diff options
| -rw-r--r-- | src/can-decoder.hpp | 2 | ||||
| -rw-r--r-- | src/can-signals.hpp | 5 | ||||
| -rw-r--r-- | src/can-utils.cpp | 37 | ||||
| -rw-r--r-- | src/can-utils.hpp | 25 | ||||
| -rw-r--r-- | src/can_reader.cpp | 4 | ||||
| -rw-r--r-- | src/low-can-binding.cpp | 21 | ||||
| -rw-r--r-- | src/low-can-binding.hpp | 18 |
7 files changed, 67 insertions, 45 deletions
diff --git a/src/can-decoder.hpp b/src/can-decoder.hpp index eda77277..1b58ea3c 100644 --- a/src/can-decoder.hpp +++ b/src/can-decoder.hpp @@ -144,4 +144,4 @@ class decoder_t */ openxc_DynamicField decodeSignal(const CanSignal& signal, float value, const CanSignal& signals, bool* send); -}
\ No newline at end of file +};
\ No newline at end of file diff --git a/src/can-signals.hpp b/src/can-signals.hpp index b115263c..5e7e5816 100644 --- a/src/can-signals.hpp +++ b/src/can-signals.hpp @@ -26,6 +26,11 @@ #include "can-utils.hpp" #include "low-can-binding.hpp" +extern "C" +{ + #include <afb/afb-event-itf.h> +} + #define MESSAGE_SET_ID 0 /** Can signal event map making access to afb_event diff --git a/src/can-utils.cpp b/src/can-utils.cpp index 72f00aa9..71788856 100644 --- a/src/can-utils.cpp +++ b/src/can-utils.cpp @@ -28,20 +28,20 @@ can_bus_dev_t::can_bus_dev_t(const std::string &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 +50,25 @@ 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); + ::strcpy(ifr.ifr_name, device_name_.c_str()); if(::ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0) - ERROR(interface_, "open_can_dev: ioctl failed"); + 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 { @@ -87,8 +87,7 @@ int can_bus_dev_t::close() can_socket_ = -1; } - -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 +96,7 @@ 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; } @@ -106,17 +105,17 @@ 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; @@ -225,7 +224,9 @@ int init_can_dev() for(const auto& device : devices_name) { - can_bus_dev_t(device); + can_bus_dev_t can_bus_device_handler(device); + can_bus_device_handler.open(interface_); + can_bus_device_handler.start_reading(interface_); i++; } diff --git a/src/can-utils.hpp b/src/can-utils.hpp index 20267ae2..ee87790e 100644 --- a/src/can-utils.hpp +++ b/src/can-utils.hpp @@ -23,11 +23,23 @@ #include <cstdio> #include <string> #include <thread> +#include <fcntl.h> +#include <unistd.h> +#include <net/if.h> +#include <sys/ioctl.h> #include <linux/can.h> +#include <sys/socket.h> +#include <linux/can/raw.h> #include "timer.hpp" #include "openxc.pb.h" +extern "C" +{ + #include <afb/afb-binding.h> + #include <afb/afb-service-itf.h> +} + // TODO actual max is 32 but dropped to 24 for memory considerations #define MAX_ACCEPTANCE_FILTERS 24 // TODO this takes up a ton of memory @@ -38,6 +50,13 @@ #define CAN_ACTIVE_TIMEOUT_S 30 /** + * @brief Function representing thread activated by can bus objects + */ +void can_reader(can_bus_dev_t& can_bus); +void can_decode_message(can_bus_t& can_bus); +void can_event_push(can_bus_t& can_bus); + +/** * @brief The type signature for a CAN signal decoder. * * @desc A SignalDecoder transforms a raw floating point CAN signal into a number, @@ -146,11 +165,13 @@ class can_bus_dev_t { public: can_bus_dev_t(const std::string& dev_name); - int open(); + int open(const struct afb_binding_interface* interface); int close(); bool is_running(); + void start_reading(); + canfd_frame read(const struct afb_binding_interface *interface); - can_message_t* next_can_message(); + can_message_t next_can_message(); void push_new_can_message(const can_message_t& can_msg); bool has_can_message() const; }; diff --git a/src/can_reader.cpp b/src/can_reader.cpp index c8891eec..b8ada8d2 100644 --- a/src/can_reader.cpp +++ b/src/can_reader.cpp @@ -18,13 +18,13 @@ #include "low-can-binding.hpp" -void can_reader(can_bus_t &can_bus) +void can_reader(can_bus__dev_t &can_bus) { can_message_t can_message; while(can_bus.is_running()) { - can_message.convert_from_canfd_frame(canbus.read()); + can_message.convert_from_canfd_frame(can_bus.read(interface)); can_bus.push_new_can_message(can_message); } }
\ No newline at end of file diff --git a/src/low-can-binding.cpp b/src/low-can-binding.cpp index 18346fae..aaa9e54a 100644 --- a/src/low-can-binding.cpp +++ b/src/low-can-binding.cpp @@ -16,27 +16,6 @@ * limitations under the License. */ -#include <unistd.h> -#include <sys/types.h> -#include <sys/socket.h> -#include <sys/ioctl.h> -#include <net/if.h> -#include <linux/can.h> -#include <linux/can/raw.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 <thread> - -#include <json-c/json.h> -#include <openxc.pb.h> - #include "low-can-binding.hpp" /******************************************************************************** diff --git a/src/low-can-binding.hpp b/src/low-can-binding.hpp index ea2c027c..a46da6af 100644 --- a/src/low-can-binding.hpp +++ b/src/low-can-binding.hpp @@ -18,13 +18,29 @@ #pragma once +#include <map> #include <queue> -#include <sys/timeb.h> +#include <vector> +#include <string> +#include <memory> +#include <thread> +#include <fcntl.h> +#include <errno.h> +#include <unistd.h> +#include <net/if.h> +#include <functional> +#include <sys/ioctl.h> #include <linux/can.h> +#include <openxc.pb.h> +#include <sys/timeb.h> +#include <sys/types.h> +#include <sys/socket.h> #include <json-c/json.h> #include <linux/can/raw.h> +#include <systemd/sd-event.h> #include "obd2.hpp" +#include "timer.hpp" #include "openxc.pb.h" #include "can-utils.hpp" #include "can-signals.hpp" |