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Diffstat (limited to 'src/can-utils.cpp')
| -rw-r--r-- | src/can-utils.cpp | 226 |
1 files changed, 226 insertions, 0 deletions
diff --git a/src/can-utils.cpp b/src/can-utils.cpp new file mode 100644 index 00000000..67214105 --- /dev/null +++ b/src/can-utils.cpp @@ -0,0 +1,226 @@ +/* + * 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; +} |