diff options
Diffstat (limited to 'src/can')
| -rw-r--r-- | src/can/can-bus-dev.cpp | 12 | ||||
| -rw-r--r-- | src/can/can-bus-dev.hpp | 6 | ||||
| -rw-r--r-- | src/can/can-bus.cpp | 164 | ||||
| -rw-r--r-- | src/can/can-bus.hpp | 10 |
4 files changed, 30 insertions, 162 deletions
diff --git a/src/can/can-bus-dev.cpp b/src/can/can-bus-dev.cpp index 5166550..c64242d 100644 --- a/src/can/can-bus-dev.cpp +++ b/src/can/can-bus-dev.cpp @@ -24,15 +24,15 @@ #include "can-bus-dev.hpp" #include "low-can-binding.hpp" -/// @brief Class constructor +/// @brief Class constructor /// @param dev_name String representing the device name into the linux /dev tree can_bus_dev_t::can_bus_dev_t(const std::string& dev_name) : device_name_{dev_name} { } -/// @brief Open the can socket and returning it -/// @return -1 +/// @brief Open the can socket and returning it +/// @return -1 int can_bus_dev_t::open() { const int canfd_on = 1; @@ -47,15 +47,15 @@ int can_bus_dev_t::open() if (can_socket_) { DEBUG(binder_interface, "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, "setsockopt SO_TIMESTAMP error: %s", ::strerror(errno)); DEBUG(binder_interface, "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) { diff --git a/src/can/can-bus-dev.hpp b/src/can/can-bus-dev.hpp index 83a1b30..d7c3458 100644 --- a/src/can/can-bus-dev.hpp +++ b/src/can/can-bus-dev.hpp @@ -29,14 +29,14 @@ class can_message_t; /// @brief Object representing a can device. Handle opening, closing and reading on the /// socket. This is the low level object to be use by can_bus_t. -class can_bus_dev_t +class can_bus_dev_t { private: std::string device_name_; utils::socket_t can_socket_; int32_t id_; /// < an identifier used through binding that refer to that device - + bool is_fdmode_on_; /// < boolean telling if whether or not the can socket use fdmode. struct sockaddr_can txAddress_; /// < internal member using to bind to the socket @@ -55,6 +55,6 @@ public: void stop_reading(); std::pair<struct canfd_frame&, size_t> read(); - + int send_can_message(can_message_t& can_msg); }; diff --git a/src/can/can-bus.cpp b/src/can/can-bus.cpp index e92e2cb..7721132 100644 --- a/src/can/can-bus.cpp +++ b/src/can/can-bus.cpp @@ -55,10 +55,10 @@ can_bus_t::can_bus_t(int conf_file) /** -* @brief thread to decoding raw CAN messages. +* @brief thread to decoding raw CAN messages. * -* @desc It will take from the can_message_q_ queue the next can message to process then it will search -* about signal subscribed if there is a valid afb_event for it. We only decode signal for which a +* @desc It will take from the can_message_q_ queue the next can message to process then it will search +* about signal subscribed if there is a valid afb_event for it. We only decode signal for which a * subscription has been made. Can message will be decoded using translateSignal that will pass it to the * corresponding decoding function if there is one assigned for that signal. If not, it will be the default * noopDecoder function that will operate on it. @@ -77,7 +77,7 @@ void can_bus_t::can_decode_message() std::unique_lock<std::mutex> can_message_lock(can_message_mutex_); new_can_message_cv_.wait(can_message_lock); can_message = next_can_message(); - + /* First we have to found which CanSignal it is */ search_key = build_DynamicField((double)can_message.get_id()); signals.clear(); @@ -88,7 +88,7 @@ void can_bus_t::can_decode_message() { std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex()); std::map<std::string, struct afb_event>& s = get_subscribed_signals(); - + /* DEBUG message to make easier debugger STL containers... DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[sig.generic_name])); DEBUG(binder_interface, "Operator[] key string: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[std::string(sig.generic_name)])); @@ -110,7 +110,7 @@ void can_bus_t::can_decode_message() } /** -* @brief thread to push events to suscribers. It will read subscribed_signals map to look +* @brief thread to push events to suscribers. It will read subscribed_signals map to look * which are events that has to be pushed. */ void can_bus_t::can_event_push() @@ -118,7 +118,7 @@ void can_bus_t::can_event_push() openxc_VehicleMessage v_message; openxc_SimpleMessage s_message; json_object* jo; - + while(is_pushing_) { std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); @@ -149,7 +149,7 @@ void can_bus_t::start_threads() th_decoding_ = std::thread(&can_bus_t::can_decode_message, this); if(!th_decoding_.joinable()) is_decoding_ = false; - + is_pushing_ = true; th_pushing_ = std::thread(&can_bus_t::can_event_push, this); if(!th_pushing_.joinable()) @@ -158,7 +158,7 @@ void can_bus_t::start_threads() /** * @brief Will stop all threads holded by can_bus_t object -* which are decoding and pushing then will wait that's +* which are decoding and pushing then will wait that's * they'll finish their job. */ void can_bus_t::stop_threads() @@ -168,7 +168,7 @@ void can_bus_t::stop_threads() } /** -* @brief