diff options
Diffstat (limited to 'CAN-binder')
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus-dev.cpp | 57 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus-dev.hpp | 5 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus.cpp | 2 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/utils/socket.cpp | 85 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/utils/socket.hpp | 25 |
5 files changed, 109 insertions, 65 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 index fb76498f..6fab8e9d 100644 --- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp +++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp @@ -19,9 +19,6 @@ #include <map> #include <mutex> #include <unistd.h> -#include <string.h> -#include <net/if.h> -#include <sys/ioctl.h> #include <linux/can/raw.h> #include "can-bus-dev.hpp" @@ -54,63 +51,42 @@ uint32_t can_bus_dev_t::get_address() const /// timestamp received messages and pass the socket to FD mode. /// /// @return -1 if something wrong. -int can_bus_dev_t::open() +int can_bus_dev_t::open_raw() { const int canfd_on = 1; const int timestamp_on = 1; - struct ifreq ifr; struct timeval timeout; - DEBUG(binder_interface, "open: CAN Handler socket : %d", can_socket_.socket()); - if (can_socket_) - return 0; + DEBUG(binder_interface, "open_raw: CAN Handler socket : %d", can_socket_.socket()); + can_socket_.open(device_name_); - can_socket_.open(PF_CAN, SOCK_RAW, CAN_RAW); + // Set some option on the socket : timeout, timestamp and canfd frame usage. if (can_socket_) { - DEBUG(binder_interface, "open: CAN Handler socket correctly initialized : %d", can_socket_.socket()); + DEBUG(binder_interface, "open_raw: CAN Handler socket correctly initialized : %d", can_socket_.socket()); // Set timeout for read can_socket_.setopt(SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout)); // Set timestamp for receveid frame if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, ×tamp_on, sizeof(timestamp_on)) < 0) - WARNING(binder_interface, "open: setsockopt SO_TIMESTAMP error: %s", ::strerror(errno)); - DEBUG(binder_interface, "open: Switch CAN Handler socket to use fd mode"); + WARNING(binder_interface, "open_raw: setsockopt SO_TIMESTAMP error: %s", ::strerror(errno)); + DEBUG(binder_interface, "open_raw: Switch CAN Handler socket to use fd mode"); // 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, "open: Can not switch into CAN Extended frame format."); + NOTICE(binder_interface, "open_raw: Can not switch into CAN Extended frame format."); is_fdmode_on_ = false; } else { - DEBUG(binder_interface, "open: Correctly set up CAN socket to use FD frames."); + DEBUG(binder_interface, "open_raw: Correctly set up CAN socket to use FD frames."); is_fdmode_on_ = true; } - - // Attempts to open a socket to CAN bus - ::strcpy(ifr.ifr_name, device_name_.c_str()); - DEBUG(binder_interface, "open: ifr_name is : %s", ifr.ifr_name); - if(::ioctl(can_socket_.socket(), SIOCGIFINDEX, &ifr) < 0) - { - ERROR(binder_interface, "open: ioctl failed. Error was : %s", strerror(errno)); - } - else - { - txAddress_.can_family = AF_CAN; - txAddress_.can_ifindex = ifr.ifr_ifindex; - - // And bind it to txAddress - DEBUG(binder_interface, "Bind the socket"); - if (can_socket_.bind((struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0) - ERROR(binder_interface, "Bind failed. %s", strerror(errno)); - else return 0; - } - close(); } - else ERROR(binder_interface, "open: socket could not be created. Error was : %s", ::strerror(errno)); + else + ERROR(binder_interface, "open_raw: socket could not be created. Error was : %s", ::strerror(errno)); return -1; } @@ -199,8 +175,7 @@ int can_bus_dev_t::send(can_message_t& can_msg) if(can_socket_) { - nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0, - (struct sockaddr*)&txAddress_, sizeof(txAddress_)); + nbytes = can_socket_.send(f); if (nbytes == -1) { ERROR(binder_interface, "send_can_message: Sending CAN frame failed."); @@ -211,7 +186,8 @@ int can_bus_dev_t::send(can_message_t& can_msg) else { ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket."); - open(); + open_raw(); + return -1; } return 0; } @@ -237,8 +213,7 @@ bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* dat if(can_socket_) { - nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0, - (struct sockaddr*)&txAddress_, sizeof(txAddress_)); + nbytes = can_socket_.send(f); if (nbytes == -1) { ERROR(binder_interface, "send_can_message: Sending CAN frame failed."); @@ -249,7 +224,7 @@ bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* dat else { ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket."); - open(); + open_raw(); } return false; } diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.hpp b/CAN-binder/low-can-binding/can/can-bus-dev.hpp index a612e7d8..3e6b2d1c 100644 --- a/CAN-binder/low-can-binding/can/can-bus-dev.hpp +++ b/CAN-binder/low-can-binding/can/can-bus-dev.hpp @@ -34,12 +34,11 @@ class can_bus_dev_t { private: std::string device_name_; ///< a string identifier identitfying the linux CAN device. - utils::socket_t can_socket_; + utils::socketcan_t can_socket_; int32_t address_; ///< an identifier used through binding that refer to that device bool is_fdmode_on_; ///< boolean telling if whether or not the can socket use fdmode. - struct sockaddr_can txAddress_; /// < internal member using to bind to the socket 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 @@ -51,7 +50,7 @@ public: std::string get_device_name() const; uint32_t get_address() const; - int open(); + int open_raw(); int close(); void start_reading(can_bus_t& can_bus); diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp index 61730a17..90d4c74f 100644 --- a/CAN-binder/low-can-binding/can/can-bus.cpp +++ b/CAN-binder/low-can-binding/can/can-bus.cpp @@ -237,7 +237,7 @@ int can_bus_t::init_can_dev() 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) + if (can_bus_t::can_devices_[device]->open_raw() == 0) { DEBUG(binder_interface, "Start reading thread"); NOTICE(binder_interface, "%s device opened and reading", device.c_str()); diff --git a/CAN-binder/low-can-binding/utils/socket.cpp b/CAN-binder/low-can-binding/utils/socket.cpp index ee64348a..e166b8c9 100644 --- a/CAN-binder/low-can-binding/utils/socket.cpp +++ b/CAN-binder/low-can-binding/utils/socket.cpp @@ -16,24 +16,31 @@ */ #include <unistd.h> +#include <string> +#include <string.h> +#include <linux/can/raw.h> +#include <net/if.h> +#include <sys/ioctl.h> + #include "socket.hpp" +#include "low-can-binding.hpp" namespace utils { /// @brief Construct a default, invalid, socket. - socket_t::socket_t() + socketcan_t::socketcan_t() : socket_{INVALID_SOCKET} {} /// @brief Construct a socket by moving an existing one. - socket_t::socket_t(socket_t&& s) + socketcan_t::socketcan_t(socketcan_t&& s) : socket_{s.socket_} { s.socket_ = INVALID_SOCKET; } /// @brief Destruct the socket. - socket_t::~socket_t() + socketcan_t::~socketcan_t() { if(socket_ != INVALID_SOCKET) ::close(socket_); @@ -41,7 +48,7 @@ namespace utils /// @brief Test if socket is valid. /// @return true if valid, false otherwise. - socket_t::operator bool() const + socketcan_t::operator bool() const { return socket_ != INVALID_SOCKET; } @@ -51,7 +58,7 @@ namespace utils /// @param[in] type Specifies the type of socket to be created. /// @param[in] protocol Specifies a particular protocol to be used with the socket. Specifying a protocol of 0 causes socket() to use an unspecified default protocol appropriate for the requested socket type. /// @return Upon successful completion, shall return a non-negative integer, the socket file descriptor. Otherwise, a value of -1 shall be returned and errno set to indicate the error. - int socket_t::open(int domain, int type, int protocol) + int socketcan_t::open(int domain, int type, int protocol) { close(); socket_ = ::socket(domain, type, protocol); @@ -60,29 +67,89 @@ namespace utils /// @brief Close the socket. /// @return 0 if success. - int socket_t::close() + int socketcan_t::close() { return