diff options
| -rw-r--r-- | ll-can-binding.c | 228 | ||||
| -rw-r--r-- | ll-can-binding.h | 10 |
2 files changed, 114 insertions, 124 deletions
diff --git a/ll-can-binding.c b/ll-can-binding.c index e570d43..adf878b 100644 --- a/ll-can-binding.c +++ b/ll-can-binding.c @@ -154,8 +154,6 @@ static char* create_name(uint32_t id) * object. * * return : json object - * - * */ static json_object* create_json_from_openxc_CanMessage(event *event) { @@ -271,63 +269,6 @@ static int write_can() } /* - * Read on CAN bus and return how much bytes has been read. - */ -static int read_can(openxc_CanMessage *can_message) -{ - ssize_t nbytes; - int maxdlen; - - /* Test that socket is really opened */ - if ( socket_test() < 0) - { - if (retry(open_can_dev) < 0) - { - ERROR(interface, "read_can: Socket unavailable"); - return -1; - } - } - - nbytes = read(can_handler.socket, &canfd_frame, CANFD_MTU); - - if (nbytes == CANFD_MTU) - { - DEBUG(interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len); - } - else if (nbytes == CAN_MTU) - { - DEBUG(interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len); - } - else - { - if (errno == ENETDOWN) - ERROR(interface, "read_can: %s interface down", can_handler.device); - ERROR(interface, "read_can: Error reading CAN bus"); - return -2; - } - - /* CAN frame integrity check */ - if ((size_t)nbytes == CAN_MTU) - maxdlen = CAN_MAX_DLEN; - else if ((size_t)nbytes == CANFD_MTU) - maxdlen = CANFD_MAX_DLEN; - else - { - ERROR(interface, "read_can: CAN frame incomplete"); - return -3; - } - - if (parse_can_frame(can_message, &canfd_frame, maxdlen)) - { - ERROR(interface, "read_can: Can't parse the can frame. ID: %i, DLC: %i, DATA: %s", - canfd_frame.can_id, canfd_frame.len, canfd_frame.data); - return -4; - } - - return 0; -} - -/* * Parse the CAN frame data payload as a CAN packet * TODO: parse as an OpenXC Can Message. Don't translate as ASCII and put bytes * directly into openxc_CanMessage @@ -399,63 +340,104 @@ static int parse_can_frame(openxc_CanMessage *can_message, struct canfd_frame *c return -3; } -/*************************************************************************/ -/*************************************************************************/ -/** **/ -/** **/ -/** SECTION: MANAGING EVENTS **/ -/** **/ -/** **/ -/*************************************************************************/ -/*************************************************************************/ + /* - * called on an event on the CAN bus + * Read on CAN bus and return how much bytes has been read. */ -static int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata) +static int read_can(openxc_CanMessage *can_message) { - openxc_CanMessage can_message; + ssize_t nbytes; + int maxdlen; - can_message = openxc_CanMessage_init_default; + /* Test that socket is really opened */ + if ( socket_test() < 0) + { + if (retry(open_can_dev) < 0) + { + ERROR(interface, "read_can: Socket unavailable"); + return -1; + } + } - /* read available data */ - if ((revents & EPOLLIN) != 0) + nbytes = read(can_handler.socket, &canfd_frame, CANFD_MTU); + + if (nbytes == CANFD_MTU) { - read_can(&can_message); - send_event(); + DEBUG(interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len); + } + else if (nbytes == CAN_MTU) + { + DEBUG(interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len); + } + else + { + if (errno == ENETDOWN) + ERROR(interface, "read_can: %s interface down", can_handler.device); + ERROR(interface, "read_can: Error reading CAN bus"); + return -2; } - /* check if error or hangup */ - if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0) + /* CAN frame integrity check */ + if ((size_t)nbytes == CAN_MTU) + maxdlen = CAN_MAX_DLEN; + else if ((size_t)nbytes == CANFD_MTU) + maxdlen = CANFD_MAX_DLEN; + else { - sd_event_source_unref(s); - close(fd); - connect_to_event_loop(); + ERROR(interface, "read_can: CAN frame incomplete"); + return -3; + } + + if (parse_can_frame(can_message, &canfd_frame, maxdlen)) + { + ERROR(interface, "read_can: Can't parse the can frame. ID: %i, DLC: %i, DATA: %s", + canfd_frame.can_id, canfd_frame.len, canfd_frame.data); + return -4; } return 0; } +/*************************************************************************/ +/*************************************************************************/ +/** **/ +/** **/ +/** SECTION: MANAGING EVENTS **/ +/** **/ +/** **/ +/*************************************************************************/ +/*************************************************************************/ +static int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata); /* - * get or create an event handler for the type + * Get the event loop running. + * Will trigger on_event function on EPOLLIN event on socket + * + * Return 0 or positive value on success. Else negative value for failure. */ -static event *get_event(uint32_t id, enum type type) +static int connect_to_event_loop() { - event *event_elt; - can_event *list; + sd_event *event_loop; + sd_event_source *source; + int rc; - /* find the can list by id */ - list = get_event_list_of_id(id); + if (can_handler.socket < 0) + { + return can_handler.socket; + } - /* make the new event */ - event_elt = (event*)calloc(1, sizeof(event)); - event_elt->next = event_elt; - list->events = event_elt; - event_elt->name = create_name(id); - event_elt->afb_event = afb_daemon_make_event(interface->daemon, event_elt->name); + event_loop = afb_daemon_get_event_loop(interface->daemon); + rc = sd_event_add_io(event_loop, &source, can_handler.socket, EPOLLIN, on_event, NULL); + if (rc < 0) + { + close(can_handler.socket); + ERROR(interface, "Can't connect CAN bus %s to the event loop", can_handler.device); + } else + { + NOTICE(interface, "Connected CAN bus %s to the event loop", can_handler.device); + } - return event_elt; + return rc; } - /* * Send all events */ @@ -482,34 +464,51 @@ static void send_event() } /* - * Get the event loop running. - * Will trigger on_event function on EPOLLIN event on socket - * - * Return 0 or positive value on success. Else negative value for failure. + * called on an event on the CAN bus */ -static int connect_to_event_loop() +static int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata) { - sd_event *event_loop; - sd_event_source *source; - int rc; + openxc_CanMessage can_message; - if (can_handler.socket < 0) + can_message = openxc_CanMessage_init_default; + + /* read available data */ + if ((revents & EPOLLIN) != 0) { - return can_handler.socket; + read_can(&can_message); + send_event(); } - event_loop = afb_daemon_get_event_loop(interface->daemon); - rc = sd_event_add_io(event_loop, &source, can_handler.socket, EPOLLIN, on_event, NULL); - if (rc < 0) - { - close(can_handler.socket); - ERROR(interface, "Can't connect CAN bus %s to the event loop", can_handler.device); - } else + /* check if error or hangup */ + if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0) { - NOTICE(interface, "Connected CAN bus %s to the event loop", can_handler.device); + sd_event_source_unref(s); + close(fd); + connect_to_event_loop(); } - return rc; + return 0; +} + +/* + * get or create an event handler for the type + */ +static event *get_event(uint32_t id, enum type type) +{ + event *event_elt; + can_event *list; + + /* find the can list by id */ + list = get_event_list_of_id(id); + + /* make the new event */ + event_elt = (event*)calloc(1, sizeof(event)); + event_elt->next = event_elt; + list->events = event_elt; + event_elt->name = create_name(id); + event_elt->afb_event = afb_daemon_make_event(interface->daemon, event_elt->name); + + return event_elt; } /*************************************************************************/ @@ -617,7 +616,6 @@ static void unsubscribe(struct afb_req req) } } -// TODO: Have to change session management flag to AFB_SESSION_CHECK to use token auth static const struct afb_verb_desc_v1 verbs[]= { { .name= "subscribe", .session= AFB_SESSION_NONE, .callback= subscribe, .info= "subscribe to notification of CAN bus messages." }, diff --git a/ll-can-binding.h b/ll-can-binding.h index df2c5cd..0a6a230 100644 --- a/ll-can-binding.h +++ b/ll-can-binding.h @@ -76,9 +76,6 @@ struct _can_event { can_event *can_events_list; -/* TODO : Add help comments :p */ -static int connect_to_event_loop(); - // Initialize default can_handler values static struct can_handler can_handler = { .socket = -1, @@ -86,12 +83,7 @@ static struct can_handler can_handler = { .is_fdmode_on = false, }; -static void send_event(); - -static int retry( int(*func)()); - -static int parse_can_frame(openxc_CanMessage *can_message, struct canfd_frame *canfd_frame, int maxdlen); - +/* Redefining openxc_CanMessage_init_default for C */ #ifdef openxc_CanMessage_init_default #undef openxc_CanMessage_init_default #endif |