From 17cf21bcf8a2e29d2cbcf0a313474d2a4ee44f5d Mon Sep 17 00:00:00 2001 From: Tadao Tanikawa Date: Fri, 20 Nov 2020 23:36:23 +0900 Subject: Re-organized sub-directory by category Since all the sub-directories were placed in the first level, created sub-directories, "hal", "module", and "service" for classification and relocated each component. Signed-off-by: Tadao Tanikawa Change-Id: Ifdf743ac0d1893bd8e445455cf0d2c199a011d5c --- .../server/src/threads/CAN_Thread.cpp | 238 +++++++++++++++++++++ 1 file changed, 238 insertions(+) create mode 100755 service/peripheral/communication/server/src/threads/CAN_Thread.cpp (limited to 'service/peripheral/communication/server/src/threads/CAN_Thread.cpp') diff --git a/service/peripheral/communication/server/src/threads/CAN_Thread.cpp b/service/peripheral/communication/server/src/threads/CAN_Thread.cpp new file mode 100755 index 0000000..1b327e7 --- /dev/null +++ b/service/peripheral/communication/server/src/threads/CAN_Thread.cpp @@ -0,0 +1,238 @@ +/* + * @copyright Copyright (c) 2016-2020 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_Thread.h" + +extern "C" { +#include +#include +} +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "CAN_Delivery.h" +#include "CAN_CommWatch.h" +#include "CAN_TxMsg.h" + +#include "communication_communicationlog.h" +#include "communication_cid.h" +#include "Thread_Common.h" + +static EFrameworkunifiedStatus CANStateCallback(HANDLE h_app); +static EFrameworkunifiedStatus CANHalRcvProcess(HANDLE h_app); +static EFrameworkunifiedStatus CANHalSndStsProcess(HANDLE h_app); + +static const FrameworkunifiedProtocolCallbackHandler kCanPcbhs[] = { + {CID_CANIF_DELIVERY_ENTRY, CANDeliveryEntry}, + {CID_CANIF_DELIVERY_ERASE, CANClearEntry}, + {CID_COMMSYS_TIMEOUT, CANCallbackForTimeOut}, + {CID_CANIF_TX_START, CANTxMsg}, + {CID_CANIF_TX_BIT_START, CANTxMsgBit}, + {CID_CANIF_COMM_WATCH, CANCommWatch}, + {CID_CANIF_CMD_CTRL, CANTxMsgCommand}, + {CID_CANHAL_CMD_CAN_READY, CANStateCallback}, + {CID_CANHAL_CMD_ERROR_NOTIFY, CommonCanHalErrorNotify}, + {CID_CANHAL_CMD_CAN_RECV, CANHalRcvProcess}, + {CID_CANHAL_CMD_CAN_SEND_STATUS, CANHalSndStsProcess}, +}; + +static UI_32 kCanPcbhsD[] = { + CID_CANIF_DELIVERY_ENTRY, + CID_CANIF_DELIVERY_ERASE, + CID_COMMSYS_TIMEOUT, + CID_CANIF_TX_START, + CID_CANIF_TX_BIT_START, + CID_CANIF_COMM_WATCH, + CID_CANIF_CMD_CTRL, + CID_CANHAL_CMD_CAN_READY, + CID_CANHAL_CMD_ERROR_NOTIFY, + CID_CANHAL_CMD_CAN_RECV, + CID_CANHAL_CMD_CAN_SEND_STATUS +}; + +static EFrameworkunifiedStatus CANStateCallback(HANDLE h_app) { + bool result; + EFrameworkunifiedStatus err = eFrameworkunifiedStatusOK; + + err = FrameworkunifiedGetMsgDataOfSize(h_app, &result, sizeof(result), eSMRRelease); + if (err != eFrameworkunifiedStatusOK) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "Error: FrameworkunifiedGetMsgDataOfSize failed"); + } + if (err == eFrameworkunifiedStatusInvldBufSize) { + FrameworkunifiedClearMsgData(h_app); + return eFrameworkunifiedStatusFail; + } else if (err != eFrameworkunifiedStatusOK) { + return eFrameworkunifiedStatusFail; + } + + CommSetAvailabilityCurrent(CAN_AVAILABILITY); + return CommonStartNotify(h_app, NTFY_Communication_CAN_ISAVAILABLE); +} + +static EFrameworkunifiedStatus CANThreadCanOpen(HANDLE h_app) { + EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK; + const char *result = "Unknown"; + const char *called = "Unknown"; + UI_16 z = ZONE_ERR; + + e_status = ConvRet(CanOpen(h_app, CAN_HAL_TYPE_CAN)); + result = (e_status != eFrameworkunifiedStatusOK) ? "failed" : "success"; + z = (e_status != eFrameworkunifiedStatusOK) ? ZONE_INFO : ZONE_ERR; + called = "CanOpen"; + FRAMEWORKUNIFIEDLOG(z, __func__, "%s %s", called, result); + return e_status; +} + +EFrameworkunifiedStatus CANThreadStart(HANDLE h_app) { + EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK; + + CommClrAvailabilityCurrent(CAN_AVAILABILITY); + CANDeliveryInit(); + CANCommWatchInit(); + CANTxMsgInit(); + + e_status = CommonThreadStart(h_app, kCanPcbhs, _countof(kCanPcbhs), + NTFY_Communication_CAN_ISAVAILABLE, CANThreadCanOpen); + return e_status; +} + +static