diff options
Diffstat (limited to 'src/can/can-bus-dev.cpp')
| -rw-r--r-- | src/can/can-bus-dev.cpp | 45 |
1 files changed, 30 insertions, 15 deletions
diff --git a/src/can/can-bus-dev.cpp b/src/can/can-bus-dev.cpp index 85bed4ad..fb76498f 100644 --- a/src/can/can-bus-dev.cpp +++ b/src/can/can-bus-dev.cpp @@ -31,7 +31,9 @@ #include "../low-can-binding.hpp" /// @brief Class constructor -/// @param dev_name String representing the device name into the linux /dev tree +/// +/// @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} {} @@ -47,6 +49,10 @@ uint32_t can_bus_dev_t::get_address() const } /// @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() { @@ -55,41 +61,41 @@ int can_bus_dev_t::open() struct ifreq ifr; struct timeval timeout; - DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_.socket()); + 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, "CAN Handler socket correctly initialized : %d", can_socket_.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, "setsockopt SO_TIMESTAMP error: %s", ::strerror(errno)); - DEBUG(binder_interface, "Switch CAN Handler socket to use fd mode"); + 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, "Can not switch into CAN Extended frame format."); + NOTICE(binder_interface, "open: Can not switch into CAN Extended frame format."); is_fdmode_on_ = false; } else { - DEBUG(binder_interface, "Correctly set up CAN socket to use FD frames."); + 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, "ifr_name is : %s", ifr.ifr_name); + DEBUG(binder_interface, "open: ifr_name is : %s", ifr.ifr_name); if(::ioctl(can_socket_.socket(), SIOCGIFINDEX, &ifr) < 0) { - ERROR(binder_interface, "ioctl failed. Error was : %s", strerror(errno)); + ERROR(binder_interface, "open: ioctl failed. Error was : %s", strerror(errno)); } else { @@ -109,12 +115,17 @@ int can_bus_dev_t::open() } /// @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 +/// @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; @@ -161,7 +172,7 @@ void can_bus_dev_t::stop_reading() } /// @brief Thread function used to read the can socket. -/// @param[in] can_bus object to be 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_) @@ -176,7 +187,9 @@ void can_bus_dev_t::can_reader(can_bus_t& can_bus) } /// @brief Send a can message from a can_message_t object. -/// @param[in] can_msg the can message object to send +/// @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; @@ -211,6 +224,8 @@ int can_bus_dev_t::send(can_message_t& can_msg) /// @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; @@ -227,14 +242,14 @@ bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* dat if (nbytes == -1) { ERROR(binder_interface, "send_can_message: Sending CAN frame failed."); - return -1; + return false; } - return (int)nbytes; + return true; } else { ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket."); open(); } - return 0; + return false; } |