diff options
| -rw-r--r-- | src/CMakeLists.txt | 2 | ||||
| -rw-r--r-- | src/can-signals.cpp | 4 | ||||
| -rw-r--r-- | src/can-signals.hpp | 2 | ||||
| -rw-r--r-- | src/can-utils.cpp | 71 | ||||
| -rw-r--r-- | src/can-utils.hpp | 26 | ||||
| -rw-r--r-- | src/can_decode_message.cpp | 4 | ||||
| -rw-r--r-- | src/can_reader.cpp | 4 | ||||
| -rw-r--r-- | src/low-can-binding.cpp | 4 |
8 files changed, 54 insertions, 63 deletions
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index e1a82ff..91de0b3 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -40,7 +40,7 @@ add_compile_options(-Werror=implicit-function-declaration) add_compile_options(-ffunction-sections -fdata-sections) add_compile_options(-Wl,--as-needed -Wl,--gc-sections) add_compile_options(-fPIC) -add_compile_options(-std=c++11) +add_compile_options(-std=c++11 -D_REENTRANT) set(CMAKE_C_FLAGS_PROFILING "-g -O0 -pg -Wp,-U_FORTIFY_SOURCE") set(CMAKE_C_FLAGS_DEBUG "-g -O0 -ggdb -Wp,-U_FORTIFY_SOURCE") diff --git a/src/can-signals.cpp b/src/can-signals.cpp index ee682f9..2cf4b03 100644 --- a/src/can-signals.cpp +++ b/src/can-signals.cpp @@ -35,7 +35,7 @@ size_t getSignalCount() return SIGNALS[MESSAGE_SET_ID].size(); } -std::vector<CanSignal> find_can_signals(const struct afb_binding_interface* interface, openxc_DynamicField& key) +std::vector<CanSignal> find_can_signals(openxc_DynamicField& key) { std::vector<CanSignal> signals; @@ -57,7 +57,7 @@ std::vector<CanSignal> find_can_signals(const struct afb_binding_interface* inte } break; default: - ERROR(interface, "find_can_signals: wrong openxc_DynamicField specified. Use openxc_DynamicField_Type_NUM or openxc_DynamicField_Type_STRING type only."); + ERROR(binder_interface, "find_can_signals: wrong openxc_DynamicField specified. Use openxc_DynamicField_Type_NUM or openxc_DynamicField_Type_STRING type only."); CanSignal cs; ::memset(&cs, 0, sizeof(CanSignal)); signals.push_back(cs); diff --git a/src/can-signals.hpp b/src/can-signals.hpp index 374afee..d4ada1d 100644 --- a/src/can-signals.hpp +++ b/src/can-signals.hpp @@ -101,7 +101,7 @@ CanBus* getCanBuses(); * * @return std::vector<std::string> return found CanSignal generic name vector. */ -std::vector<CanSignal> find_can_signals(const struct afb_binding_interface* interface, const openxc_DynamicField &key); +std::vector<CanSignal> find_can_signals(const openxc_DynamicField &key); /** * @brief Retrieve can arbitration id of a given CanSignal diff --git a/src/can-utils.cpp b/src/can-utils.cpp index de9e8ce..ba4060e 100644 --- a/src/can-utils.cpp +++ b/src/can-utils.cpp @@ -23,8 +23,8 @@ * *********************************************************************************/ -can_message_t::can_message_t(const struct afb_binding_interface* interface) - : interface_{interface}, id_{0}, length_{0}, format_{CanMessageFormat::ERROR}, data_{0,0,0,0,0,0,0,0} +can_message_t::can_message_t() + : id_{0}, length_{0}, format_{CanMessageFormat::ERROR}, data_{0,0,0,0,0,0,0,0} {} uint32_t can_message_t::get_id() const @@ -71,7 +71,7 @@ void can_message_t::set_id(const uint32_t new_id) id_ = new_id & CAN_EFF_MASK; break; default: - ERROR(interface_, "ERROR: Can set id, not a compatible format or format not set prior to set id."); + ERROR(binder_interface, "ERROR: Can set id, not a compatible format or format not set prior to set id."); break; } } @@ -81,13 +81,13 @@ void can_message_t::set_format(const CanMessageFormat new_format) if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED) format_ = new_format; else - ERROR(interface_, "ERROR: Can set format, wrong format chosen"); + ERROR(binder_interface, "ERROR: Can set format, wrong format chosen"); } void can_message_t::set_data(const uint8_t new_data) { if ((sizeof(new_data) / sizeof(uint8_t) > CAN_MESSAGE_SIZE)) - ERROR(interface_, "Can set data, your data array is too big"); + ERROR(binder_interface, "Can set data, your data array is too big"); else { ::memcpy(&data_, &new_data, sizeof(new_data)); @@ -119,7 +119,7 @@ void can_message_t::convert_from_canfd_frame(const canfd_frame& frame) if (sizeof(frame.data) <= sizeof(data_)) ::memcpy(&data_, frame.data, length_); else if (sizeof(frame.data) >= CAN_MAX_DLEN) - ERROR(interface_, "can_message_t: canfd_frame data too long