diff options
Diffstat (limited to 'low-can-binding/can/can-bus-dev.cpp')
| -rw-r--r-- | low-can-binding/can/can-bus-dev.cpp | 255 |
1 files changed, 255 insertions, 0 deletions
diff --git a/low-can-binding/can/can-bus-dev.cpp b/low-can-binding/can/can-bus-dev.cpp new file mode 100644 index 00000000..fb76498f --- /dev/null +++ b/low-can-binding/can/can-bus-dev.cpp @@ -0,0 +1,255 @@ +/* +* 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 <string.h> +#include <net/if.h> +#include <sys/ioctl.h> +#include <linux/can/raw.h> + +#include "can-bus-dev.hpp" + +#include "can-bus.hpp" +#include "can-message.hpp" +#include "../low-can-binding.hpp" + +/// @brief Class constructor +/// +/// @param[in] dev_name - String representing the device name into the linux /dev tree +/// @param[in] address - 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, int32_t address) + : device_name_{dev_name}, address_{address} +{} + +std::string can_bus_dev_t::get_device_name() const +{ + return device_name_; +} + +uint32_t can_bus_dev_t::get_address() const +{ + return address_; +} + +/// @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 -1 if something wrong. +int can_bus_dev_t::open() +{ + 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; + + can_socket_.open(PF_CAN, SOCK_RAW, CAN_RAW); + if (can_socket_) + { + DEBUG(binder_interface, "open: 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"); + + // 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."); + is_fdmode_on_ = false; + } + else + { + DEBUG(binder_interface, "open: 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)); + return -1; +} + +/// @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, "read: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", 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_canfd_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, "Launching reading thread"); + 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) +{ + ssize_t nbytes; + canfd_frame f; + + f = can_msg.convert_to_canfd_frame(); + + if(can_socket_) + { + nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0, + (struct sockaddr*)&txAddress_, sizeof(txAddress_)); + if (nbytes == -1) + { + ERROR(binder_interface, "send_can_message: Sending CAN frame failed."); + return -1; + } + return (int)nbytes; + } + else + { + ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket."); + open(); + } + 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) +{ + ssize_t nbytes; + canfd_frame f; + + f.can_id = arbitration_id; + f.len = size; + ::memcpy(f.data, data, size); + + if(can_socket_) + { + nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0, + (struct sockaddr*)&txAddress_, sizeof(txAddress_)); + if (nbytes == -1) + { + ERROR(binder_interface, "send_can_message: Sending CAN frame failed."); + return false; + } + return true; + } + else + { + ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket."); + open(); + } + return false; +} |