diff options
| -rw-r--r-- | src/can/can-bus-dev.cpp | 92 | ||||
| -rw-r--r-- | src/can/can-bus-dev.hpp | 60 | ||||
| -rw-r--r-- | src/can/can-bus.cpp | 75 | ||||
| -rw-r--r-- | src/can/can-bus.hpp | 140 |
4 files changed, 208 insertions, 159 deletions
diff --git a/src/can/can-bus-dev.cpp b/src/can/can-bus-dev.cpp new file mode 100644 index 0000000..5166550 --- /dev/null +++ b/src/can/can-bus-dev.cpp @@ -0,0 +1,92 @@ +/* + * Copyright (C) 2015, 2016, 2017 "IoT.bzh" + * Author "Romain Forlot" <romain.forlot@iot.bzh> + * Author "Loïc Collignon" <loic.collignon@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. + */ + +#include <string.h> +#include <linux/can/raw.h> +#include <net/if.h> +#include <sys/ioctl.h> + +#include "can-bus-dev.hpp" +#include "low-can-binding.hpp" + +/// @brief Class constructor +/// @param dev_name String representing the device name into the linux /dev tree +can_bus_dev_t::can_bus_dev_t(const std::string& dev_name) + : device_name_{dev_name} +{ +} + +/// @brief Open the can socket and returning it +/// @return -1 +int can_bus_dev_t::open() +{ + const int canfd_on = 1; + const int timestamp_on = 1; + struct ifreq ifr; + struct timeval timeout; + + DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_.socket()); + if (can_socket_) return 0; + + can_socket_.open(PF_CAN, SOCK_RAW, CAN_RAW); + if (can_socket_) + { + DEBUG(binder_interface, "CAN Handler socket correctly initialized : %d", can_socket_.socket()); + + // Set timeout for read + can_socket_.setopt(SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout)); + + // Set timestamp for receveid frame + if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, ×tamp_on, sizeof(timestamp_on)) < 0) + WARNING(binder_interface, "setsockopt SO_TIMESTAMP error: %s", ::strerror(errno)); + DEBUG(binder_interface, "Switch CAN Handler socket to use fd mode"); + + // try to switch the socket into CAN_FD mode + if (can_socket_.setopt(SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0) + { + NOTICE(binder_interface, "Can not switch into CAN Extended frame format."); + is_fdmode_on_ = false; + } + else + { + DEBUG(binder_interface, "Correctly set up CAN socket to use FD frames."); + is_fdmode_on_ = true; + } + + // Attempts to open a socket to CAN bus + ::strcpy(ifr.ifr_name, device_name_.c_str()); + DEBUG(binder_interface, "ifr_name is : %s", ifr.ifr_name); + if(::ioctl(can_socket_.socket(), SIOCGIFINDEX, &ifr) < 0) + ERROR(binder_interface, "ioctl failed. Error was : %s", strerror(errno)); + else + { + txAddress_.can_family = AF_CAN; + txAddress_.can_ifindex = ifr.ifr_ifindex; + + // And bind it to txAddress + DEBUG(binder_interface, "Bind the socket"); + if (::bind(can_socket_.socket(), (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0) + ERROR(binder_interface, "Bind failed. %s", strerror(errno)); + else + return 0; + } + close(); + } + else ERROR(binder_interface, "socket could not be created. Error was : %s", ::strerror(errno)); + return -1; +} diff --git a/src/can/can-bus-dev.hpp b/src/can/can-bus-dev.hpp new file mode 100644 index 0000000..83a1b30 --- /dev/null +++ b/src/can/can-bus-dev.hpp @@ -0,0 +1,60 @@ +/* + * Copyright (C) 2015, 2016, 2017 "IoT.bzh" + * Author "Romain Forlot" <romain.forlot@iot.bzh> + * Author "Loïc Collignon" <loic.collignon@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 + +#include <string> +#include <thread> +#include <linux/can.h> + +#include "../utils/socket.hpp" + +class can_bus_t; +class can_message_t; + +/// @brief Object representing a can device. Handle opening, closing and reading on the +/// socket. This is the low level object to be use by can_bus_t. +class can_bus_dev_t +{ +private: + std::string device_name_; + utils::socket_t can_socket_; + + int32_t id_; /// < an identifier used through binding that refer to that device + + bool is_fdmode_on_; /// < boolean telling if whether or not the can socket use fdmode. + struct sockaddr_can txAddress_; /// < internal member using to bind to the socket + + std::thread th_reading_; /// < Thread handling read the socket can device filling can_message_q_ queue of can_bus_t + bool is_running_; /// < boolean telling whether or not reading is running or not + void can_reader(can_bus_t& can_bus); + +public: + can_bus_dev_t(const std::string& dev_name); + + int open(); + int close(); + + void start_reading(can_bus_t& can_bus); + + void stop_reading(); + + std::pair<struct canfd_frame&, size_t> read(); + + int send_can_message(can_message_t& can_msg); +}; diff --git a/src/can/can-bus.cpp b/src/can/can-bus.cpp index 699cb8c..e92e2cb 100644 --- a/src/can/can-bus.cpp +++ b/src/can/can-bus.cpp @@ -15,8 +15,6 @@ * limitations under the License. */ -#include "can/can-bus.hpp" - #include <map> #include <cerrno> #include <vector> @@ -37,6 +35,8 @@ extern "C" #include <afb/afb-binding.h> } +#include "can/can-bus.hpp" + /******************************************************************************** * * can_bus_t method implementation @@ -53,6 +53,7 @@ can_bus_t::can_bus_t(int conf_file) { } + /** * @brief thread to decoding raw CAN messages. * @@ -358,74 +359,6 @@ std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::get_can_devices * can_bus_dev_t method implementation * *********************************************************************************/ -/** -* @brief Class constructor -* -* @param const string representing the device name into the linux /dev tree -*/ -can_bus_dev_t::can_bus_dev_t(const std::string& dev_name) - : device_name_{dev_name}, can_socket_{-1} -{} - -/** -* @brief Open the can socket and returning it -* -* @return -*/ -int can_bus_dev_t::open() -{ - const int canfd_on = 1; - const int timestamp_on = 1; - struct ifreq ifr; - struct timeval timeout; - - DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_); - if (can_socket_ >= 0) - return 0; - - can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW); - DEBUG(binder_interface, "CAN Handler socket correctly initialized : %d", can_socket_); - if (can_socket_ < 0) - ERROR(binder_interface, "socket could not be created. Error was : %s", ::strerror(errno)); - else - { - /* Set timeout for read */ - ::setsockopt(can_socket_, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout)); - /* Set timestamp for receveid frame */ - if (::setsockopt(can_socket_, SOL_SOCKET, SO_TIMESTAMP, ×tamp_on, sizeof(timestamp_on)) < 0) - WARNING(binder_interface, "setsockopt SO_TIMESTAMP error: %s", ::strerror(errno)); - DEBUG(binder_interface, "Switch CAN Handler socket to use fd mode"); - /* 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(binder_interface, "Can not switch into CAN Extended frame format."); - is_fdmode_on_ = false; - } else { - DEBUG(binder_interface, "Correctly set up CAN socket to use FD frames."); - is_fdmode_on_ = true; - } - - /* Attempts to open a socket to CAN bus */ - ::strcpy(ifr.ifr_name, device_name_.c_str()); - DEBUG(binder_interface, "ifr_name is : %s", ifr.ifr_name); - if(::ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0) - ERROR(binder_interface, "ioctl failed. Error was : %s", strerror(errno)); - else - { - txAddress_.can_family = AF_CAN; - txAddress_.can_ifindex = ifr.ifr_ifindex; - - /* And bind it to txAddress */ - DEBUG(binder_interface, "Bind the socket"); - if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0) - ERROR(binder_interface, "Bind failed. %s", strerror(errno)); - else - return 0; - } - close(); - } - return -1; -} /** * @brief Open the can socket and returning it @@ -552,4 +485,4 @@ int can_bus_dev_t::send_can_message(can_message_t& can_msg) open(); } return 0; -}
\ No newline at end of file +} diff --git a/src/can/can-bus.hpp b/src/can/can-bus.hpp index 4c26528..4443bf2 100644 --- a/src/can/can-bus.hpp +++ b/src/can/can-bus.hpp @@ -1,6 +1,7 @@ /* - * Copyright (C) 2015, 2016 "IoT.bzh" + * Copyright (C) 2015, 2016, 2017 "IoT.bzh" * Author "Romain Forlot" <romain.forlot@iot.bzh> + * Author "Loïc Collignon" <loic.collignon@iot.bzh> * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. @@ -30,6 +31,8 @@ #include "low-can-binding.hpp" +#include "can-bus-dev.hpp" + // TODO actual max is 32 but dropped to 24 for memory considerations #define MAX_ACCEPTANCE_FILTERS 24 // TODO this takes up a ton of memory @@ -37,93 +40,54 @@ #define CAN_ACTIVE_TIMEOUT_S 30 -class can_bus_dev_t; - -/** - * @class can_bus_t - * @brief Object used to handle decoding and manage event queue to be pushed. - * - * This object is also used to initialize can_bus_dev_t object after reading - * json conf file describing the CAN devices to use. Thus, those object will read - * on the device the CAN frame and push them into the can_bus_t can_message_q_ queue. - * - * That queue will be later used to be decoded and pushed to subscribers. - */ -class can_bus_t { - private: - int conf_file_; /*!< conf_file_ - configuration file handle used to initialize can_bus_dev_t objects.*/ - - void can_decode_message(); - std::thread th_decoding_; /*!< thread that'll handle decoding a can frame */ - bool is_decoding_; /*!< boolean member controling thread while loop*/ - - void can_event_push(); - std::thread th_pushing_; /*!< thread that'll handle pushing decoded can frame to subscribers */ - bool is_pushing_; /*!< boolean member controling thread while loop*/ - - std::condition_variable new_can_message_cv_; /*!< condition_variable use to wait until there is a new CAN message to read*/ - std::mutex can_message_mutex_; /*!< mutex protecting the can_message_q_ queue.