diff options
Diffstat (limited to 'CAN-binder/low-can-binding/can/can-bus-dev.cpp')
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus-dev.cpp | 220 |
1 files changed, 0 insertions, 220 deletions
diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.cpp b/CAN-binder/low-can-binding/can/can-bus-dev.cpp deleted file mode 100644 index 0a2cd30..0000000 --- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp +++ /dev/null @@ -1,220 +0,0 @@ -/* -* 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 <map> -#include <mutex> -#include <unistd.h> -#include <linux/can/raw.h> -#include <linux/can/bcm.h> - -#include "can-bus.hpp" -#include "can-message.hpp" -#include "../binding/low-can-hat.hpp" - -/// @brief Class constructor -/// -/// @param[in] dev_name - String representing the device name into the linux /dev tree -/// @param[in] index - integer identifier of the bus, set using init_can_dev from can_bus_t. -can_bus_dev_t::can_bus_dev_t(const std::string& dev_name, int index) - : device_name_{dev_name}, index_{index} -{} - -std::string can_bus_dev_t::get_device_name() const -{ - return device_name_; -} - -int can_bus_dev_t::get_index() const -{ - return index_; -} -utils::socketcan_t& can_bus_dev_t::get_socket() -{ - return can_socket_; -} - -/// @brief Open the can socket and returning it -/// -/// We try to open CAN socket and apply the following options -/// timestamp received messages and pass the socket to FD mode. -/// -/// @return socket value or -1 if something wrong. -int can_bus_dev_t::open() -{ - return can_socket_.open(device_name_); -} - -/// @brief Set some option on the socket, timestamp and canfd frame usage. -void can_bus_dev_t::configure() -{ - if (can_socket_) - { - const int timestamp_on = 1; - const int canfd_on = 1; - - DEBUG(binder_interface, "%s: CAN Handler socket correctly initialized : %d", __FUNCTION__, can_socket_.socket()); - - // 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, "%s: Can not switch into CAN Extended frame format: %s", __FUNCTION__, ::strerror(errno)); - } - - if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, ×tamp_on, sizeof(timestamp_on)) < 0) - WARNING(binder_interface, "%s: setsockopt SO_TIMESTAMP error: %s", __FUNCTION__, ::strerror(errno)); - } - else - { - ERROR(binder_interface, "open_raw: socket could not be created. Error was : %s", ::strerror(errno)); - } -} - -/// @brief Close the bus. -/// -/// @return interger return value of socket.close() function -int can_bus_dev_t::close() -{ - return can_socket_.close(); -} - -/// @brief Read the can socket and retrieve canfd_frame. -/// -/// Read operation are blocking and we try to read CANFD frame -/// rather than classic CAN frame. CANFD frame are retro compatible. -can_message_t can_bus_dev_t::read() -{ - ssize_t nbytes; - struct canfd_frame cfd; - - // Test that socket is really opened - if (!can_socket_) - { - ERROR(binder_interface, "%s: Socket unavailable. Closing thread.", __FUNCTION__); - is_running_ = false; - } - - nbytes = ::read(can_socket_.socket(), &cfd, CANFD_MTU); - - // if we did not fit into CAN sized messages then stop_reading. - if (nbytes != CANFD_MTU && nbytes != CAN_MTU) - { - if (errno == ENETDOWN) - ERROR(binder_interface, "%s: %s CAN device down", __FUNCTION__, device_name_.c_str()); - ERROR(binder_interface, "%s: Incomplete CAN(FD) frame", __FUNCTION__); - ::memset(&cfd, 0, sizeof(cfd)); - } - - DEBUG(binder_interface, "%s: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", __FUNCTION__, cfd.can_id, cfd.len, - cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]); - return can_message_t::convert_from_frame(cfd, nbytes); -} - -/// @brief start reading threads and set flag is_running_ -/// @param[in] can_bus reference can_bus_t. it will be passed to the thread to allow using can_bus_t queue. -void can_bus_dev_t::start_reading(can_bus_t& can_bus) -{ - DEBUG(binder_interface, "%s: Launching reading thread", __FUNCTION__); - is_running_ = true; - th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus)); - if(!th_reading_.joinable()) - is_running_ = false; -} - -/// @brief stop the reading thread setting flag is_running_ to false and and wait that the thread finish its job. -void can_bus_dev_t::stop_reading() -{ - is_running_ = false; -} - -/// @brief Thread function used to read the can socket. -/// @param[in] can_bus - object to be used to read the can socket -void can_bus_dev_t::can_reader(can_bus_t& can_bus) -{ - while(is_running_) - { - can_message_t msg = read(); - { - std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex()); - can_bus.push_new_can_message(msg); - } - can_bus.get_new_can_message_cv().notify_one(); - } -} - -/// @brief Send a can message from a can_message_t object. -/// @param[in] can_msg - the can message object to send -/// -/// @return 0 if message snet, -1 if something wrong. -int can_bus_dev_t::send(can_message_t& can_msg) -{ - canfd_frame f; - f = can_msg.convert_to_canfd_frame(); - - if(can_socket_) - { - can_socket_ << f; - if(!can_socket_) - { - ERROR(binder_interface, "%s: Sending CAN frame failed.", __FUNCTION__); - return -1; - } - } - else - { - ERROR(binder_interface, "%s: socket not initialized. Attempt to reopen can device socket.", __FUNCTION__); - open(); - return -1; - } - return 0; -} - -/// @brief Static method used to send diagnostic CAN message -/// that follow isotp SendShimsMessage signature. This method is launched -/// from diagnostic manager's' same name method. It will use the diagnostic -/// manager configured CAN bus device to send the CAN message. -/// -/// @param[in] arbitration_id - CAN arbitration id. -/// @param[in] data - CAN message payload to send -/// @param[in] size - size of the data to send -/// -/// @return True if message sent, false if not. -bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size) -{ - canfd_frame f; - - f.can_id = arbitration_id; - f.len = size; - ::memcpy(f.data, data, size); - - if(can_socket_) - { - can_socket_ << f; - if (!can_socket_) - { - ERROR(binder_interface, "send_can_message: Sending CAN frame failed."); - return false; - } - } - else - { - ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket."); - open(); - return false; - } - return true; -} |