1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
|
/*
* 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 <unistd.h>
#include <string.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
/// @param dev_name String representing the device name into the linux /dev tree
can_bus_dev_t::can_bus_dev_t(const std::string& dev_name)
: device_name_{dev_name}
{
}
std::string can_bus_dev_t::get_device_name() const
{
return device_name_;
}
/// @brief Open the can socket and returning it
/// @return -1 if something wrong.
int can_bus_dev_t::open()
{
const int canfd_on = 1;
const int timestamp_on = 1;
struct ifreq ifr;
struct timeval timeout;
DEBUG(binder_interface, "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());
// 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");
// 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.");
is_fdmode_on_ = false;
}
else
{
DEBUG(binder_interface, "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);
if(::ioctl(can_socket_.socket(), SIOCGIFINDEX, &ifr) < 0)
{
ERROR(binder_interface, "ioctl failed. Error was : %s", strerror(errno));
}
else
{
txAddress_.can_family = AF_CAN;
txAddress_.can_ifindex = ifr.ifr_ifindex;
// And bind it to txAddress
DEBUG(binder_interface, "Bind the socket");
if (can_socket_.bind((struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
ERROR(binder_interface, "Bind failed. %s", strerror(errno));
else return 0;
}
close();
}
else ERROR(binder_interface, "socket could not be created. Error was : %s", ::strerror(errno));
return -1;
}
/// @brief Close the bus.
int can_bus_dev_t::close()
{
return can_socket_.close();
}
/// @brief Read the can socket and retrieve canfd_frame
can_message_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_from_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_t& can_msg)
{
ssize_t nbytes;
canfd_frame f;
f = can_msg.convert_to_canfd_frame();
if(can_socket_.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;
}
/// @brief Send a can message from a can_message_t object.
/// @param[in] can bus used to send the message
/// @param[in] can_msg the can message object to send
bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
{
ssize_t nbytes;
canfd_frame f;
f.can_id = arbitration_id;
f.len = size;
::memcpy(f.data, data, size);
if(can_socket_.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;
}
|
