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-rw-r--r--src/can-utils.cpp71
1 files changed, 36 insertions, 35 deletions
diff --git a/src/can-utils.cpp b/src/can-utils.cpp
index de9e8ce1..ba4060ea 100644
--- a/src/can-utils.cpp
+++ b/src/can-utils.cpp
@@ -23,8 +23,8 @@
*
*********************************************************************************/
-can_message_t::can_message_t(const struct afb_binding_interface* interface)
- : interface_{interface}, id_{0}, length_{0}, format_{CanMessageFormat::ERROR}, data_{0,0,0,0,0,0,0,0}
+can_message_t::can_message_t()
+ : id_{0}, length_{0}, format_{CanMessageFormat::ERROR}, data_{0,0,0,0,0,0,0,0}
{}
uint32_t can_message_t::get_id() const
@@ -71,7 +71,7 @@ void can_message_t::set_id(const uint32_t new_id)
id_ = new_id & CAN_EFF_MASK;
break;
default:
- ERROR(interface_, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
+ ERROR(binder_interface, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
break;
}
}
@@ -81,13 +81,13 @@ void can_message_t::set_format(const CanMessageFormat new_format)
if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED)
format_ = new_format;
else
- ERROR(interface_, "ERROR: Can set format, wrong format chosen");
+ ERROR(binder_interface, "ERROR: Can set format, wrong format chosen");
}
void can_message_t::set_data(const uint8_t new_data)
{
if ((sizeof(new_data) / sizeof(uint8_t) > CAN_MESSAGE_SIZE))
- ERROR(interface_, "Can set data, your data array is too big");
+ ERROR(binder_interface, "Can set data, your data array is too big");
else
{
::memcpy(&data_, &new_data, sizeof(new_data));
@@ -119,7 +119,7 @@ void can_message_t::convert_from_canfd_frame(const canfd_frame& frame)
if (sizeof(frame.data) <= sizeof(data_))
::memcpy(&data_, frame.data, length_);
else if (sizeof(frame.data) >= CAN_MAX_DLEN)
- ERROR(interface_, "can_message_t: canfd_frame data too long to be stored into CanMessage object");
+ ERROR(binder_interface, "can_message_t: canfd_frame data too long to be stored into CanMessage object");
}
canfd_frame can_message_t::convert_to_canfd_frame()
@@ -133,7 +133,7 @@ canfd_frame can_message_t::convert_to_canfd_frame()
::memcpy(frame.data, get_data(), length_);
}
else
- ERROR(interface_, "can_message_t not correctly initialized to be sent");
+ ERROR(binder_interface, "can_message_t not correctly initialized to be sent");
return frame;
}
@@ -149,20 +149,20 @@ can_bus_dev_t::can_bus_dev_t(const std::string &dev_name)
{
}
-int can_bus_dev_t::open(const struct afb_binding_interface* interface)
+int can_bus_dev_t::open()
{
const int canfd_on = 1;
struct ifreq ifr;
struct timeval timeout = {1, 0};
- DEBUG(interface, "open_can_dev: CAN Handler socket : %d", can_socket_);
+ DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_);
if (can_socket_ >= 0)
return 0;
can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW);
if (can_socket_ < 0)
{
- ERROR(interface, "open_can_dev: socket could not be created");
+ ERROR(binder_interface, "socket could not be created");
}
else
{
@@ -171,7 +171,7 @@ int can_bus_dev_t::open(const struct afb_binding_interface* interface)
/* try to switch the socket into CAN_FD mode */
if (::setsockopt(can_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.");
+ NOTICE(binder_interface, "Can not switch into CAN Extended frame format.");
is_fdmode_on_ = false;
} else {
is_fdmode_on_ = true;
@@ -180,7 +180,7 @@ int can_bus_dev_t::open(const struct afb_binding_interface* interface)
/* Attempts to open a socket to CAN bus */
::strcpy(ifr.ifr_name, device_name_.c_str());
if(::ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0)
- ERROR(interface, "open_can_dev: ioctl failed");
+ ERROR(binder_interface, "ioctl failed");
else
{
txAddress_.can_family = AF_CAN;
@@ -189,7 +189,7 @@ int can_bus_dev_t::open(const struct afb_binding_interface* interface)
/* And bind it to txAddress */
if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
{
- ERROR(interface, "open_can_dev: bind failed");
+ ERROR(binder_interface, "Bind failed");
}
else
{
@@ -209,7 +209,7 @@ int can_bus_dev_t::close()
return can_socket_;
}
-canfd_frame can_bus_dev_t::read(const struct afb_binding_interface* interface)
+canfd_frame can_bus_dev_t::read()
{
ssize_t nbytes;
//int maxdlen;
@@ -218,7 +218,7 @@ canfd_frame can_bus_dev_t::read(const struct afb_binding_interface* interface)
/* Test that socket is really opened */
if (can_socket_ < 0)
{
