diff options
Diffstat (limited to 'CAN-binder/low-can-binding/can')
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus-dev.cpp | 220 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus-dev.hpp | 64 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus.cpp | 88 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus.hpp | 6 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-message.hpp | 2 |
5 files changed, 28 insertions, 352 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 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, ×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, "%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. |