to be stored into CanMessage object"); + ERROR(binder_interface, "can_message_t: canfd_frame data too long to be stored into CanMessage object"); } canfd_frame can_message_t::convert_to_canfd_frame() @@ -133,7 +133,7 @@ canfd_frame can_message_t::convert_to_canfd_frame() ::memcpy(frame.data, get_data(), length_); } else - ERROR(interface_, "can_message_t not correctly initialized to be sent"); + ERROR(binder_interface, "can_message_t not correctly initialized to be sent"); return frame; } @@ -149,20 +149,20 @@ can_bus_dev_t::can_bus_dev_t(const std::string &dev_name) { } -int can_bus_dev_t::open(const struct afb_binding_interface* interface) +int can_bus_dev_t::open() { const int canfd_on = 1; struct ifreq ifr; struct timeval timeout = {1, 0}; - DEBUG(interface, "open_can_dev: CAN Handler socket : %d", can_socket_); + DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_); if (can_socket_ >= 0) return 0; can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW); if (can_socket_ < 0) { - ERROR(interface, "open_can_dev: socket could not be created"); + ERROR(binder_interface, "socket could not be created"); } else { @@ -171,7 +171,7 @@ int can_bus_dev_t::open(const struct afb_binding_interface* interface) /* try to switch the socket into CAN_FD mode */ if (::setsockopt(can_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."); + NOTICE(binder_interface, "Can not switch into CAN Extended frame format."); is_fdmode_on_ = false; } else { is_fdmode_on_ = true; @@ -180,7 +180,7 @@ int can_bus_dev_t::open(const struct afb_binding_interface* interface) /* Attempts to open a socket to CAN bus */ ::strcpy(ifr.ifr_name, device_name_.c_str()); if(::ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0) - ERROR(interface, "open_can_dev: ioctl failed"); + ERROR(binder_interface, "ioctl failed"); else { txAddress_.can_family = AF_CAN; @@ -189,7 +189,7 @@ int can_bus_dev_t::open(const struct afb_binding_interface* interface) /* And bind it to txAddress */ if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0) { - ERROR(interface, "open_can_dev: bind failed"); + ERROR(binder_interface, "Bind failed"); } else { @@ -209,7 +209,7 @@ int can_bus_dev_t::close() return can_socket_; } -canfd_frame can_bus_dev_t::read(const struct afb_binding_interface* interface) +canfd_frame can_bus_dev_t::read() { ssize_t nbytes; //int maxdlen; @@ -218,7 +218,7 @@ canfd_frame can_bus_dev_t::read(const struct afb_binding_interface* interface) /* Test that socket is really opened */ if (can_socket_ < 0) { - ERROR(interface, "read_can: Socket unavailable. Closing thread."); + ERROR(binder_interface, "read_can: Socket unavailable. Closing thread."); is_running_ = false; } @@ -227,17 +227,17 @@ canfd_frame can_bus_dev_t::read(const struct afb_binding_interface* interface) switch(nbytes) { case CANFD_MTU: - DEBUG(interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len); + DEBUG(binder_interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len); //maxdlen = CANFD_MAX_DLEN; break; case CAN_MTU: - DEBUG(interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len); + DEBUG(binder_interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len); //maxdlen = CAN_MAX_DLEN; break; default: if (errno == ENETDOWN) - ERROR(interface, "read_can: %s interface down", device_name_); - ERROR(interface, "read_can: Error reading CAN bus"); + ERROR(binder_interface, "read_can: %s binder_interface down", device_name_); + ERROR(binder_interface, "read_can: Error reading CAN bus"); ::memset(&canfd_frame, 0, sizeof(canfd_frame)); is_running_ = false; break; @@ -249,6 +249,7 @@ canfd_frame can_bus_dev_t::read(const struct afb_binding_interface* interface) void can_bus_dev_t::start_reading(can_bus_t& can_bus) { th_reading_ = std::thread(can_reader, std::ref(*this), std::ref(can_bus)); + is_running_ = true; } @@ -260,7 +261,7 @@ bool can_bus_dev_t::is_running() return is_running_; } -int can_bus_dev_t::send_can_message(can_message_t& can_msg, const struct afb_binding_interface* interface) +int can_bus_dev_t::send_can_message(can_message_t& can_msg) { ssize_t nbytes; canfd_frame f; @@ -273,15 +274,15 @@ int can_bus_dev_t::send_can_message(can_message_t& can_msg, const struct afb_bin (struct sockaddr*)&txAddress_, sizeof(txAddress_)); if (nbytes == -1) { - ERROR(interface, "send_can_message: Sending CAN frame failed."); + ERROR(binder_interface, "send_can_message: Sending CAN frame failed."); return -1; } return (int)nbytes; } else { - ERROR(interface, "send_can_message: socket not initialized. Attempt to reopen can device socket."); - open(interface); + ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket."); + open(); } return 0; } @@ -291,8 +292,8 @@ int can_bus_dev_t::send_can_message(can_message_t& can_msg, const struct afb_bin * *********************************************************************************/ -can_bus_t::can_bus_t(const struct afb_binding_interface *interface, int& conf_file) - : conf_file_{conf_file}, interface_{interface} +can_bus_t::can_bus_t(int& conf_file) + : conf_file_{conf_file} { } @@ -319,15 +320,15 @@ int can_bus_t::init_can_dev() for(const auto& device : devices_name) { can_bus_dev_t can_bus_device_handler(device); - can_bus_device_handler.open(interface_); + can_bus_device_handler.open(); can_bus_device_handler.start_reading(std::ref(*this)); i++; } - NOTICE(interface_, "Initialized %d/%d can bus device(s)", i, t); + NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t); return 0; } - ERROR(interface_, "init_can_dev: Error at CAN device initialization."); + ERROR(binder_interface, "init_can_dev: Error at CAN device initialization."); return 1; } @@ -351,7 +352,7 @@ std::vector<std::string> can_bus_t::read_conf() if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus)) { - ERROR(interface_, "Can't find canbus node in the configuration file. Please review it."); + ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it."); ret.clear(); } else if (json_object_get_type(canbus) != json_type_array) @@ -364,24 +365,24 @@ std::vector<std::string> can_bus_t::read_conf() } return ret; } - ERROR(interface_, "Problem at reading the conf file"); + ERROR(binder_interface, "Problem at reading the conf file"); ret.clear(); return ret; } can_message_t can_bus_t::next_can_message() { - can_message_t can_msg(interface_); + can_message_t can_msg; if(!can_message_q_.empty()) { can_msg = can_message_q_.front(); can_message_q_.pop(); - DEBUG(interface_, "next_can_message: Here is the next can message : id %d, length %d", can_msg.get_id(), can_msg.get_length()); + DEBUG(binder_interface, "next_can_message: Here is the next can message : id %d, length %d", can_msg.get_id(), can_msg.get_length()); return can_msg; } - NOTICE(interface_, "next_can_message: End of can message queue"); + NOTICE(binder_interface, "next_can_message: End of can message queue"); has_can_message_ = false; return can_msg; } @@ -404,11 +405,11 @@ openxc_VehicleMessage can_bus_t::next_vehicle_message() { v_msg = vehicle_message_q_.front(); vehicle_message_q_.pop(); - DEBUG(interface_, "next_vehicle_message: next vehicle message poped"); + DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped"); return v_msg; } - NOTICE(interface_, "next_vehicle_message: End of vehicle message queue"); + NOTICE(binder_interface, "next_vehicle_message: End of vehicle message queue"); has_vehicle_message_ = false; return v_msg; } diff --git a/src/can-utils.hpp b/src/can-utils.hpp index 4d41f21..218452d 100644 --- a/src/can-utils.hpp +++ b/src/can-utils.hpp @@ -22,10 +22,10 @@ #include <vector> #include <cstdio> #include <string> -#include <thread> #include <fcntl.h> #include <unistd.h> #include <net/if.h> +#include <thread> #include <sys/ioctl.h> #include <linux/can.h> #include <sys/socket.h> @@ -34,6 +34,7 @@ #include "timer.hpp" #include "openxc.pb.h" +#include "low-can-binding.hpp" extern "C" { @@ -98,11 +99,6 @@ typedef enum CanMessageFormat CanMessageFormat; * * @brief A compact representation of a single CAN message, meant to be used in in/out * buffers. - * - * param[in] - * param[in] - * param[in] - * @param[in] */ /************************* @@ -118,8 +114,6 @@ typedef struct CanMessage CanMessage; */ class can_message_t { private: - const struct afb_binding_interface* interface_; /*!< afb_binding_interface interface between daemon and binding */ - uint32_t id_; /*!< uint32_t id - The ID of the message. */ uint8_t length_; /*!< uint8_t length - the length of the data array (max 8). */ CanMessageFormat format_; /*!