Handle project new architecture using new CMakeFile

Change-Id: I672a9b49d9d5a3953ba6dccaafbbd738839f64a6
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

# Conflicts:
#	low-can-binding/libs/bitfield-c
#	low-can-binding/libs/isotp-c
#	low-can-binding/libs/openxc-message-format

1 files changed, 255 insertions, 0 deletions

diff --git a/low-can-binding/can/can-bus-dev.cpp b/low-can-binding/can/can-bus-dev.cpp
new file mode 100644
index 0000000..fb76498
--- /dev/null
+++ b/low-can-binding/can/can-bus-dev.cpp
@@ -0,0 +1,255 @@
+/*
+* 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 <map>
+#include <mutex>
+#include <unistd.h>
+#include <string.h>
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <linux/can/raw.h>
+
+#include "can-bus-dev.hpp"
+
+#include "can-bus.hpp"
+#include "can-message.hpp"
+#include "../low-can-binding.hpp"
+
+/// @brief Class constructor
+///
+/// @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}
+{}
+
+std::string can_bus_dev_t::get_device_name() const
+{
+	return device_name_;
+}
+
+uint32_t can_bus_dev_t::get_address() const
+{
+	return address_;
+}
+
+/// @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()
+{
+	const int canfd_on = 1;
+	const int timestamp_on = 1;
+	struct ifreq ifr;
+	struct timeval timeout;
+
+	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, "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, &timestamp_on, sizeof(timestamp_on)) < 0)
+			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, "open: Can not switch into CAN Extended frame format.");
+			is_fdmode_on_ = false;
+		}
+		else
+		{
+			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, "open: ifr_name is : %s", ifr.ifr_name);
+		if(::ioctl(can_socket_.socket(), SIOCGIFINDEX, &ifr) < 0)
+		{
+			ERROR(binder_interface, "open: 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, "open: socket could not be created. Error was : %s", ::strerror(errno));
+	return -1;
+}
+
+/// @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.
+///
+///  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;
+	struct canfd_frame cfd;
+
+	// Test that socket is really opened
+	if (!can_socket_)
+	{
+		ERROR(binder_interface, "read: 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
+///
+/// @return 0 if message snet, -1 if something wrong.
+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_)
+	{
+		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 Static method used to send diagnostic CAN message
+/// that follow isotp SendShimsMessage signature. This method is launched
+/// from diagnostic manager's' same name method. It will use the diagnostic
+/// manager configured CAN bus device to send the CAN message.
+///
+/// @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;
+	canfd_frame f;
+
+	f.can_id = arbitration_id;
+	f.len = size;
+	::memcpy(f.data, data, size);
+
+	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 false;
+		}
+		return true;
+	}
+	else
+	{
+		ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
+		open();
+	}
+	return false;
+}