diff options
| -rw-r--r-- | can-utils.h | 16 | ||||
| -rw-r--r-- | ll-can-binding.cpp | 132 | ||||
| -rw-r--r-- | ll-can-binding.h | 2 |
3 files changed, 65 insertions, 85 deletions
diff --git a/can-utils.h b/can-utils.h index 7d00dd1a..55408cb4 100644 --- a/can-utils.h +++ b/can-utils.h @@ -18,6 +18,7 @@ #pragma once +#include <string> #include "timer.h" #include "openxc.pb.h" @@ -85,6 +86,21 @@ typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal* signal, typedef uint64_t (*SignalEncoder)(struct CanSignal* signal, openxc_DynamicField* value, bool* send); +/* CanBus represent a can device definition get from configuraiton file */ +class CanBus { + private: + /* Got from conf file */ + std::string deviceName; + + int socket; + bool is_fdmode_on; + struct sockaddr_can txAddress; + + public: + int open(); + int close(); +}; + /* Public: The ID format for a CAN message. * * STANDARD - standard 11-bit CAN arbitration ID. diff --git a/ll-can-binding.cpp b/ll-can-binding.cpp index 8f96d7b4..86118e3f 100644 --- a/ll-can-binding.cpp +++ b/ll-can-binding.cpp @@ -15,22 +15,22 @@ * limitations under the License. */ -#define _GNU_SOURCE - -#include <string.h> -#include <stdbool.h> #include <unistd.h> #include <sys/types.h> #include <sys/socket.h> #include <sys/ioctl.h> #include <net/if.h> -#include <sys/time.h> #include <linux/can.h> #include <linux/can/raw.h> -#include <math.h> #include <fcntl.h> #include <systemd/sd-event.h> #include <errno.h> +#include <vector> +#include <map> +#include <queue> +#include <string> +#include <functional> +#include <memory> #include <json-c/json.h> #include <openxc.pb.h> @@ -52,46 +52,6 @@ /*************************************************************************/ /* - * Retry a function 3 times - * - * param int function(): function that return an int wihtout any parameter - * - * return : 0 if ok, -1 if failed - * - */ -static int retry( int(*func)()) -{ - int i; - - for (i=0;i<4;i++) - { - if ( (*func)() >= 0) - { - return 0; - } - usleep(100000); - } - return -1; -} - -/* - * Test that socket is really opened - * - * param - * - * return : 0 or positive int if ok, negative value if failed - * - */ -static int socket_test() -{ - if (can_handler.socket < 0) - { - return -1; - } - return 0; -} - -/* * Browse chained list and return the one with specified id * * param uint32_t id : can arbitration identifier @@ -125,7 +85,7 @@ static can_event *get_event_list_of_id(uint32_t id) current = current->next; } - return NULL; + return nullptr; } /* @@ -145,7 +105,7 @@ static char* create_name(uint32_t id) return result; } - return NULL; + return nullptr; } /* @@ -183,59 +143,60 @@ static json_object* create_json_from_openxc_CanMessage(event *event) /** **/ /*************************************************************************/ /*************************************************************************/ + /* * open the can socket */ -static int open_can_dev() +int CanBus::open() { const int canfd_on = 1; struct ifreq ifr; - struct timeval timeout = {1,0}; + struct timeval timeout = {1, 0}; - DEBUG(interface, "open_can_dev: CAN Handler socket : %d", can_handler.socket); - if (can_handler.socket >= 0) - close(can_handler.socket); + DEBUG(interface, "open_can_dev: CAN Handler socket : %d", socket); + if (socket >= 0) + close(socket); - can_handler.socket = socket(PF_CAN, SOCK_RAW, CAN_RAW); - if (can_handler.socket < 0) + socket = socket(PF_CAN, SOCK_RAW, CAN_RAW); + if (socket < 0) { ERROR(interface, "open_can_dev: socket could not be created"); } else { /* Set timeout for read */ - setsockopt(can_handler.socket, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout)); + setsockopt(socket, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout)); /* try to switch the socket into CAN_FD mode */ - if (setsockopt(can_handler.socket, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0) + if (setsockopt(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."); - can_handler.is_fdmode_on = false; + is_fdmode_on = false; } else { - can_handler.is_fdmode_on = true; + is_fdmode_on = true; } /* Attempts to open a socket to CAN bus */ - strcpy(ifr.ifr_name, can_handler.device); - if(ioctl(can_handler.socket, SIOCGIFINDEX, &ifr) < 0) + strcpy(ifr.ifr_name, device); + if(ioctl(socket, SIOCGIFINDEX, &ifr) < 0) ERROR(interface, "open_can_dev: ioctl failed"); else { - can_handler.txAddress.can_family = AF_CAN; - can_handler.