< CanMessageFormat format - the format of the message's ID.*/ @@ -130,10 +124,8 @@ class can_message_t { * @brief Class constructor * * Constructor about can_message_t class. - * - * @param interface - const structafb_binding_interface pointer */ - can_message_t(const struct afb_binding_interface* interface); + can_message_t(); /** * @brief Retrieve id_ member value. @@ -254,15 +246,13 @@ class can_bus_t { std::queue <openxc_VehicleMessage> vehicle_message_q_; /*!< queue that'll store openxc_VehicleMessage to pushed */ public: - const struct afb_binding_interface *interface_; /*!< interface_ - afb_binding_interface pointer to the binder. Used to log messages */ - /** * @brief Class constructor * * @param struct afb_binding_interface *interface between daemon and binding * @param int file handle to the json configuration file. */ - can_bus_t(const struct afb_binding_interface *interface, int& conf_file); + can_bus_t(int& conf_file); /** * @brief Will initialize can_bus_dev_t objects after reading @@ -356,7 +346,7 @@ class can_bus_dev_t { * * @return */ - int open(const struct afb_binding_interface* interface); + int open(); int close(); bool is_running(); @@ -364,7 +354,7 @@ class can_bus_dev_t { * @brief start reading threads and set flag is_running_ * * @param can_bus_t reference can_bus_t. it will be passed to the thread - * to allow using afb_binding_interface and can_bus_t queue. + * to allow using can_bus_t queue. */ void start_reading(can_bus_t& can_bus); @@ -374,7 +364,7 @@ class can_bus_dev_t { * @param const struct afb_binding_interface* interface pointer. Used to be able to log * using application framework logger. */ - canfd_frame read(const struct afb_binding_interface *interface); + canfd_frame read(); /** * @brief Send a can message from a can_message_t object. @@ -383,7 +373,7 @@ class can_bus_dev_t { * @param const struct afb_binding_interface* interface pointer. Used to be able to log * using application framework logger. */ - int send_can_message(can_message_t& can_msg, const struct afb_binding_interface* interface); + int send_can_message(can_message_t& can_msg); }; /** diff --git a/src/can_decode_message.cpp b/src/can_decode_message.cpp index 8b087cf..8fadbdb 100644 --- a/src/can_decode_message.cpp +++ b/src/can_decode_message.cpp @@ -20,7 +20,7 @@ void can_decode_message(can_bus_t &can_bus) { - can_message_t can_message(can_bus.interface_) ; + can_message_t can_message; std::vector <CanSignal> signals; std::vector <CanSignal>::iterator signals_i; openxc_VehicleMessage vehicle_message; @@ -35,7 +35,7 @@ void can_decode_message(can_bus_t &can_bus) /* First we have to found which CanSignal is */ search_key = build_DynamicField((double)can_message.get_id()); - signals = find_can_signals(can_bus.interface_, search_key); + signals = find_can_signals(search_key); /* Decoding the message ! Don't kill the messenger ! */ for(const auto& sig : signals) diff --git a/src/can_reader.cpp b/src/can_reader.cpp index 24bc600..b836570 100644 --- a/src/can_reader.cpp +++ b/src/can_reader.cpp @@ -20,11 +20,11 @@ void can_reader(can_bus_dev_t &can_bus_dev, can_bus_t& can_bus) { - can_message_t can_message(can_bus.interface_); + can_message_t can_message; while(can_bus_dev.is_running()) { - can_message.convert_from_canfd_frame(can_bus_dev.read(can_bus.interface_)); + can_message.convert_from_canfd_frame(can_bus_dev.read()); can_bus.push_new_can_message(can_message); } }
\ No newline at end of file diff --git a/src/low-can-binding.cpp b/src/low-can-binding.cpp index 87c94d5..9e34401 100644 --- a/src/low-can-binding.cpp +++ b/src/low-can-binding.cpp @@ -136,7 +136,7 @@ static int subscribe_unsubscribe_name(struct afb_req request, bool subscribe, co else { openxc_DynamicField search_key = build_DynamicField(name); - sig = find_can_signals(binder_interface, search_key); + sig = find_can_signals(search_key); if (sig.empty()) ret = 0; } @@ -221,7 +221,7 @@ extern "C" fd_conf = afb_daemon_rootdir_open_locale(binder_interface->daemon, "can_bus.json", O_RDONLY, NULL); /* Open CAN socket */ - can_bus_t can_bus_handler(binder_interface, fd_conf); + can_bus_t can_bus_handler(fd_conf); if(can_bus_handler.init_can_dev() == 0) { can_bus_handler.start_threads(); |