diff options
Diffstat (limited to 'src/can-utils.cpp')
| -rw-r--r-- | src/can-utils.cpp | 321 |
1 files changed, 182 insertions, 139 deletions
diff --git a/src/can-utils.cpp b/src/can-utils.cpp index ba4060ea..5a845b31 100644 --- a/src/can-utils.cpp +++ b/src/can-utils.cpp @@ -17,6 +17,24 @@ #include "can-utils.hpp" +#include <map> +#include <vector> +#include <cstdio> +#include <string> +#include <fcntl.h> +#include <unistd.h> +#include <net/if.h> +#include <sys/ioctl.h> +#include <sys/socket.h> +#include <json-c/json.h> +#include <linux/can/raw.h> +#include <systemd/sd-event.h> + +extern "C" +{ + #include <afb/afb-binding.h> +} + /******************************************************************************** * * CanMessage method implementation @@ -140,6 +158,154 @@ canfd_frame can_message_t::convert_to_canfd_frame() /******************************************************************************** * +* can_bus_t method implementation +* +*********************************************************************************/ + +can_bus_t::can_bus_t(int& conf_file) + : conf_file_{conf_file} +{ +} + +void can_bus_t::start_threads() +{ + th_decoding_ = std::thread(can_decode_message, std::ref(*this)); + th_pushing_ = std::thread(can_event_push, std::ref(*this)); +} + + +int can_bus_t::init_can_dev() +{ + std::vector<std::string> devices_name; + int i; + size_t t; + + devices_name = read_conf(); + + if (! devices_name.empty()) + { + t = devices_name.size(); + i=0; + + for(const auto& device : devices_name) + { + can_bus_dev_t can_bus_device_handler(device); + can_bus_device_handler.open(); + can_bus_device_handler.start_reading(std::ref(*this)); + i++; + } + + NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t); + return 0; + } + ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read into configuration file. Did you specify canbus JSON object ?"); + return 1; +} + +std::vector<std::string> can_bus_t::read_conf() +{ + std::vector<std::string> ret; + json_object *jo, *canbus; + int n, i; + + FILE *fd = fdopen(conf_file_, "r"); + if (fd) + { + std::string fd_conf_content; + std::fseek(fd, 0, SEEK_END); + fd_conf_content.resize(std::ftell(fd)); + std::rewind(fd); + std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd); + std::fclose(fd); + + jo = json_tokener_parse(fd_conf_content.c_str()); + + if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus)) + { + ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it."); + ret.clear(); + } + else if (json_object_get_type(canbus) != json_type_array) + ret.push_back(json_object_get_string(canbus)); + else + { + n = json_object_array_length(canbus); + for (i = 0 ; i < n ; i++) + ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i))); + } + return ret; + } + ERROR(binder_interface, "Problem at reading the conf file"); + ret.clear(); + return ret; +} + +can_message_t can_bus_t::next_can_message() +{ + can_message_t can_msg; + + if(!can_message_q_.empty()) + { + can_msg = can_message_q_.front(); + can_message_q_.pop(); + DEBUG(binder_interface, "next_can_message: Here is the next can message : id %d, length %d", can_msg.get_id(), can_msg.get_length()); + return can_msg; + } + + NOTICE(binder_interface, "next_can_message: End of can message queue"); + has_can_message_ = false; + return can_msg; +} + +void can_bus_t::push_new_can_message(const can_message_t& can_msg) +{ + can_message_q_.push(can_msg); +} + +bool can_bus_t::has_can_message() const +{ + return has_can_message_; +} + +openxc_VehicleMessage can_bus_t::next_vehicle_message() +{ + openxc_VehicleMessage v_msg; + + if(! vehicle_message_q_.empty()) + { + v_msg = vehicle_message_q_.front(); + vehicle_message_q_.pop(); + DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped"); + return v_msg; + } + + NOTICE(binder_interface, "next_vehicle_message: End of vehicle message queue"); + has_vehicle_message_ = false; + return v_msg; +} + +void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg) +{ + vehicle_message_q_.push(v_msg); + has_vehicle_message_ = true; +} + +bool can_bus_t::has_vehicle_message() const +{ + return has_vehicle_message_; +} + +/******************************************************************************** +* +* This is the sd_event_add_io callback function declaration. +* Its implementation can be found into low-can-binding.cpp. +* +*********************************************************************************/ + +int can_frame_received(sd_event_source *s, int fd, uint32_t revents, void *userdata); + +/******************************************************************************** +* * can_bus_dev_t method implementation * *********************************************************************************/ @@ -149,6 +315,22 @@ can_bus_dev_t::can_bus_dev_t(const std::string &dev_name) { } +int can_bus_dev_t::event_loop_connection() +{ + sd_event_source *source; + int rc; + + /* adds to the event loop */ + rc = sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &source, can_socket_, EPOLLIN, can_frame_received, this); + if (rc < 0) { + close(); + ERROR(binder_interface, "Can't coonect CAN device %s to the event loop", device_name_); + } else { + NOTICE(binder_interface, "Connected to %s", device_name_); + } + return rc; +} + int can_bus_dev_t::open() { const int canfd_on = 1; @@ -249,7 +431,6 @@ canfd_frame can_bus_dev_t::read() void can_bus_dev_t::start_reading(can_bus_t& can_bus) { th_reading_ = std::thread(can_reader, std::ref(*this), std::ref(can_bus)); - is_running_ = true; } @@ -285,142 +466,4 @@ int can_bus_dev_t::send_can_message(can_message_t& can_msg) open(); } return 0; -} -/******************************************************************************** -* -* can_bus_t method implementation -* -*********************************************************************************/ - -can_bus_t::can_bus_t(int& conf_file) - : conf_file_{conf_file} -{ -} - -void can_bus_t::start_threads() -{ - th_decoding_ = std::thread(can_decode_message, std::ref(*this)); - th_pushing_ = std::thread(can_event_push, std::ref(*this)); -} - - -int can_bus_t::init_can_dev() -{ - std::vector<std::string> devices_name; - int i; - size_t t; - - devices_name = read_conf(); - - if (! devices_name.empty()) - { - t = devices_name.size(); - i=0; - - for(const auto& device : devices_name) - { - can_bus_dev_t can_bus_device_handler(device); - can_bus_device_handler.open(); - can_bus_device_handler.start_reading(std::ref(*this)); - i++; - } - - NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t); - return 0; - } - ERROR(binder_interface, "init_can_dev: Error at CAN device initialization."); - return 1; -} - -std::vector<std::string> can_bus_t::read_conf() -{ - std::vector<std::string> ret; - json_object *jo, *canbus; - int n, i; - - FILE *fd = fdopen(conf_file_, "r"); - if (fd) - { - std::string fd_conf_content; - std::fseek(fd, 0, SEEK_END); - fd_conf_content.resize(std::ftell(fd)); - std::rewind(fd); - std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd); - std::fclose(fd); - - jo = json_tokener_parse(fd_conf_content.c_str()); - - if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus)) - { - ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it."); - ret.clear(); - } - else if (json_object_get_type(canbus) != json_type_array) - ret.push_back(json_object_get_string(canbus)); - else - { - n = json_object_array_length(canbus); - for (i = 0 ; i < n ; i++) - ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i))); - } - return ret; - } - ERROR(binder_interface, "Problem at reading the conf file"); - ret.clear(); - return ret; -} - -can_message_t can_bus_t::next_can_message() -{ - can_message_t can_msg; - - if(!can_message_q_.empty()) - { - can_msg = can_message_q_.front(); - can_message_q_.pop(); - DEBUG(binder_interface, "next_can_message: Here is the next can message : id %d, length %d", can_msg.get_id(), can_msg.get_length()); - return can_msg; - } - - NOTICE(binder_interface, "next_can_message: End of can message queue"); - has_can_message_ = false; - return can_msg; -} - -void can_bus_t::push_new_can_message(const can_message_t& can_msg) -{ - can_message_q_.push(can_msg); -} - -bool can_bus_t::has_can_message() const -{ - return has_can_message_; -} - -openxc_VehicleMessage can_bus_t::next_vehicle_message() -{ - openxc_VehicleMessage v_msg; - - if(! vehicle_message_q_.empty()) - { - v_msg = vehicle_message_q_.front(); - vehicle_message_q_.pop(); - DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped"); - return v_msg; - } - - NOTICE(binder_interface, "next_vehicle_message: End of vehicle message queue"); - has_vehicle_message_ = false; - return v_msg; -} - -void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg) -{ - vehicle_message_q_.push(v_msg); - has_vehicle_message_ = true; -} - -bool can_bus_t::has_vehicle_message() const -{ - return has_vehicle_message_; }
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