- ERROR(interface, "read_can: Socket unavailable. Closing thread.");
+ ERROR(binder_interface, "read_can: Socket unavailable. Closing thread.");
is_running_ = false;
}
@@ -227,17 +227,17 @@ canfd_frame can_bus_dev_t::read(const struct afb_binding_interface* interface)
switch(nbytes)
{
case CANFD_MTU:
- DEBUG(interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
+ DEBUG(binder_interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
//maxdlen = CANFD_MAX_DLEN;
break;
case CAN_MTU:
- DEBUG(interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
+ DEBUG(binder_interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
//maxdlen = CAN_MAX_DLEN;
break;
default:
if (errno == ENETDOWN)
- ERROR(interface, "read_can: %s interface down", device_name_);
- ERROR(interface, "read_can: Error reading CAN bus");
+ ERROR(binder_interface, "read_can: %s binder_interface down", device_name_);
+ ERROR(binder_interface, "read_can: Error reading CAN bus");
::memset(&canfd_frame, 0, sizeof(canfd_frame));
is_running_ = false;
break;
@@ -249,6 +249,7 @@ canfd_frame can_bus_dev_t::read(const struct afb_binding_interface* interface)
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;
}
@@ -260,7 +261,7 @@ bool can_bus_dev_t::is_running()
return is_running_;
}
-int can_bus_dev_t::send_can_message(can_message_t& can_msg, const struct afb_binding_interface* interface)
+int can_bus_dev_t::send_can_message(can_message_t& can_msg)
{
ssize_t nbytes;
canfd_frame f;
@@ -273,15 +274,15 @@ int can_bus_dev_t::send_can_message(can_message_t& can_msg, const struct afb_bin
(struct sockaddr*)&txAddress_, sizeof(txAddress_));
if (nbytes == -1)
{
- ERROR(interface, "send_can_message: Sending CAN frame failed.");
+ ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
return -1;
}
return (int)nbytes;
}
else
{
- ERROR(interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
- open(interface);
+ ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
+ open();
}
return 0;
}
@@ -291,8 +292,8 @@ int can_bus_dev_t::send_can_message(can_message_t& can_msg, const struct afb_bin
*
*********************************************************************************/
-can_bus_t::can_bus_t(const struct afb_binding_interface *interface, int& conf_file)
- : conf_file_{conf_file}, interface_{interface}
+can_bus_t::can_bus_t(int& conf_file)
+ : conf_file_{conf_file}
{
}
@@ -319,15 +320,15 @@ int can_bus_t::init_can_dev()
for(const auto& device : devices_name)
{
can_bus_dev_t can_bus_device_handler(device);
- can_bus_device_handler.open(interface_);
+ can_bus_device_handler.open();
can_bus_device_handler.start_reading(std::ref(*this));
i++;
}
- NOTICE(interface_, "Initialized %d/%d can bus device(s)", i, t);
+ NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
return 0;
}
- ERROR(interface_, "init_can_dev: Error at CAN device initialization.");
+ ERROR(binder_interface, "init_can_dev: Error at CAN device initialization.");
return 1;
}
@@ -351,7 +352,7 @@ std::vector<std::string> can_bus_t::read_conf()
if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
{
- ERROR(interface_, "Can't find canbus node in the configuration file. Please review it.");
+ 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)
@@ -364,24 +365,24 @@ std::vector<std::string> can_bus_t::read_conf()
}
return ret;
}
- ERROR(interface_, "Problem at reading the conf file");
+ 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(interface_);
+ can_message_t can_msg;
if(!can_message_q_.empty())
{
can_msg = can_message_q_.front();
can_message_q_.pop();
- DEBUG(interface_, "next_can_message: Here is the next can message : id %d, length %d", can_msg.get_id(), can_msg.get_length());
+ 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(interface_, "next_can_message: End of can message queue");
+ NOTICE(binder_interface, "next_can_message: End of can message queue");
has_can_message_ = false;
return can_msg;
}
@@ -404,11 +405,11 @@ openxc_VehicleMessage can_bus_t::next_vehicle_message()
{
v_msg = vehicle_message_q_.front();
vehicle_message_q_.pop();
- DEBUG(interface_, "next_vehicle_message: next vehicle message poped");
+ DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
return v_msg;
}
- NOTICE(interface_, "next_vehicle_message: End of vehicle message queue");
+ NOTICE(binder_interface, "next_vehicle_message: End of vehicle message queue");
has_vehicle_message_ = false;
return v_msg;
}