EFrameworkunifiedStatus CANThreadCanClose(HANDLE h_app) { + EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK; + const char *result = "Unknown"; + const char *called = "Unknown"; + UI_16 z = ZONE_ERR; + + e_status = ConvRet(CanClose(h_app, CAN_HAL_TYPE_CAN)); + result = (e_status != eFrameworkunifiedStatusOK) ? "failed" : "success"; + z = (e_status != eFrameworkunifiedStatusOK) ? ZONE_INFO : ZONE_ERR; + called = "CanClose"; + FRAMEWORKUNIFIEDLOG(z, __func__, "%s %s", called, result); + return e_status; +} + +EFrameworkunifiedStatus CANThreadStop(HANDLE h_app) { + EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK; + + CommClrAvailabilityCurrent(CAN_AVAILABILITY); + e_status = CommonThreadStop(h_app, kCanPcbhsD, _countof(kCanPcbhsD), + NTFY_Communication_CAN_ISAVAILABLE, + CANThreadCanClose); + return e_status; +} + +static EFrameworkunifiedStatus CANHalRcvProcess(HANDLE h_app) { + CanMessage canhal_recv_data; + EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusFail; + uint8_t cmd = 0; + + e_status = FrameworkunifiedGetMsgDataOfSize(h_app, &canhal_recv_data, + sizeof(canhal_recv_data), eSMRRelease); + if (e_status != eFrameworkunifiedStatusOK) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "Error : FrameworkunifiedGetMsgDataOfSize is failed, e_status=%d", e_status); + } + + if (e_status == eFrameworkunifiedStatusInvldBufSize) { + FrameworkunifiedClearMsgData(h_app); + goto cleanup; + } else if (e_status != eFrameworkunifiedStatusOK) { + goto cleanup; + } + + if (canhal_recv_data.dlc > CAN_MESSAGE_LEN) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "Error : Invalid data length, dlc=%d", canhal_recv_data.dlc); + return eFrameworkunifiedStatusFail; + } + + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __func__, "can_id=%x dlc=%d rid=%x", + canhal_recv_data.can_id, canhal_recv_data.dlc, canhal_recv_data.rid); + FRAMEWORKUNIFIEDLOG(ZONE_DEBUG, __func__, "msg_data=%s", + MessageDataOutputLog(canhal_recv_data.data, canhal_recv_data.dlc).c_str()); + + cmd = (uint8_t)(canhal_recv_data.can_id & 0xFF); + switch (canhal_recv_data.can_id) { + case CAN_CMDID_STARTUP_FIN_RESP_RX: + e_status = CANCommandDeliveryRcvProcess(h_app, &canhal_recv_data, cmd); + break; + case CAN_CMDID_MRST_INFO_RESP_RX: + e_status = CANCommandDeliveryRcvProcess(h_app, &canhal_recv_data, cmd); + break; + case CAN_CMDID_VERSION_RESP_RX: + e_status = CANCommandDeliveryRcvProcess(h_app, &canhal_recv_data, cmd); + break; + case CAN_CMDID_CONNECTION_NODE_RESP_RX: + e_status = CANCommandDeliveryRcvProcess(h_app, &canhal_recv_data, cmd); + break; + case CAN_CMDID_FUELCALC_RST_REQ_RX: + CANCommandSetFuelCalcRstReq(); + e_status = CANCommandDeliveryRcvProcess(h_app, &canhal_recv_data, cmd); + break; + default: + e_status = CANDeliveryRcvProcess(h_app, &canhal_recv_data); + } +cleanup: + return e_status; +} + +static EFrameworkunifiedStatus CANHalSndStsProcess(HANDLE h_app) { + CanSendResult canhal_recv_data; + EFrameworkunifiedStatus err = eFrameworkunifiedStatusOK; + uint8_t ui_can_rid; + PS_CommunicationProtocol cid; + + err = FrameworkunifiedGetMsgDataOfSize(h_app, &canhal_recv_data, + sizeof(canhal_recv_data), eSMRRelease); + if (err != eFrameworkunifiedStatusOK) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "Error : FrameworkunifiedGetMsgDataOfSize is failed, err=%d", err); + } + + if (err == eFrameworkunifiedStatusInvldBufSize) { + FrameworkunifiedClearMsgData(h_app); + return eFrameworkunifiedStatusFail; + } else if (err != eFrameworkunifiedStatusOK) { + return eFrameworkunifiedStatusFail; + } + + ui_can_rid = canhal_recv_data.rid; + if (CAN_RID_NOTUSE_CODE == ui_can_rid) { + return eFrameworkunifiedStatusOK; + } + + switch (canhal_recv_data.can_id) { + case CAN_CMDID_MRST_INFO_REQ_TX: + case CAN_CMDID_CONNECTION_NODE_REQ_TX: + case CAN_CMDID_FUELCALC_REQ_TX: + cid = CID_CAN_CMD_TX_RESULT; + break; + default: + cid = CID_CAN_TX_RESULT; + break; + } + + return CANSndStsProcess(h_app, &canhal_recv_data, cid); +} + +EFrameworkunifiedStatus CANCallbackForTimeOut(HANDLE h_app) { + CANCommWatchTimeout(h_app); + return eFrameworkunifiedStatusOK; +} -- cgit 1.2.3-korg