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Diffstat (limited to 'video_in_hal/can_hal/src/can_hal_core.cpp')
-rwxr-xr-xvideo_in_hal/can_hal/src/can_hal_core.cpp372
1 files changed, 0 insertions, 372 deletions
diff --git a/video_in_hal/can_hal/src/can_hal_core.cpp b/video_in_hal/can_hal/src/can_hal_core.cpp
deleted file mode 100755
index bdbdbbc..0000000
--- a/video_in_hal/can_hal/src/can_hal_core.cpp
+++ /dev/null
@@ -1,372 +0,0 @@
-/*
- * @copyright Copyright (c) 2017-2020 TOYOTA MOTOR CORPORATION.
- *
- * 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 "can_hal.h"
-#include "can_hal_core.h"
-#include "can_hal_internal.h"
-#include "can_hal_frameworkunifiedlog.h"
-#include "can_hal_stm.h"
-extern "C" {
- #include "can_mng_api.h"
-}
-#include <native_service/ns_message_center_if.h>
-#include <native_service/frameworkunified_framework_if.h>
-#include <native_service/frameworkunified_multithreading.h>
-#include <stdio.h>
-#include <pthread.h>
-#include <string>
-
-static CanCtlApiObj g_driver_obj; // can driver handler
-
-typedef struct MessageWrapper {
- HANDLE h_app;
- void *message;
-} MessageWrapper;
-
-// define frame
-enum CANHAL_FRAME {
- CANHAL_FRAME_SF = 0x00,
- CANHAL_FRAME_FF,
- CANHAL_FRAME_CF,
- CANHAL_FRAME_NONE = 0xFF,
-};
-
-// Declaration of the local functions
-static EFrameworkunifiedStatus CanSendData(HANDLE h_app);
-static UINT8 PackageSendData(const CanMessage *send_msg,
- UINT8 *send_cmd);
-static UINT8 PackageRecvData(const UINT8 *recv_data, CanMessage *message);
-static uint32_t GetCanId(const UINT8 *recv_data);
-
-#define CANHAL_VALID_NUM_INDEX 0x00
-#define CANHAL_CANID_HI_INDEX 0x00
-#define CANHAL_CANID_LO_INDEX 0x01
-#define CANHAL_DLC_INDEX 0x02
-#define CANHAL_DATA_START_INDEX 0x03
-
-#define CANHAL_RECV_DATA_LENGTH_INVALID 0xFF
-
-#define CANHAL_RECV_DATABLOCK_SIZE (0x0B)
-#define CANHAL_RECV_NTA_INDEX (0x03)
-
-// Register table for framework callback
-static const FrameworkunifiedProtocolCallbackHandler kCanHalPcbhs[] = {
- { TX_INTERNAL, CanSendData },
-};
-
-void *CanHalPackMessage(HANDLE h_app, const void *msg, ssize_t msg_sz,
- ssize_t *packed_sz) {
- *packed_sz = msg_sz + sizeof(ssize_t) + sizeof(HANDLE);
- void *p = malloc(*packed_sz);
- if (p) {
- char *_p = (char *)p;
- // Set HANDLE to new buffer.
- memcpy(_p, &h_app, sizeof(HANDLE));
- // Set message size to new buffer
- _p += sizeof(HANDLE);
- *(ssize_t *)_p = msg_sz;
- // Set message body to new buffer
- _p += (sizeof(ssize_t));
- memcpy(_p, msg, msg_sz);
- }
- return p;
-}
-
-void CanHalUnPackMessage(void *packed, HANDLE *h_app, void **msg,
- ssize_t *msg_sz) {
- char *_p = (char *)packed;
- *h_app = *(HANDLE *)_p;
- _p += sizeof(HANDLE);
- *msg_sz = *((ssize_t *)_p);
- _p += sizeof(ssize_t);
- *msg = _p;
-}
-
-void CanHalDestroyPackedMessage(void *packed) {
- free(packed);
-}
-
-// Start function of the receive thread
-void *CanRecvRun(void *arg) {
- UINT8 data_start_index = 0;
- UINT8 loop_num = 0;
- UINT32 ret = 0;
- CanCtlApiCmd recv_cmd;
- memset(&recv_cmd, 0x00, sizeof(CanCtlApiCmd));
- CanMessage recv_data_can;
- memset(&recv_data_can, 0x00, sizeof(recv_data_can));
- enum CanHalType *type = (enum CanHalType *)arg;
-
- while (1) {
- // call driver API to receive the can data
- ret = CanCtlApiRcvCmd(&g_driver_obj, &recv_cmd);
- if (CAN_CTL_RET_SUCCESS != ret) {
- continue;
- }
-
- /**
- * Receive data in the following structure:
- * -----------------
- * BYTE 01 | num of can data |
- * -----------------
- * BYTE 02 | CAN ID (Hi) |
- * -----------------
