diff options
| -rw-r--r-- | src/can-utils.cpp | 298 | ||||
| -rw-r--r-- | src/can-utils.hpp | 11 |
2 files changed, 156 insertions, 153 deletions
diff --git a/src/can-utils.cpp b/src/can-utils.cpp index d2ddb1d..a50bfd4 100644 --- a/src/can-utils.cpp +++ b/src/can-utils.cpp @@ -17,6 +17,103 @@ #include "can-utils.hpp" + +/******************************************************************************** +* +* CanMessage method implementation +* +*********************************************************************************/ + +can_message_t::can_message_t(const struct afb_binding_interface* interface) + : interface_{interface} +{} + +uint32_t can_message_t::get_id() const +{ + (id_ != 0) ? return id_ : return 0; +} + +int can_message_t::get_format() const +{ + (format_ != CanMessageFormat::SIMPLE || format_ != CanMessageFormat::EXTENDED) return -1 : return format_; +} + +uint8_t can_message_t::get_data() const +{ + return data_; +} +uint8_t can_message_t::get_lenght() const +{ + return lenght_; +} + +void can_message_t::set_id(uint32_t &new_id) +{ + switch(format): + case CanMessageFormat::SIMPLE: + id = new_id & CAN_SFF_MASK; + case CanMessageFormat::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 can_message_t::set_format(CanMessageFormat &new_format) +{ + if(new_format == CanMessageFormat::SIMPLE || new_format == CanMessageFormat::EXTENDED) + format = new_format; + else + ERROR(interface_, "ERROR: Can set format, wrong format chosen"); +} + +void can_message_t::set_data(uint8_t &new_data) +{ + ::memcpy(data_, new_data, new_data.size()); + lenght_ = new_data(size); +} + +/* + * This is the preferred way to initialize a CanMessage object + * from a read canfd_frame message. + * + * params: canfd_frame pointer + */ +void can_message_t::convert_from_canfd_frame(canfd_frame &frame) +{ + lenght_ = (frame.len > CAN_MAX_DLEN) ? CAN_MAX_DLEN : frame.len; + lenght_ = (frame.len > CANFD_MAX_DLEN) ? CANFD_MAX_DLEN : frame.len; + + switch (frame.can_id): + case (frame.can_id & CAN_ERR_FLAG): + id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG); + break; + case (frame.can_id & CAN_EFF_FLAG): + id_ = frame.can_id & CAN_EFF_MASK; + format_ = CanMessageFormat::EXTENDED; + break; + default: + format_ = CanMessageFormat::STANDARD; + id_ = frame.can_id & CAN_SFF_MASK; + break; + + if (sizeof(frame.data) <= data_.size()) + { + ::memcpy(data_, canfd_frame.data, lenght_); + return 0; + } else if (sizeof(frame.data) >= CAN_MAX_DLEN) + ERROR(interface_, "can_message_t: canfd_frame data too long to be stored into CanMessage object"); +} + +canfd_frame can_message_t::convert_to_canfd_frame() +{ + canfd_frame frame; + + frame.can_id = get_id(); + frame.len = get_lenght(); + ::memcpy(frame.data, get_data(), lenght_); + + return frame; +} /******************************************************************************** * * can_bus_dev_t method implementation @@ -182,6 +279,38 @@ bool can_bus_dev_t::has_can_message() const return has_can_message_; } +/** + * @brief Send a can message from a can_message_t object. + * + * params[const can_message_t& can_msg] the can message object to send + * + */ +int can_bus_dev_t::send_can_message(can_message_t& can_msg, const struct afb_binding_interface* interface) +{ + size_t nbytes; + canfd_frame f; + + f = can_msg.convert_to_canfd_frame(); + + if(can_socket_ >= 0) + { + nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0, + (struct sockaddr*)&txAddress_, sizeof(txAddress_)); + + if (nbytes == -1) + { + ERROR(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); + } + return 0; +} /******************************************************************************** * * can_bus_t method implementation @@ -213,7 +342,7 @@ void can_bus_t::start_threads() int can_bus_t::init_can_dev() { std::vector<std::string> devices_name; - int i, ret; + int i; size_t t; devices_name = read_conf(); @@ -227,7 +356,7 @@ int can_bus_t::init_can_dev() { can_bus_dev_t can_bus_device_handler(device); can_bus_device_handler.open(interface_); - can_bus_device_handler.start_reading(interface_); + can_bus_device_handler.start_reading(); i++; } @@ -246,72 +375,40 @@ int can_bus_t::init_can_dev() std::vector<std::string> can_bus_t::read_conf() { std::vector<std::string> ret; - json_object jo, canbus; + json_object *jo, *canbus; int n, i, ok; - if (conf_file_) + FILE *fd = fdopen(conf_file_, "r"); + if (fd) { std::string fd_conf_content; - std::fseek(conf_file_, 0, SEEK_END); - fd_conf_content.resize(std::ftell(conf_file_)); - std::rewind(fp); - std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), conf_file_); - std::fclose(conf_file_); + std::fseek(fd, 0, SEEK_END); + fd_conf_content.resize(std::ftell(fd)); + std::rewind(fd); + std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd); + std::fclose(fd); - jo = json_tokener_parse(&fd_conf_content); + jo = json_tokener_parse(fd_conf_content.c_str()); - if (jo == NULL || !json_object_object_get_ex(&jo, "canbus", &&canbus)) + 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."); ret.clear(); } else if (json_object_get_type(canbus) != json_type_array) - ret.push_back(json_object_get_string(a)); + ret.push_back(json_object_get_string(canbus)); else { - n = json_object_array_length(a); + n = json_object_array_length(canbus); ok = 0; for (i = 0 ; i < n ; i++) - ret.push_back(json_object_get_string(json_object_array_get_idx(a, i))); + ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i))); } return ret; } ERROR(interface_, "Problem at reading the conf file"); - return ret.clear(); -} - -/** - * @brief Send a can message from a can_message_t object. - * TODO: specify which can_dev to use as we can use many - * - * params[const can_message_t& can_msg] the can message object to send - * - */ -int can_bus_t::send_can_message(const can_message_t &can_msg) -{ - int nbytes; - canfd_frame *f; - - f = can_msg.convert_to_canfd_frame(); - - if(can_socket_ >= 0) - { - nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0, - (struct sockaddr*)&txAddress, sizeof(txAddress)); - - if (nbytes == -1) - { - ERROR(interface_, "send_can_message: Sending CAN frame failed."); - return -1; - } - return nbytes; - } - else - { - ERROR(interface_, "send_can_message: socket not initialized. Attempt to reopen can device socket."); - open(); - } - return 0; + ret.clear(); + return ret; } /** @@ -320,13 +417,13 @@ int can_bus_t::send_can_message(const can_message_t &can_msg) * * @return the next queue element or NULL if queue is empty. */ -openxc_VehicleMessage* can_bus_t::next_vehicle_message() +openxc_VehicleMessage can_bus_t::next_vehicle_message() { if(! vehicle_message_q_.empty()) { openxc_VehicleMessage v_msg = vehicle_message_q_.front(); vehicle_message_q_.pop(); - return &v_msg; + return v_msg; } has_vehicle_message_ = false; @@ -353,101 +450,4 @@ void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg) bool can_bus_t::has_vehicle_message() const { return has_vehicle_message_; -} - -/******************************************************************************** -* -* CanMessage method implementation -* -*********************************************************************************/ - -can_message_t::can_message_t(afb_binding_interface *itf) - : interface_{itf} -{} - -uint32_t can_message_t::get_id() const -{ - (id_ != 0) ? return id_ : return 0; -} - -int can_message_t::get_format() const -{ - (format_ != CanMessageFormat::SIMPLE || format_ != CanMessageFormat::EXTENDED) return -1 : return format_; -} - -uint8_t can_message_t::get_data() const -{ - return data_; -} -uint8_t can_message_t::get_lenght() const -{ - return lenght_; -} - -void can_message_t::set_id(uint32_t &new_id) -{ - switch(format): - case CanMessageFormat::SIMPLE: - id = new_id & CAN_SFF_MASK; - case CanMessageFormat::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 can_message_t::set_format(CanMessageFormat &new_format) -{ - if(new_format == CanMessageFormat::SIMPLE || new_format == CanMessageFormat::EXTENDED) - format = new_format; - else - ERROR(interface_, "ERROR: Can set format, wrong format chosen"); -} - -void can_message_t::set_data(uint8_t &new_data) -{ - ::memcpy(data_, new_data, new_data.size()); - lenght_ = new_data(size); -} - -/* - * This is the preferred way to initialize a CanMessage object - * from a read canfd_frame message. - * - * params: canfd_frame pointer - */ -void can_message_t::convert_from_canfd_frame(canfd_frame &frame) -{ - lenght_ = (frame.len > CAN_MAX_DLEN) ? CAN_MAX_DLEN : frame.len; - lenght_ = (frame.len > CANFD_MAX_DLEN) ? CANFD_MAX_DLEN : frame.len; - - switch (frame.can_id): - case (frame.can_id & CAN_ERR_FLAG): - id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG); - break; - case (frame.can_id & CAN_EFF_FLAG): - id_ = frame.can_id & CAN_EFF_MASK; - format_ = CanMessageFormat::EXTENDED; - break; - default: - format_ = CanMessageFormat::STANDARD; - id_ = frame.can_id & CAN_SFF_MASK; - break; - - if (sizeof(frame.data) <= data_.size()) - { - ::memcpy(data_, canfd_frame.data, lenght_); - return 0; - } else if (sizeof(frame.data) >= CAN_MAX_DLEN) - ERROR(interface_, "can_message_t: canfd_frame data too long to be stored into CanMessage object"); -} - -canfd_frame can_message_t::convert_to_canfd_frame() -{ - canfd_frame frame; - - frame.can_id = get_id(); - frame.len = get_lenght(); - ::memcpy(frame.data, get_data(), lenght_); - - return frame; -} +}
\ No newline at end of file diff --git a/src/can-utils.hpp b/src/can-utils.hpp index d1310a6..ea116b7 100644 --- a/src/can-utils.hpp +++ b/src/can-utils.hpp @@ -29,6 +29,7 @@ #include <sys/ioctl.h> #include <linux/can.h> #include <sys/socket.h> +#include <json-c/json.h> #include <linux/can/raw.h> #include "timer.hpp" @@ -115,13 +116,15 @@ typedef struct CanMessage CanMessage; */ class can_message_t { private: - const struct afb_binding_interface *interface_; + const struct afb_binding_interface* interface_; uint32_t id_; CanMessageFormat format_; uint8_t data_[CAN_MESSAGE_SIZE]; uint8_t length_; public: + can_message_t(const struct afb_binding_interface* interface); + uint32_t get_id() const; int get_format() const; uint8_t get_data() const; @@ -167,6 +170,8 @@ class can_bus_dev_t { can_message_t next_can_message(); void push_new_can_message(const can_message_t& can_msg); bool has_can_message() const; + + int send_can_message(can_message_t& can_msg, const struct afb_binding_interface* interface); }; /** @@ -193,9 +198,7 @@ class can_bus_t { void start_threads(); - int send_can_message(can_message_t can_msg); - - openxc_VehicleMessage& next_vehicle_message(); + openxc_VehicleMessage next_vehicle_message(); void push_new_vehicle_message(const openxc_VehicleMessage& v_msg); bool has_vehicle_message() const; }; |