socket_ != INVALID_SOCKET ? ::close(socket_) : 0; } /// @brief Set socket option. /// @return 0 if success. - int socket_t::setopt(int level, int optname, const void* optval, socklen_t optlen) + int socketcan_t::setopt(int level, int optname, const void* optval, socklen_t optlen) { return socket_ != INVALID_SOCKET ? ::setsockopt(socket_, level, optname, optval, optlen) : 0; } /// @brief Bind the socket. /// @return 0 if success. - int socket_t::bind(const struct sockaddr* addr, socklen_t len) + int socketcan_t::bind(const struct sockaddr* addr, socklen_t len) { return socket_ != INVALID_SOCKET ? ::bind(socket_, addr, len) : 0; } + /// @brief Connect the socket. + /// @return 0 if success. + int socketcan_t::connect(const struct sockaddr* addr, socklen_t len) + { + return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0; + } + /// @brief Get the file descriptor. /// @return The socket's file descriptor - int socket_t::socket() const + int socketcan_t::socket() const + { + return socket_; + } + + /// @brief Open a raw socket CAN. + /// @param[in] device_name is the kernel network device name of the CAN interface. + /// + /// @return Upon successful completion, shall return a non-negative integer, the socket file descriptor. Otherwise, a value of -1 shall be returned and errno set to indicate the error. + int socketcan_t::open(std::string device_name, bool bcm) { + close(); + + struct ifreq ifr; + if(bcm) + socket_ = ::socket(PF_CAN, SOCK_DGRAM, CAN_BCM); + else + socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW); + + // Attempts to open a socket to CAN bus + ::strcpy(ifr.ifr_name, device_name.c_str()); + DEBUG(binder_interface, "open: ifr_name is : %s", ifr.ifr_name); + if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0) + { + ERROR(binder_interface, "open: ioctl failed. Error was : %s", strerror(errno)); + close(); + } + else + { + txAddress_.can_family = AF_CAN; + txAddress_.can_ifindex = ifr.ifr_ifindex; + + if(bcm && connect((struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0) + { + ERROR(binder_interface, "Connect failed. %s", strerror(errno)); + close(); + } + // It's a RAW socket request, bind it to txAddress + else if(bind((struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0) + { + ERROR(binder_interface, "Bind failed. %s", strerror(errno)); + close(); + } + } return socket_; } + + /// @brief Send a CAN message through the socket. + /// + /// @param[in] f - the CAN FD frame to send + /// + /// @return number of sent bytes if message sent, 0 on invalid socket and -1 if something wrong. + ssize_t socketcan_t::send(const struct canfd_frame& f) + { + return socket_ != INVALID_SOCKET ? ::sendto(socket_, &f, sizeof(struct canfd_frame), 0, + (struct sockaddr*)&txAddress_, sizeof(txAddress_)) : 0; + } } diff --git a/CAN-binder/low-can-binding/utils/socket.hpp b/CAN-binder/low-can-binding/utils/socket.hpp index b42eee6a..2da2dfe5 100644 --- a/CAN-binder/low-can-binding/utils/socket.hpp +++ b/CAN-binder/low-can-binding/utils/socket.hpp @@ -23,24 +23,27 @@ namespace utils { - class socket_t + class socketcan_t { public: - socket_t(); - socket_t(const socket_t&) = delete; - socket_t(socket_t&&); - ~socket_t(); + socketcan_t(); + socketcan_t(const socketcan_t&) = delete; + socketcan_t(socketcan_t&&); + ~socketcan_t(); explicit operator bool() const; - int open(int domain, int type, int protocol); - int close(); - int setopt(int level, int optname, const void* optval, socklen_t optlen); int socket() const; - int bind(const struct sockaddr* addr, socklen_t len); - + int open(std::string device_name, bool bcm=false); + int setopt(int level, int optname, const void* optval, socklen_t optlen); + ssize_t send(const struct canfd_frame& f); + int close(); private: int socket_; + struct sockaddr_can txAddress_; /// < internal member using to bind to the socket + + int open(int domain, int type, int protocol); + int bind(const struct sockaddr* addr, socklen_t len); + int connect(const struct sockaddr* addr, socklen_t len); }; } - |