diff options
Diffstat (limited to 'CAN-binder/low-can-binding/can/can-bus-dev.cpp')
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus-dev.cpp | 248 |
1 files changed, 248 insertions, 0 deletions
diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.cpp b/CAN-binder/low-can-binding/can/can-bus-dev.cpp new file mode 100644 index 00000000..07f921f2 --- /dev/null +++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp @@ -0,0 +1,248 @@ +/* +* 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 "../low-can-binding.hpp" +#include "canutil/write.h" +#include "bitfield/bitfield.h" + +/// @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; + + DEBUG(binder_interface, "%s: CAN Handler socket correctly initialized : %d", __FUNCTION__, can_socket_.socket()); + 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, "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, "%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 Create a RX_SETUP receive job using the BCM socket. +/// +/// @return 0 if ok else -1 +int can_bus_dev_t::create_rx_filter(const can_signal_t& s) +{ + uint32_t can_id = s.get_message().get_id(); + + struct utils::simple_bcm_msg bcm_msg; + struct can_frame cfd; + + memset(&cfd, 0, sizeof(cfd)); + memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head)); + uint8_t bit_size = s.get_bit_size(); + float val = (float)(1 << bit_size)-1; + + bcm_msg.msg_head.opcode = RX_SETUP; + bcm_msg.msg_head.can_id = can_id; + bcm_msg.msg_head.flags = 0; + bcm_msg.msg_head.nframes = 1; + bitfield_encode_float(val, + s.get_bit_position(), + bit_size, + s.get_factor(), + s.get_offset(), + cfd.data, + CAN_MAX_DLEN); + + bcm_msg.frames = cfd; + + if(can_socket_ << bcm_msg) + return 0; + return -1; +} + +/// @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; +} |