*/ - std::queue <can_message_t> can_message_q_; /*!< queue that'll store can_message_t to decoded */ - - std::condition_variable new_decoded_can_message_; /*!< condition_variable use to wait until there is a new vehicle message to read from the queue vehicle_message_q_*/ - std::mutex decoded_can_message_mutex_; /*!< mutex protecting the vehicle_message_q_ queue.*/ - std::queue <openxc_VehicleMessage> vehicle_message_q_; /*!< queue that'll store openxc_VehicleMessage to pushed */ - - std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_devices_m_; /*!< Can device map containing all can_bus_dev_t objects initialized during init_can_dev function*/ - - public: - can_bus_t(int conf_file); - - int init_can_dev(); - std::vector<std::string> read_conf(); - - - void start_threads(); - void stop_threads(); - - can_message_t next_can_message(); - void push_new_can_message(const can_message_t& can_msg); - std::mutex& get_can_message_mutex(); - std::condition_variable& get_new_can_message_cv(); - - openxc_VehicleMessage next_vehicle_message(); - void push_new_vehicle_message(const openxc_VehicleMessage& v_msg); - - std::map<std::string, std::shared_ptr<can_bus_dev_t>> get_can_devices(); -}; - - -/** - * @class can_bus_dev_t - * - * @brief Object representing a can device. Handle opening, closing and reading on the - * socket. This is the low level object to be use by can_bus_t. - */ -class can_bus_dev_t { - private: - int32_t id_; /*!< int32_t id_ - an identifier used through binding that refer to that device*/ - std::string device_name_; /*!< std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc. */ - int can_socket_; /*!< socket handler for the can device */ - bool is_fdmode_on_; /*!< boolean telling if whether or not the can socket use fdmode. */ - struct sockaddr_can txAddress_; /*!< internal member using to bind to the socket */ - - std::thread th_reading_; /*!< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t */ - bool is_running_; /*!< boolean telling whether or not reading is running or not */ - void can_reader(can_bus_t& can_bus); - - public: - can_bus_dev_t(const std::string& dev_name); - - int open(); - int close(); - - void start_reading(can_bus_t& can_bus); - - void stop_reading(); - - std::pair<struct canfd_frame&, size_t> read(); - - int send_can_message(can_message_t& can_msg); +/// @brief Object used to handle decoding and manage event queue to be pushed. +/// +/// This object is also used to initialize can_bus_dev_t object after reading +/// json conf file describing the CAN devices to use. Thus, those object will read +/// on the device the CAN frame and push them into the can_bus_t can_message_q_ queue. +/// +/// That queue will be later used to be decoded and pushed to subscribers. +class can_bus_t +{ +private: + int conf_file_; /// < configuration file handle used to initialize can_bus_dev_t objects. + + void can_decode_message(); + std::thread th_decoding_; /// < thread that'll handle decoding a can frame + bool is_decoding_; /// < boolean member controling thread while loop + + void can_event_push(); + std::thread th_pushing_; /// < thread that'll handle pushing decoded can frame to subscribers + bool is_pushing_; /// < boolean member controling thread while loop + + std::condition_variable new_can_message_cv_; /// < condition_variable use to wait until there is a new CAN message to read + std::mutex can_message_mutex_; /// < mutex protecting the can_message_q_ queue. + std::queue <can_message_t> can_message_q_; /// < queue that'll store can_message_t to decoded + + std::condition_variable new_decoded_can_message_; /// < condition_variable use to wait until there is a new vehicle message to read from the queue vehicle_message_q_ + std::mutex decoded_can_message_mutex_; /// < mutex protecting the vehicle_message_q_ queue. + std::queue <openxc_VehicleMessage> vehicle_message_q_; /// < queue that'll store openxc_VehicleMessage to pushed + + std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_devices_m_; /// < Can device map containing all can_bus_dev_t objects initialized during init_can_dev function + +public: + can_bus_t(int conf_file); + + int init_can_dev(); + std::vector<std::string> read_conf(); + + void start_threads(); + void stop_threads(); + + can_message_t next_can_message(); + void push_new_can_message(const can_message_t& can_msg); + std::mutex& get_can_message_mutex(); + std::condition_variable& get_new_can_message_cv(); + + openxc_VehicleMessage next_vehicle_message(); + void push_new_vehicle_message(const openxc_VehicleMessage& v_msg); + + std::map<std::string, std::shared_ptr<can_bus_dev_t>> get_can_devices(); }; /// TODO: implement this function as method into can_bus class |