- * BYTE 03 | CAN ID (Lo) |
- * -----------------
- * BYTE 04 | DLC |
- * -----------------
- * BYTE 05 | DATA #1 |
- * -----------------
- * | ... |
- * -----------------
- * BYTE 12 | DATA #8 |
- * -----------------
- * BYTE 13 | CAN ID (Hi) |
- * -----------------
- * BYTE 14 | CAN ID (Lo) |
- * -----------------
- * BYTE 15 | DLC |
- * -----------------
- * BYTE 16 | DATA #1 |
- * -----------------
- * | ... |
- * -----------------
- * BYTE 23 | DATA #8 |
- * -----------------
- * | ... |
- * -----------------
- * BYTE 255 | |
- * -----------------
- *
- * BYTE 0 for the invalid number of the can data
- * CAN ID (Hi) and (Lo) combine for the CAN ID
- * CAN ID (Hi) byte's low 7 bits is the high 7 bits of the CAN ID
- * CAN ID (Lo) byte's high 4 bits is the low 4 bits of the CAN ID
- * DLC for the length of the following data
- * DATA #1 ~ #8 for the receive data, its actual length changes
- * according to the previous DLC byte
- */
- UINT8 total_data_num = recv_cmd.data[CANHAL_VALID_NUM_INDEX];
- data_start_index = 1;
-
- for (loop_num = 0; loop_num < total_data_num; loop_num++) {
- uint32_t can_id;
- can_id = GetCanId(&(recv_cmd.data[data_start_index]));
-
- // normal can
- // Return value of the PackageRecvData is the total length
- // of one can data package, so add to the data_start_index
- // for the next can data package.
- ret = PackageRecvData(&(recv_cmd.data[data_start_index]),
- &recv_data_can);
- if (CANHAL_RECV_DATA_LENGTH_INVALID == ret) {
- continue;
- }
- data_start_index += ret;
- CanHalReceiveNotify(*type, &(recv_data_can), sizeof(recv_data_can));
- }
-
- // reset buffer
- memset(&recv_cmd, 0x00, sizeof(CanCtlApiCmd));
- usleep(1000);
- }
-
- return NULL;
-}
-
-// get can id from recive buffer
-static uint32_t GetCanId(const UINT8 *recv_data) {
- uint32_t can_id;
- can_id = (recv_data[CANHAL_CANID_HI_INDEX] & 0x7F);
- can_id <<= 4;
- can_id |= ((recv_data[CANHAL_CANID_LO_INDEX] & 0xF0) >> 4);
- return can_id;
-}
-
-static CANHAL_RET_API CanOpenCoreCAN(void) {
- CanCtlRcvId recv_can_id;
- memset(recv_can_id.id, 0xFF, sizeof(recv_can_id.id));
- if (CAN_CTL_RET_SUCCESS != CanCtlApiOpen(&g_driver_obj))
- return CANHAL_RET_ERR_ERR;
-
- if (CAN_CTL_RET_SUCCESS != CanCtlApiSetRcvId(&g_driver_obj, &recv_can_id)) {
- return CANHAL_RET_ERR_ERR;
- }
-
- return CANHAL_RET_NORMAL;
-}
-
-CANHAL_RET_API CanOpenCore(CanHalType type) {
- CANHAL_RET_API ret = CANHAL_RET_ERR_ERR;
- switch (type) {
- case CAN_HAL_TYPE_CAN:
- ret = CanOpenCoreCAN();
- break;
- default:
- // Do nothing
- break;
- }
- return ret;
-}
-
-// Initialize the sending thread
-EFrameworkunifiedStatus CanSendThreadStart(HANDLE h_app) {
- EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK;
- intptr_t ptr;
- e_status = FrameworkunifiedAttachCallbacksToDispatcher(h_app,
- FRAMEWORKUNIFIED_ANY_SOURCE,
- kCanHalPcbhs,
- _countof(kCanHalPcbhs));
- if (e_status != eFrameworkunifiedStatusOK)
- goto finish;
-
- e_status = FrameworkunifiedGetMsgDataOfSize(h_app, &ptr, sizeof(ptr));
- if (e_status != eFrameworkunifiedStatusOK)
- goto finish;
-
- *((HANDLE *)ptr) = FrameworkunifiedMcOpenSender(h_app, FrameworkunifiedGetAppName(h_app));
- if (!(*(HANDLE *)ptr))
- e_status = eFrameworkunifiedStatusFail;
-
-finish:
- return e_status;
-}
-
-// Clean the sending thread
-EFrameworkunifiedStatus CanSendThreadStop(HANDLE h_app) {
- EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK;
- intptr_t ptr;
- e_status = FrameworkunifiedGetMsgDataOfSize(h_app, &ptr, sizeof(ptr));
- if (e_status != eFrameworkunifiedStatusOK)
- goto finish;
-
