diff options
| -rw-r--r-- | can-utils.cpp | 175 | ||||
| -rw-r--r-- | can-utils.h | 51 | ||||
| -rw-r--r-- | can_reader.cpp | 11 | ||||
| -rw-r--r-- | low-can-binding.cpp | 77 | ||||
| -rw-r--r-- | timer.h | 2 |
5 files changed, 217 insertions, 99 deletions
diff --git a/can-utils.cpp b/can-utils.cpp new file mode 100644 index 0000000..1e215ba --- /dev/null +++ b/can-utils.cpp @@ -0,0 +1,175 @@ +/* + * 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 +* +*********************************************************************************/ + +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 <canfd_frame> canfd_frame_queue; + std::queue <openxc_can_message_type> can_message_queue; + + th_reading = std::thread(can_reader, interface, socket, canfd_frame_queue); + th_decoding = std::thread(can_decoder, interface, canfd_frame_queue, can_message_queue); + th_pushing = std::thread(can_event_push, interface, can_message_queue); +} + +/******************************************************************************** +* +* 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 SIMPLE: + id = new_id & CAN_SFF_MASK; + case 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 == SIMPLE || new_format == 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; +} + +void CanMessage_c::convert_canfd_frame_to_CanMessage(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 = EXTENDED; + default: + format = STANDARD; + id = canfd_frame->can_id & CAN_SFF_MASK; + + if (sizeof(canfd_frame->data) <= sizeof(data)) + { + for (i = 0; i < lenght; i++) + can_message->data.bytes[i] = canfd_frame->data[i]; + return 0; + } else if (sizeof(canfd_frame->data) >= CAN_MAX_DLEN) + { + ERROR(interface, "parse_can_frame: can_frame data too long to be stored into openxc_CanMessage data field"); + } +}
\ No newline at end of file diff --git a/can-utils.h b/can-utils.h index 20e37fc..d2020a5 100644 --- a/can-utils.h +++ b/can-utils.h @@ -1,4 +1,3 @@ - /* * Copyright (C) 2015, 2016 "IoT.bzh" * Author "Romain Forlot" <romain.forlot@iot.bzh> @@ -84,7 +83,7 @@ typedef uint64_t (*SignalEncoder)(struct CanSignal* signal, openxc_DynamicField* value, bool* send); /* CanBus represent a can device definition gotten from configuraiton file */ -class CanBus { +class CanBus_c { private: /* Got from conf file */ std::string deviceName; @@ -109,11 +108,11 @@ class CanBus { * STANDARD - standard 11-bit CAN arbitration ID. * EXTENDED - an extended frame, with a 29-bit arbitration ID. */ -enum CanMessageFormat { +enum CanMessageFormat_c { STANDARD, EXTENDED, }; -typedef enum CanMessageFormat CanMessageFormat; +typedef enum CanMessageFormat_c CanMessageFormat; /* Public: A state encoded (SED) signal's mapping from numerical values to * OpenXC state names. @@ -126,11 +125,11 @@ struct CanSignalState { }; typedef struct CanSignalState CanSignalState; */ - class CanSignalState { + class CanSignalState_c { private: const int value; const char *name; - } +}; /* Public: A CAN signal to decode from the bus and output over USB. * @@ -188,8 +187,9 @@ struct CanSignal { typedef struct CanSignal CanSignal; */ -class CanSignal { +class CanSignal_c { private: + CanMessageDefinition *message; const char *generic_name; uint8_t bit_position; uint8_t bit_size; @@ -197,7 +197,7 @@ class CanSignal { float offset; float min_value; float max_value; - FrequencyClock clock; + FrequencyClock_t clock; bool send_same; bool force_send_changed; const CanSignalState *states; @@ -207,7 +207,7 @@ class CanSignal { SignalEncoder encoder; bool received; float last_value; -} +}; /* Public: The definition of a CAN message. This includes a lot of metadata, so * to save memory this struct should not be used for storing incoming and @@ -234,15 +234,15 @@ struct CanMessageDefinition { }; typedef struct CanMessageDefinition CanMessageDefinition; */ - class CanMessageDefinition { + class CanMessageDefinition_c { private: CanBus *bus uint32_t