diff options
Diffstat (limited to 'src/can')
| -rw-r--r-- | src/can/can-bus-dev.cpp | 143 |
1 files changed, 123 insertions, 20 deletions
diff --git a/src/can/can-bus-dev.cpp b/src/can/can-bus-dev.cpp index c64242d5..32e852e3 100644 --- a/src/can/can-bus-dev.cpp +++ b/src/can/can-bus-dev.cpp @@ -1,27 +1,34 @@ /* - * 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. - */ +* 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 <string.h> -#include <linux/can/raw.h> #include <net/if.h> #include <sys/ioctl.h> +#include <linux/can/raw.h> + +#include <mutex> #include "can-bus-dev.hpp" + +#include "can-bus.hpp" +#include "can-message.hpp" #include "low-can-binding.hpp" /// @brief Class constructor @@ -72,7 +79,9 @@ int can_bus_dev_t::open() ::strcpy(ifr.ifr_name, device_name_.c_str()); DEBUG(binder_interface, "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)); + } else { txAddress_.can_family = AF_CAN; @@ -80,13 +89,107 @@ int can_bus_dev_t::open() // And bind it to txAddress DEBUG(binder_interface, "Bind the socket"); - if (::bind(can_socket_.socket(), (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0) + if (can_socket_.bind((struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0) ERROR(binder_interface, "Bind failed. %s", strerror(errno)); - else - return 0; + else return 0; } close(); } else ERROR(binder_interface, "socket could not be created. Error was : %s", ::strerror(errno)); return -1; } + +/// @brief Close the bus. +void can_bus_dev_t::close() +{ + can_socket_.close(); +} + +/// @brief Read the can socket and retrieve canfd_frame +std::pair<struct canfd_frame&, size_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_can: 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_to_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 +int can_bus_dev_t::send_can_message(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; +} |