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-rw-r--r--src/can/can-bus-dev.cpp45
1 files changed, 30 insertions, 15 deletions
diff --git a/src/can/can-bus-dev.cpp b/src/can/can-bus-dev.cpp
index 85bed4a..fb76498 100644
--- a/src/can/can-bus-dev.cpp
+++ b/src/can/can-bus-dev.cpp
@@ -31,7 +31,9 @@
#include "../low-can-binding.hpp"
/// @brief Class constructor
-/// @param dev_name String representing the device name into the linux /dev tree
+///
+/// @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}
{}
@@ -47,6 +49,10 @@ uint32_t can_bus_dev_t::get_address() const
}
/// @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()
{
@@ -55,41 +61,41 @@ int can_bus_dev_t::open()
struct ifreq ifr;
struct timeval timeout;
- DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_.socket());
+ 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, "CAN Handler socket correctly initialized : %d", can_socket_.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, "setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
- DEBUG(binder_interface, "Switch CAN Handler socket to use fd mode");
+ 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, "Can not switch into CAN Extended frame format.");
+ NOTICE(binder_interface, "open: 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.");
+ 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, "ifr_name is : %s", ifr.ifr_name);
+ DEBUG(binder_interface, "open: 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));
+ ERROR(binder_interface, "open: ioctl failed. Error was : %s", strerror(errno));
}
else
{
@@ -109,12 +115,17 @@ int can_bus_dev_t::open()
}
/// @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
+/// @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;
@@ -161,7 +172,7 @@ void can_bus_dev_t::stop_reading()
}
/// @brief Thread function used to read the can socket.
-/// @param[in] can_bus object to be 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_)
@@ -176,7 +187,9 @@ void can_bus_dev_t::can_reader(can_bus_t& can_bus)
}
/// @brief Send a can message from a can_message_t object.
-/// @param[in] can_msg the can message object to send
+/// @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;
@@ -211,6 +224,8 @@ int can_bus_dev_t::send(can_message_t& can_msg)
/// @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;
@@ -227,14 +242,14 @@ bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* dat
if (nbytes == -1)
{
ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
- return -1;
+ return false;
}
- return (int)nbytes;
+ return true;
}
else
{
ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
open();
}
- return 0;
+ return false;
}