binder/low-can-binding/CMakeLists.txt
+++ b/CAN-binder/low-can-binding/CMakeLists.txt
@@ -27,7 +27,6 @@ PROJECT_TARGET_ADD(low-can)
 		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
diff --git a/CAN-binder/low-can-binding/binding/configuration.cpp b/CAN-binder/low-can-binding/binding/configuration.cpp
index 005e6629..6e2ccc4c 100644
--- a/CAN-binder/low-can-binding/binding/configuration.cpp
+++ b/CAN-binder/low-can-binding/binding/configuration.cpp
@@ -32,11 +32,6 @@ can_bus_t& configuration_t::get_can_bus_manager()
 	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_;
diff --git a/CAN-binder/low-can-binding/binding/configuration.hpp b/CAN-binder/low-can-binding/binding/configuration.hpp
index 2f1f4fce..ab6a793a 100644
--- a/CAN-binder/low-can-binding/binding/configuration.hpp
+++ b/CAN-binder/low-can-binding/binding/configuration.hpp
@@ -59,8 +59,6 @@ class configuration_t
 
 		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() ;
diff --git a/CAN-binder/low-can-binding/binding/low-can-hat.cpp b/CAN-binder/low-can-binding/binding/low-can-hat.cpp
index b115a964..747228e5 100644
--- a/CAN-binder/low-can-binding/binding/low-can-hat.cpp
+++ b/CAN-binder/low-can-binding/binding/low-can-hat.cpp
@@ -68,19 +68,15 @@ extern "C"
 	{
 		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;
 	}
 };
diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.cpp b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
deleted file mode 100644
index 0a2cd308..00000000
--- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp
+++ /dev/null
@@ -1,220 +0,0 @@
-/*
-* 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, &timestamp_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;
-}
diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.hpp b/CAN-binder/low-can-binding/can/can-bus-dev.hpp
deleted file mode 100644
index 973c8cfa..00000000
--- a/CAN-binder/low-can-binding/can/can-bus-dev.hpp
+++ /dev/null
@@ -1,64 +0,0 @@
-/*
- * 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);
-};
diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp
index e4f22e54..17a77650 100644
--- a/CAN-binder/low-can-binding/can/can-bus.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus.cpp
@@ -45,8 +45,6 @@ can_bus_t::can_bus_t(utils::config_parser_t conf_file)
 	: 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.
@@ -218,54 +216,6 @@ void can_bus_t::stop_threads()
 	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
@@ -335,21 +285,39 @@ void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
 	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
diff --git a/CAN-binder/low-can-binding/can/can-bus.hpp b/CAN-binder/low-can-binding/can/can-bus.hpp
index cb9b3deb..759a70f3 100644
--- a/CAN-binder/low-can-binding/can/can-bus.hpp
+++ b/CAN-binder/low-can-binding/can/can-bus.hpp
@@ -26,7 +26,6 @@
 
 #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"
@@ -76,8 +75,6 @@ public:
 	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();
@@ -89,7 +86,4 @@ public:
 
 	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);
 };
diff --git a/CAN-binder/low-can-binding/can/can-message.hpp b/CAN-binder/low-can-binding/can/can-message.hpp
index 954fdc38..94847ef4 100644
--- a/CAN-binder/low-can-binding/can/can-message.hpp
+++ b/CAN-binder/low-can-binding/can/can-message.hpp
@@ -26,8 +26,6 @@
 
 #define CAN_MESSAGE_SIZE 8
 
-class can_bus_dev_t;
-
 /**
  * @enum can_message_format_t
  * @brief The ID format for a CAN message.
diff --git a/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp b/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp
index e8c5dbf7..a08df64b 100644
--- a/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp
+++ b/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp
@@ -24,7 +24,6 @@
 #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;
@@ -99,7 +98,6 @@ public:
 		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;