diff options
Diffstat (limited to 'can-utils.cpp')
| -rw-r--r-- | can-utils.cpp | 226 |
1 files changed, 0 insertions, 226 deletions
diff --git a/can-utils.cpp b/can-utils.cpp deleted file mode 100644 index 67214105..00000000 --- a/can-utils.cpp +++ /dev/null @@ -1,226 +0,0 @@ -/* - * Copyright (C) 2015, 2016 "IoT.bzh" - * Author "Romain Forlot" <romain.forlot@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 - -/******************************************************************************** -* -* CanBus method implementation -* -*********************************************************************************/ - -CanBus_c::CanBus_c(afb_binding_interface *itf, const std:string& dev_name) -{ - interface = itf; - deviceName = dev_name; -} - -int CanBus_c::open() -{ - const int canfd_on = 1; - struct ifreq ifr; - struct timeval timeout = {1, 0}; - - DEBUG(interface, "open_can_dev: CAN Handler socket : %d", socket); - if (socket >= 0) - close(socket); - - 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(socket, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout)); - /* try to switch the socket into CAN_FD mode */ - 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."); - is_fdmode_on = false; - } else { - is_fdmode_on = true; - } - - /* Attempts to open a socket to CAN bus */ - strcpy(ifr.ifr_name, device); - if(ioctl(socket, SIOCGIFINDEX, &ifr) < 0) - ERROR(interface, "open_can_dev: ioctl failed"); - else - { - txAddress.can_family = AF_CAN; - txAddress.can_ifindex = ifr.ifr_ifindex; - - /* And bind it to txAddress */ - if (bind(socket, (struct sockaddr *)&txAddress, sizeof(txAddress)) < 0) - { - ERROR(interface, "open_can_dev: bind failed"); - } - else - { - fcntl(socket, F_SETFL, O_NONBLOCK); - return 0; - } - } - close(socket); - socket = -1; - } - return -1; -} - -int CanBus_c::close() -{ - close(socket); - socket = -1; -} - -void CanBus_c::start_threads() -{ - std::queue <CanMessage_c> can_message_q; - - th_reading = std::thread(can_reader, interface, socket, can_message_q); - th_decoding = std::thread(can_decoder, interface, can_message_q, can_message_q); - th_pushing = std::thread(can_event_push, interface, can_message_q); -} - -/* - * Send a can message from a CanMessage_c object. - */ -int CanBus_c::send_can_message(CanMessage_c can_msg) -{ - int nbytes; - canfd_frame *f; - - f = can_msg.convert_to_canfd_frame(); - - if(socket >= 0) - { - nbytes = sendto(socket, &f, sizeof(struct canfd_frame), 0, - (struct sockaddr*)&txAddress, sizeof(txAddress)); - - if (nbytes == -1) - { - ERROR(interface, "send_can_message: Sending CAN frame failed."); - return -1; - } - return nbytes; - } - else - { - ERROR(interface, "send_can_message: socket not initialized. Attempt to reopen can device socket."); - open_can_dev(); - } - return 0; -} - -/******************************************************************************** -* -* CanMessage method implementation -* -*********************************************************************************/ - -uint32_t CanMessage_c::get_id() -{ - return id; -} - -int CanMessage_c::get_format() -{ - return format; -} - -uint8_t CanMessage_c::get_data() -{ - return data; -} -uint8_t CanMessage_c::get_lenght() -{ - return lenght; -} - -void CanMessage_c::set_id(uint32_t new_id) -{ - switch(format): - case CanMessageFormat::SIMPLE: - id = new_id & CAN_SFF_MASK; - case CanMessageFormat::EXTENDED: - id = new_id & CAN_EFF_MASK; - default: - ERROR(interface, "ERROR: Can set id, not a compatible format or format not set prior to set id."); -} - -void CanMessage_c::set_format(CanMessageFormat new_format) -{ - if(new_format == CanMessageFormat::SIMPLE || new_format == CanMessageFormat::EXTENDED) - format = new_format; - else - ERROR(interface, "ERROR: Can set format, wrong format chosen"); -} - -void CanMessage_c::set_data(uint8_t new_data) -{ - data = new_data; -} - -void CanMessage_c::set_lenght(uint8_t new_length) -{ - lenght = new_lenght; -} - -/* - * This is the preferred way to initialize a CanMessage object - * from a read canfd_frame message. - * - * params: canfd_frame pointer - */ -void CanMessage_c::convert_from_canfd_frame(canfd_frame *frame) -{ - - lenght = (canfd_frame->len > maxdlen) ? maxdlen : canfd_frame->len; - - switch (canfd_frame->can_id): - case (canfd_frame->can_id & CAN_ERR_FLAG): - id = canfd_frame->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG); - break; - case (canfd_frame->can_id & CAN_EFF_FLAG): - id = canfd_frame->can_id & CAN_EFF_MASK; - format = CanMessageFormat::EXTENDED; - break; - default: - format = CanMessageFormat::STANDARD; - id = canfd_frame->can_id & CAN_SFF_MASK; - break; - - if (sizeof(canfd_frame->data) <= sizeof(data)) - { - memcpy(data, canfd_frame->data, lenght); - return 0; - } else if (sizeof(canfd_frame->data) >= CAN_MAX_DLEN) - ERROR(interface, "CanMessage_c: canfd_frame data too long to be stored into CanMessage object"); -} - -canfd_frame* convert_to_canfd_frame() -{ - canfd_frame frame; - - frame.id = can_msg.get_id(); - frame.len = can_msg.get_lenght(); - frame.data = can_msg.get_data(); - - return &frame; -} |