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-rw-r--r--src/can-utils.cpp226
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diff --git a/src/can-utils.cpp b/src/can-utils.cpp
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+/*
+ * 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
+*
+*********************************************************************************/
+
+CanBus_c::CanBus_c(afb_binding_interface *itf, const std:string& dev_name)
+{
+ interface = itf;
+ deviceName = dev_name;
+}
+
+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 <CanMessage_c> can_message_q;
+
+ th_reading = std::thread(can_reader, interface, socket, can_message_q);
+ th_decoding = std::thread(can_decoder, interface, can_message_q, can_message_q);
+ th_pushing = std::thread(can_event_push, interface, can_message_q);
+}
+
+/*
+ * Send a can message from a CanMessage_c object.
+ */
+int CanBus_c::send_can_message(CanMessage_c can_msg)
+{
+ int nbytes;
+ canfd_frame *f;
+
+ f = can_msg.convert_to_canfd_frame();
+
+ if(socket >= 0)
+ {
+ nbytes = sendto(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_can_dev();
+ }
+ return 0;
+}
+
+/********************************************************************************
+*
+* 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 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 CanMessage_c::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 CanMessage_c::set_data(uint8_t new_data)
+{
+ data = new_data;
+}
+
+void CanMessage_c::set_lenght(uint8_t new_length)
+{
+ lenght = new_lenght;
+}
+
+/*
+ * This is the preferred way to initialize a CanMessage object
+ * from a read canfd_frame message.
+ *
+ * params: canfd_frame pointer
+ */
+void CanMessage_c::convert_from_canfd_frame(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 = CanMessageFormat::EXTENDED;
+ break;
+ default:
+ format = CanMessageFormat::STANDARD;
+ id = canfd_frame->can_id & CAN_SFF_MASK;
+ break;
+
+ if (sizeof(canfd_frame->data) <= sizeof(data))
+ {
+ memcpy(data, canfd_frame->data, lenght);
+ return 0;
+ } else if (sizeof(canfd_frame->data) >= CAN_MAX_DLEN)
+ ERROR(interface, "CanMessage_c: canfd_frame data too long to be stored into CanMessage object");
+}
+
+canfd_frame* convert_to_canfd_frame()
+{
+ canfd_frame frame;
+
+ frame.id = can_msg.get_id();
+ frame.len = can_msg.get_lenght();
+ frame.data = can_msg.get_data();
+
+ return &frame;
+}