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-rw-r--r--src/can/can-bus-dev.cpp255
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diff --git a/src/can/can-bus-dev.cpp b/src/can/can-bus-dev.cpp
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--- a/src/can/can-bus-dev.cpp
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-/*
-* 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 <string.h>
-#include <net/if.h>
-#include <sys/ioctl.h>
-#include <linux/can/raw.h>
-
-#include "can-bus-dev.hpp"
-
-#include "can-bus.hpp"
-#include "can-message.hpp"
-#include "../low-can-binding.hpp"
-
-/// @brief Class constructor
-///
-/// @param[in] dev_name - String representing the device name into the linux /dev tree
-/// @param[in] address - 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, int32_t address)
- : device_name_{dev_name}, address_{address}
-{}
-
-std::string can_bus_dev_t::get_device_name() const
-{
- return device_name_;
-}
-
-uint32_t can_bus_dev_t::get_address() const
-{
- return address_;
-}
-
-/// @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 -1 if something wrong.
-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, "open: 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, "open: 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, &timestamp_on, sizeof(timestamp_on)) < 0)
- WARNING(binder_interface, "open: setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
- DEBUG(binder_interface, "open: 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, "open: Can not switch into CAN Extended frame format.");
- is_fdmode_on_ = false;
- }
- else
- {
- DEBUG(binder_interface, "open: 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, "open: ifr_name is : %s", ifr.ifr_name);
- if(::ioctl(can_socket_.socket(), SIOCGIFINDEX, &ifr) < 0)
- {
- ERROR(binder_interface, "open: 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 (can_socket_.bind((struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
- ERROR(binder_interface, "Bind failed. %s", strerror(errno));
- else return 0;
- }
- close();
- }
- else ERROR(binder_interface, "open: socket could not be created. Error was : %s", ::strerror(errno));
- return -1;
-}
-
-/// @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, "read: Socket unavailable. Closing thread.");
- 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, "read: %s CAN device down", device_name_.c_str());
- ERROR(binder_interface, "read: Incomplete CAN(FD) frame");
- ::memset(&cfd, 0, sizeof(cfd));
- }
-
- DEBUG(binder_interface, "read: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", 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_canfd_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, "Launching reading thread");
- 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)
-{
- ssize_t nbytes;
- canfd_frame f;
-
- f = can_msg.convert_to_canfd_frame();
-
- if(can_socket_)
- {
- nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0,
- (struct sockaddr*)&txAddress_, sizeof(txAddress_));
- if (nbytes == -1)
- {
- ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
- return -1;
- }
- return (int)nbytes;
- }
- else
- {
- ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
- open();
- }
- 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)
-{
- ssize_t nbytes;
- canfd_frame f;
-
- f.can_id = arbitration_id;
- f.len = size;
- ::memcpy(f.data, data, size);
-
- if(can_socket_)
- {
- nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0,
- (struct sockaddr*)&txAddress_, sizeof(txAddress_));
- if (nbytes == -1)
- {
- ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
- return false;
- }
- return true;
- }
- else
- {
- ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
- open();
- }
- return false;
-}