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Diffstat (limited to 'src/can/can-bus-dev.cpp')
| -rw-r--r-- | src/can/can-bus-dev.cpp | 255 |
1 files changed, 0 insertions, 255 deletions
diff --git a/src/can/can-bus-dev.cpp b/src/can/can-bus-dev.cpp deleted file mode 100644 index fb76498..0000000 --- a/src/can/can-bus-dev.cpp +++ /dev/null @@ -1,255 +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 <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, ×tamp_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; -} |