diff options
| -rw-r--r-- | src/can-utils.cpp | 81 | ||||
| -rw-r--r-- | src/can-utils.h | 7 |
2 files changed, 69 insertions, 19 deletions
diff --git a/src/can-utils.cpp b/src/can-utils.cpp index 16e18b4..7dfe228 100644 --- a/src/can-utils.cpp +++ b/src/can-utils.cpp @@ -23,25 +23,25 @@ * *********************************************************************************/ -CanBus_c::CanBus_c(afb_binding_interface *itf, const std:string& dev_name) +CanBus_t::CanBus_t(afb_binding_interface *itf, const std:string& dev_name) : interface{itf}, deviceName{dev_name} { } -int CanBus_c::open() +int CanBus_t::open() { const int canfd_on = 1; struct ifreq ifr; struct timeval timeout = {1, 0}; - DEBUG(interface, "open_can_dev: CAN Handler socket : %d", socket); + DEBUG(interface_, "open_can_dev: CAN Handler socket : %d", can_socket_); if (can_socket_ >= 0) return 0; can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW); if (socket < 0) { - ERROR(interface, "open_can_dev: socket could not be created"); + ERROR(interface_, "open_can_dev: socket could not be created"); } else { @@ -50,25 +50,25 @@ int CanBus_c::open() /* 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."); - is_fdmode_on = false; + NOTICE(interface_, "open_can_dev: Can not switch into CAN Extended frame format."); + is_fdmode_on_ = false; } else { - is_fdmode_on = true; + is_fdmode_on_ = true; } /* Attempts to open a socket to CAN bus */ ::strcpy(ifr.ifr_name, device); if(ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0) - ERROR(interface, "open_can_dev: ioctl failed"); + 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(can_socket_, (struct sockaddr *)&txAddress, sizeof(txAddress)) < 0) + if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0) { - ERROR(interface, "open_can_dev: bind failed"); + ERROR(interface_, "open_can_dev: bind failed"); } else { @@ -81,23 +81,70 @@ int CanBus_c::open() return -1; } -int CanBus_c::close() +int CanBus_t::close() { ::close(can_socket_); can_socket_ = -1; } -void CanBus_c::start_threads() + +canfd_frame CanBus_t::can_read() +{ + ssize_t nbytes; + int maxdlen; + canfd_frame canfd_frame; + + /* Test that socket is really opened */ + if (can_socket_ < 0) + { + ERROR(interface_, "read_can: Socket unavailable. Closing thread."); + is_running_ = false; + } + + nbytes = ::read(can_socket_, &canfd_frame, CANFD_MTU); + + switch(nbytes) + { + case CANFD_MTU: + DEBUG(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); + maxdlen = CAN_MAX_DLEN; + break; + default: + if (errno == ENETDOWN) + ERROR(interface_, "read_can: %s interface down", device); + ERROR(interface_, "read_can: Error reading CAN bus"); + ::memset(&canfd_frame, 0, sizeof(canfd_frame)); + break; + } + + return canfd_frame; +} + +void CanBus_t::start_threads() { th_reading_ = std::thread(can_reader, interface, socket, can_message_q_); + is_running_ = true; + th_decoding_ = std::thread(can_decoder, interface, can_message_q, can_message_q_); th_pushing_ = std::thread(can_event_push, interface, can_message_q_); } /* + * Return is_running_ bool + */ +bool CanBus_t::is_running() +{ + return is_running_; +} + +/* * Send a can message from a CanMessage_c object. */ -int CanBus_c::send_can_message(CanMessage_c can_msg) +int CanBus_t::send_can_message(CanMessage_c &can_msg) { int nbytes; canfd_frame *f; @@ -130,7 +177,7 @@ int CanBus_c::send_can_message(CanMessage_c can_msg) * * Return the next queue element or NULL if queue is empty. */ -CanMessage_c* CanBus_c::next_can_message() +CanMessage_c* CanBus_t::next_can_message() { if(! can_message_q_.empty()) { @@ -142,7 +189,7 @@ CanMessage_c* CanBus_c::next_can_message() return nullptr; } -void CanBus_c::insert_new_can_message(CanMessage_c *can_msg) +void CanBus_t::insert_new_can_message(CanMessage_c &can_msg) { can_message_q_.push(can_msg); } @@ -153,7 +200,7 @@ void CanBus_c::insert_new_can_message(CanMessage_c *can_msg) * * Return the next queue element or NULL if queue is empty. */ -openxc_VehicleMessage* CanBus_c::next_vehicle_message() +openxc_VehicleMessage* CanBus_t::next_vehicle_message() { if(! vehicle_message_q_.empty()) { @@ -165,7 +212,7 @@ openxc_VehicleMessage* CanBus_c::next_vehicle_message() return nullptr; } -void CanBus_c::insert_new_vehicle_message(openxc_VehicleMessage *v_msg) +void CanBus_t::insert_new_vehicle_message(openxc_VehicleMessage *v_msg) { vehicle_message_q_.push(v_msg); } diff --git a/src/can-utils.h b/src/can-utils.h index 04303e3..3a6070a 100644 --- a/src/can-utils.h +++ b/src/can-utils.h @@ -94,9 +94,10 @@ class CanBus_c { int can_socket_; bool is_fdmode_on_; - struct sockaddr_can txAddress; + struct sockaddr_can txAddress_; std::thread th_reading_; + bool is_running_; std::thread th_decoding_; std::thread th_pushing_; @@ -108,10 +109,12 @@ class CanBus_c { int close(); void start_threads(); + bool is_running(); + int send_can_message(CanMessage_c can_msg); CanMessage_c* next_can_message(); - void insert_new_can_message(CanMessage_c *can_msg); + void insert_new_can_message(CanMessage_c &can_msg); openxc_VehicleMessage* next_vehicle_message(); void insert_new_vehicle_message(openxc_VehicleMessage *v_msg); |