id; CanMessageFormat format; - FrequencyClock clock; + FrequencyClock_t clock; bool force_send_changed; uint8_t last_value[CAN_MESSAGE_SIZE]; - } + }; /* A compact representation of a single CAN message, meant to be used in in/out * buffers. @@ -259,15 +259,28 @@ struct CanMessage { }; typedef struct CanMessage CanMessage; */ -class CanMessage { +class CanMessage_c { private: uint32_t id; CanMessageFormat format; uint8_t data[CAN_MESSAGE_SIZE]; uint8_t length; -} -QUEUE_DECLARE(CanMessage, 8); + public: + uint32_t get_id(); + int get_format(); + uint8_t get_data(); + uint8_t get_lenght(); + + void set_id(uint32_t id); + void set_format(CanMessageFormat format); + void set_data(uint8_t data); + void set_lenght(uint8_t length); + + void convert_canfd_frame_to_CanMessage(canfd_frame frame); +}; + +QUEUE_DECLARE(CanMessage_c, 8); /* Private: An entry in the list of acceptance filters for each CanBus. * @@ -316,7 +329,7 @@ typedef struct { unsigned short commandCount; } CanMessageSet; */ -class CanMessageSet { +class CanMessageSet_c { private: uint8_t index; const char * name; @@ -324,7 +337,7 @@ class CanMessageSet { unsigned short messageCount; unsigned short signalCount; unsigned short commandCount; -} +}; /* Public: The type signature for a function to handle a custom OpenXC command. * @@ -361,11 +374,11 @@ typedef struct { } CanCommand; */ -class CanCommand { +class CanCommand_c { private: const char* genericName; CommandHandler handler; -} +}; /* Pre initialize actions made before CAN bus initialization * diff --git a/can_reader.cpp b/can_reader.cpp index f5e2833..35ea79e 100644 --- a/can_reader.cpp +++ b/can_reader.cpp @@ -21,10 +21,11 @@ #include <afb/afb-binding.h> -void can_reader(afb_binding_interface *interface, int socket, std::queue <canfd_frame>& canfd_frame_queue) +void can_reader(afb_binding_interface *interface, int socket, std::queue <CanMessage_t>& can_message_q) { ssize_t nbytes; int maxdlen; + CanMessage_t can_message; /* Test that socket is really opened */ if ( socket < 0) @@ -39,7 +40,7 @@ void can_reader(afb_binding_interface *interface, int socket, std::queue <canfd_ switch(nbytes) { - case CANFD_MTU:s + case CANFD_MTU: DEBUG(interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len); maxdlen = CANFD_MAX_DLEN; break; @@ -64,6 +65,10 @@ void can_reader(afb_binding_interface *interface, int socket, std::queue <canfd_ return -4; } */ - canfd_frame_queue.push(canfd_frame); + + can_message.convert_canfd_frame_to_CanMessage(canfd_frame); + + + can_message_q.push(can_message); } } diff --git a/low-can-binding.cpp b/low-can-binding.cpp index 53517a6..b523e9d 100644 --- a/low-can-binding.cpp +++ b/low-can-binding.cpp @@ -48,81 +48,6 @@ */ static const struct afb_binding_interface *interface; -/******************************************************************************** -* -* CanBus method implementation -* -*********************************************************************************/ - -int CanBus::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::close() -{ - close(socket); - socket = -1; -} - -void CanBus::start_threads() -{ - std::queue <canfd_frame> canfd_frame_queue; - std::queue <openxc_can_message_type> can_message_queue; - - th_reading = std::thread(can_reader, interface, socket, canfd_frame_queue); - th_decoding = std::thread(can_decoder, interface, canfd_frame_queue, can_message_queue); - th_pushing = std::thread(can_event_push, interface, can_message_queue); -} /******************************************************************************** * @@ -305,7 +230,7 @@ int afbBindingV1ServiceInit(struct afb_service service) /* Open JSON conf file */ /* Open CAN socket */ - CanBus CanBus_handler; + CanBus_t CanBus_handler; CanBus_handler.open(); CanBus_handler.start_threads(); @@ -32,7 +32,7 @@ typedef struct { } FrequencyClock; */ -class FrequencyClock { +class FrequencyClock_c { private: float frequency; unsigned long last_tick; |