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/*
* 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;
}
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