ardupilot/libraries/AP_HAL_Linux/CAN.h

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/*
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This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
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This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* Many thanks to members of the UAVCAN project:
* Pavel Kirienko <pavel.kirienko@gmail.com>
* Ilia Sheremet <illia.sheremet@gmail.com>
*
* license info can be found in the uavcan submodule located:
* modules/uavcan/LICENSE
* modules/uavcan/libuavcan_drivers/linux/include/uavcan_linux/socketcan.hpp
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*/
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#pragma once
#include "AP_HAL_Linux.h"
#include <AP_HAL/CAN.h>
#include <linux/can.h>
#include <string>
#include <queue>
#include <memory>
#include <map>
#include <unordered_set>
#include <poll.h>
namespace Linux {
enum class SocketCanError
{
SocketReadFailure,
SocketWriteFailure,
TxTimeout
};
#define CAN_MAX_POLL_ITERATIONS_COUNT 100
#define CAN_MAX_INIT_TRIES_COUNT 100
#define CAN_FILTER_NUMBER 8
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class CAN: public AP_HAL::CANHal {
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public:
CAN(int socket_fd=0)
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: _fd(socket_fd)
, _frames_in_socket_tx_queue(0)
, _max_frames_in_socket_tx_queue(2)
{ }
~CAN() { }
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bool begin(uint32_t bitrate) override;
void end() override;
void reset() override;
bool is_initialized() override;
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int32_t tx_pending() override;
int32_t available() override;
static int openSocket(const std::string& iface_name);
int getFileDescriptor() const { return _fd; }
int16_t send(const uavcan::CanFrame& frame, uavcan::MonotonicTime tx_deadline,
uavcan::CanIOFlags flags) override;
int16_t receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& out_ts_monotonic,
uavcan::UtcTime& out_ts_utc, uavcan::CanIOFlags& out_flags) override;
bool hasReadyTx() const;
bool hasReadyRx() const;
void poll(bool read, bool write);
int16_t configureFilters(const uavcan::CanFilterConfig* filter_configs, uint16_t num_configs) override;
uint16_t getNumFilters() const override;
uint64_t getErrorCount() const override;
private:
struct TxItem
{
uavcan::CanFrame frame;
uavcan::MonotonicTime deadline;
uavcan::CanIOFlags flags = 0;
std::uint64_t order = 0;
TxItem(const uavcan::CanFrame& arg_frame, uavcan::MonotonicTime arg_deadline,
uavcan::CanIOFlags arg_flags, std::uint64_t arg_order)
: frame(arg_frame)
, deadline(arg_deadline)
, flags(arg_flags)
, order(arg_order)
{ }
bool operator<(const TxItem& rhs) const
{
if (frame.priorityLowerThan(rhs.frame)) {
return true;
}
if (frame.priorityHigherThan(rhs.frame)) {
return false;
}
return order > rhs.order;
}
};
struct RxItem
{
uavcan::CanFrame frame;
uavcan::MonotonicTime ts_mono;
uavcan::UtcTime ts_utc;
uavcan::CanIOFlags flags;
RxItem()
: flags(0)
{ }
};
void _pollWrite();
void _pollRead();
int _write(const uavcan::CanFrame& frame) const;
int _read(uavcan::CanFrame& frame, uavcan::UtcTime& ts_utc, bool& loopback) const;
void _incrementNumFramesInSocketTxQueue();
void _confirmSentFrame();
bool _wasInPendingLoopbackSet(const uavcan::CanFrame& frame);
bool _checkHWFilters(const can_frame& frame) const;
void _registerError(SocketCanError e) { _errors[e]++; }
uint32_t _bitrate;
bool _initialized;
int _fd;
const unsigned _max_frames_in_socket_tx_queue;
unsigned _frames_in_socket_tx_queue;
uint64_t _tx_frame_counter;
std::map<SocketCanError, uint64_t> _errors;
std::priority_queue<TxItem> _tx_queue;
std::queue<RxItem> _rx_queue;
std::unordered_multiset<uint32_t> _pending_loopback_ids;
std::vector<can_filter> _hw_filters_container;
};
class CANManager: public AP_HAL::CANManager, public uavcan::ICanDriver {
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public:
static CANManager *from(AP_HAL::CANManager *can)
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{
return static_cast<CANManager*>(can);
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}
CANManager() : AP_HAL::CANManager(this) { _ifaces.reserve(uavcan::MaxCanIfaces); }
~CANManager() { }
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//These methods belong to AP_HAL::CANManager
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virtual bool begin(uint32_t bitrate, uint8_t can_number) override;
virtual void initialized(bool val) override;
virtual bool is_initialized() override;
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//These methods belong to ICanDriver
virtual CAN* getIface(uint8_t iface_index) override;
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virtual uint8_t getNumIfaces() const override { return _ifaces.size(); }
virtual int16_t select(uavcan::CanSelectMasks& inout_masks,
const uavcan::CanFrame* (&pending_tx)[uavcan::MaxCanIfaces], uavcan::MonotonicTime blocking_deadline) override;
int init(uint8_t can_number);
int addIface(const std::string& iface_name);
private:
class IfaceWrapper : public CAN
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{
bool _down = false;
public:
IfaceWrapper(int fd) : CAN(fd) { }
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void updateDownStatusFromPollResult(const pollfd& pfd);
bool isDown() const { return _down; }
};
bool _initialized;
std::vector<std::unique_ptr<IfaceWrapper>> _ifaces;
};
}