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_handler.socket, (struct sockaddr *)&can_handler.txAddress, sizeof(can_handler.txAddress)) < 0) + if (bind(socket, (struct sockaddr *)&txAddress, sizeof(txAddress)) < 0) { ERROR(interface, "open_can_dev: bind failed"); } else { - fcntl(can_handler.socket, F_SETFL, O_NONBLOCK); + fcntl(socket, F_SETFL, O_NONBLOCK); return 0; } } - close(can_handler.socket); - can_handler.socket = -1; + close(socket); + socket = -1; } return -1; } @@ -248,14 +209,14 @@ static int write_can() ssize_t nbytes; int rc; - rc = can_handler.socket; + rc = socket; if (rc >= 0) { /* * TODO change old hvac write can frame to generic on_event */ - nbytes = sendto(can_handler.socket, &canfd_frame, sizeof(struct canfd_frame), 0, - (struct sockaddr*)&can_handler.txAddress, sizeof(can_handler.txAddress)); + nbytes = sendto(socket, &canfd_frame, sizeof(struct canfd_frame), 0, + (struct sockaddr*)&txAddress, sizeof(txAddress)); if (nbytes < 0) { ERROR(interface, "write_can: Sending CAN frame failed."); @@ -264,7 +225,7 @@ static int write_can() else { ERROR(interface, "write_can: socket not initialized. Attempt to reopen can device socket."); - retry(open_can_dev); + open_can_dev(); } return rc; } @@ -307,7 +268,7 @@ static int parse_can_frame(openxc_CanMessage *can_message, struct canfd_frame *c buf[offset++] = hex_asc_upper[canfd_frame->len & 0xF]; buf[offset] = 0; - return NULL; + return nullptr; } */ @@ -353,14 +314,14 @@ static int read_can(openxc_CanMessage *can_message) /* Test that socket is really opened */ if ( socket_test() < 0) { - if (retry(open_can_dev) < 0) + if (open_can_dev() < 0) { ERROR(interface, "read_can: Socket unavailable"); return -1; } } - nbytes = read(can_handler.socket, &canfd_frame, CANFD_MTU); + nbytes = read(socket, &canfd_frame, CANFD_MTU); if (nbytes == CANFD_MTU) { @@ -373,7 +334,7 @@ static int read_can(openxc_CanMessage *can_message) else { if (errno == ENETDOWN) - ERROR(interface, "read_can: %s interface down", can_handler.device); + ERROR(interface, "read_can: %s interface down", device); ERROR(interface, "read_can: Error reading CAN bus"); return -2; } @@ -415,26 +376,26 @@ static int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata * * Return 0 or positive value on success. Else negative value for failure. */ -static int connect_to_event_loop() +static int connect_to_event_loop(CanBus &CanBus_handler) { sd_event *event_loop; sd_event_source *source; int rc; - if (can_handler.socket < 0) + if (CanBus_handler.socket < 0) { - return can_handler.socket; + return CanBus_handler.socket; } event_loop = afb_daemon_get_event_loop(interface->daemon); - rc = sd_event_add_io(event_loop, &source, can_handler.socket, EPOLLIN, on_event, NULL); + rc = sd_event_add_io(event_loop, &source, CanBus_handler.socket, EPOLLIN, on_event, NULL); if (rc < 0) { - close(can_handler.socket); - ERROR(interface, "Can't connect CAN bus %s to the event loop", can_handler.device); + CanBus_handler.close(); + ERROR(interface, "Can't connect CAN bus %s to the event loop", CanBus_handler.device); } else { - NOTICE(interface, "Connected CAN bus %s to the event loop", can_handler.device); + NOTICE(interface, "Connected CAN bus %s to the event loop", CanBus_handler.device); } return rc; @@ -654,7 +615,10 @@ const struct afb_binding *afbBindingV1Register (const struct afb_binding_interfa int afbBindingV1ServiceInit(struct afb_service service) { + /* Open JSON conf file */ + /* Open CAN socket */ - retry(open_can_dev); - return connect_to_event_loop(); + CanBus_handler.open(); + + return connect_to_event_loop(CanBus_handler); } diff --git a/ll-can-binding.h b/ll-can-binding.h index 0a6a2306..8e0ee27d 100644 --- a/ll-can-binding.h +++ b/ll-can-binding.h @@ -45,7 +45,7 @@ static const char * const type_NAMES[type_size] = { /* CAN variable initialization */ struct canfd_frame canfd_frame; -struct can_handler { +class can_handle { int socket; char *device; bool is_fdmode_on; |