- FrameworkunifiedMcClose(*((HANDLE*)ptr));
-finish:
- return e_status;
-}
-
-static CANHAL_RET_API CanCloseCoreCAN(void) {
- CanCtlApiClose(&g_driver_obj);
- return CANHAL_RET_NORMAL;
-}
-
-// Stop the can hal
-CANHAL_RET_API CanCloseCore(CanHalType type) {
- CANHAL_RET_API ret = CANHAL_RET_NORMAL;
- switch (type) {
- case CAN_HAL_TYPE_CAN:
- ret = CanCloseCoreCAN();
- if (ret != CANHAL_RET_NORMAL)
- goto finish;
- break;
- default:
- goto finish;
- break;
- }
-finish:
- return ret;
-}
-
-// Callback for the sending thread to send the can data
-static EFrameworkunifiedStatus CanSendData(HANDLE h_app) {
- UINT8 ret = 0;
- EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK;
- HANDLE hb = NULL;
- CanMessage mb;
- ssize_t sz = 0;
- void *send_msg = NULL;
- HANDLE unpacked_h_app;
- CanMessage *unpacked_msg;
- ssize_t unpacked_sz;
-
- send_msg = CanHalPackMessage(hb, (const void *)&mb, sizeof(mb), &sz);
- if (!send_msg)
- return eFrameworkunifiedStatusFail;
-
- e_status = FrameworkunifiedGetMsgDataOfSize(h_app, send_msg, sz, eSMRRelease);
- if (eFrameworkunifiedStatusOK != e_status) {
- if (eFrameworkunifiedStatusInvldBufSize == e_status) {
- FrameworkunifiedClearMsgData(h_app);
- }
- return eFrameworkunifiedStatusFail;
- }
-
- CanHalUnPackMessage(send_msg, &unpacked_h_app,
- (void **)&unpacked_msg, &unpacked_sz);
-
- CanCtlApiCmd send_can_data;
- memset(&send_can_data, 0, sizeof(CanCtlApiCmd));
- send_can_data.data[CANHAL_VALID_NUM_INDEX] = 1;
- ret = PackageSendData(unpacked_msg, &(send_can_data.data[1]));
- send_can_data.len = ret + 1;
- CanSendResult send_result;
- send_result.can_id = unpacked_msg->can_id;
- send_result.rid = unpacked_msg->rid;
-
- if (CAN_CTL_RET_SUCCESS == CanCtlApiSndCmd(&g_driver_obj, &send_can_data)) {
- send_result.result = CAN_SEND_RESULT_SUCCESS;
- } else {
- send_result.result = CAN_SEND_RESULT_FAILURE;
- }
- FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "Send status is %d.", send_result.result);
-
- if (CANHAL_RET_NORMAL != CanHalSendStatus(CAN_HAL_TYPE_CAN,
- unpacked_h_app, &send_result, sizeof(send_result))) {
- CanHalDestroyPackedMessage(send_msg);
- return eFrameworkunifiedStatusFail;
- }
-
- CanHalDestroyPackedMessage(send_msg);
- return eFrameworkunifiedStatusOK;
-}
-
-/**
- * param [in] send_msg
- * param [out] send_can_data
- */
-static UINT8 PackageSendData(const CanMessage *send_msg,
- UINT8 *send_can_data) {
- // package according to the rule of the data structure,
- // refer to the line 108 and 109
- send_can_data[CANHAL_CANID_HI_INDEX] = (send_msg->can_id & 0x7F0) >> 4;
- send_can_data[CANHAL_CANID_LO_INDEX] = (send_msg->can_id & 0x0F) << 4;
- send_can_data[CANHAL_DLC_INDEX] = send_msg->dlc;
- memcpy(&(send_can_data[CANHAL_DATA_START_INDEX]),
- send_msg->data,
- send_msg->dlc);
- return (send_msg->dlc + CANHAL_DATA_START_INDEX);
-}
-
-/**
- * param [in] recv_data
- * param [out] message
- */
-static UINT8 PackageRecvData(const UINT8 *recv_data, CanMessage *message) {
- if (CAN_NORMAL_MESSAGE_LEN < recv_data[CANHAL_DLC_INDEX]) {
- // receive data's length is invalid
- return CANHAL_RECV_DATA_LENGTH_INVALID;
- }
- // package according to the rule of the data structure,
- // refer to the line 108 and 109
- message->can_id = recv_data[CANHAL_CANID_HI_INDEX] & 0x7F;
- message->can_id <<= 4;
- message->can_id |= (recv_data[CANHAL_CANID_LO_INDEX] & 0xF0) >> 4;
- message->dlc = recv_data[CANHAL_DLC_INDEX];
- memcpy(message->data, &(recv_data[CANHAL_DATA_START_INDEX]), CAN_NORMAL_MESSAGE_LEN);
-
- return CANHAL_RECV_DATABLOCK_SIZE;
-}
-