Will initialize can_bus_dev_t objects after reading +* @brief Will initialize can_bus_dev_t objects after reading * the configuration file passed in the constructor. */ int can_bus_t::init_can_dev() @@ -235,7 +235,7 @@ std::vector<std::string> can_bus_t::read_conf() {/** * @brief Telling if the pushing thread is running * This is the boolean value on which the while loop -* take its condition. Set it to false will stop the +* take its condition. Set it to false will stop the * according thread. * * @return true if pushing thread is running, false if not. @@ -284,9 +284,9 @@ std::mutex& can_bus_t::get_can_message_mutex() } /** -* @brief Return first can_message_t on the queue +* @brief Return first can_message_t on the queue * -* @return a can_message_t +* @return a can_message_t */ can_message_t can_bus_t::next_can_message() { @@ -300,7 +300,7 @@ can_message_t can_bus_t::next_can_message() can_msg.get_data()[0], can_msg.get_data()[1], can_msg.get_data()[2], can_msg.get_data()[3], can_msg.get_data()[4], can_msg.get_data()[5], can_msg.get_data()[6], can_msg.get_data()[7]); return can_msg; } - + return can_msg; } @@ -315,7 +315,7 @@ void can_bus_t::push_new_can_message(const can_message_t& can_msg) } /** -* @brief Return first openxc_VehicleMessage on the queue +* @brief Return first openxc_VehicleMessage on the queue * * @return a openxc_VehicleMessage containing a decoded can message */ @@ -330,7 +330,7 @@ openxc_VehicleMessage can_bus_t::next_vehicle_message() DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped"); return v_msg; } - + return v_msg; } @@ -354,135 +354,3 @@ std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::get_can_devices return can_devices_m_; } -/******************************************************************************** -* -* can_bus_dev_t method implementation -* -*********************************************************************************/ - -/** - * @brief Open the can socket and returning it - * - * @return - */ -int can_bus_dev_t::close() -{ - ::close(can_socket_); - can_socket_ = -1; - return can_socket_; -} - -/** -* @brief Read the can socket and retrieve canfd_frame -* -* @param const struct afb_binding_interface* interface pointer. Used to be able to log -* using application framework logger. -*/ -std::pair<struct canfd_frame&, size_t> can_bus_dev_t::read() -{ - ssize_t nbytes; - //int maxdlen; - struct canfd_frame cfd; - - /* Test that socket is really opened */ - if (can_socket_ < 0) - { - ERROR(binder_interface, "read_can: Socket unavailable. Closing thread."); - is_running_ = false; - } - - nbytes = ::read(can_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_); - 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 std::pair<struct canfd_frame&, size_t>(cfd, nbytes); -} - -/** -* @brief start reading threads and set flag is_running_ -* -* @param can_bus_t 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_dev_t object to be used to read the can socket -* @param[in] can_bus_t object used to fill can_message_q_ queue -*/ -void can_bus_dev_t::can_reader(can_bus_t& can_bus) -{ - can_message_t can_message; - - while(is_running_) - { - can_message.convert_from_canfd_frame(read()); - - { - std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex()); - can_bus.push_new_can_message(can_message); - } - can_bus.get_new_can_message_cv().notify_one(); - } -} - -/** -* @brief Send a can message from a can_message_t object. -* -* @param const can_message_t& can_msg: the can message object to send -* @param const struct afb_binding_interface* interface pointer. Used to be able to log -* using application framework logger. -*/ -int can_bus_dev_t::send_can_message(can_message_t& can_msg) -{ - ssize_t nbytes; - canfd_frame f; - - f = can_msg.convert_to_canfd_frame(); - - if(can_socket_ >= 0) - { - nbytes = ::sendto(can_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; -} diff --git a/src/can/can-bus.hpp b/src/can/can-bus.hpp index 797b895..154822f 100644 --- a/src/can/can-bus.hpp +++ b/src/can/can-bus.hpp @@ -41,17 +41,17 @@ #define CAN_ACTIVE_TIMEOUT_S 30 /// @brief Object used to handle decoding and manage event queue to be pushed. -/// -/// This object is also used to initialize can_bus_dev_t object after reading -/// json conf file describing the CAN devices to use. Thus, those object will read +/// +/// This object is also used to initialize can_bus_dev_t object after reading +/// json conf file describing the CAN devices to use. Thus, those object will read /// on the device the CAN frame and push them into the can_bus_t can_message_q_ queue. -/// +/// /// That queue will be later used to be decoded and pushed to subscribers. class can_bus_t { private: int conf_file_; /// < configuration file handle used to initialize can_bus_dev_t objects. - + void can_decode_message(); std::thread th_decoding_; /// < thread that'll handle decoding a can frame bool is_decoding_; /// < boolean member controling thread while loop |