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HAL_SITL: support multicast UDP for CAN in SITL 

this will work on windows and in WSL
This commit is contained in:
Andrew Tridgell 2023-08-26 10:52:28 +10:00
parent 624d8f3964
commit b6e79d05fd
7 changed files with 409 additions and 469 deletions
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474
libraries/AP_HAL_SITL/CANSocketIface.cpp
View File

@ -32,21 +32,21 @@
#include <unistd.h>
#include <fcntl.h>
#include <sys/socket.h>
#include <sys/ioctl.h>
#include <net/if.h>
#include <linux/can/raw.h>
#include <cstring>
#include "Scheduler.h"
#include <AP_CANManager/AP_CANManager.h>
#include <AP_Common/ExpandingString.h>
#include "CAN_Multicast.h"
#include "CAN_SocketCAN.h"
extern const AP_HAL::HAL& hal;
using namespace HALSITL;
#if HAL_CANMANAGER_ENABLED
#define Debug(fmt, args...) do { AP::can().log_text(AP_CANManager::LOG_DEBUG, "CANLinuxIface", fmt, ##args); } while (0)
#define Debug(fmt, args...) do { AP::can().log_text(AP_CANManager::LOG_DEBUG, "CANSITLIface", fmt, ##args); } while (0)
#else
#define Debug(fmt, args...)
#endif
@ -55,141 +55,9 @@ CANIface::CANSocketEventSource CANIface::evt_can_socket[HAL_NUM_CAN_IFACES];
uint8_t CANIface::_num_interfaces;
static can_frame makeSocketCanFrame(const AP_HAL::CANFrame& uavcan_frame)
{
can_frame sockcan_frame { uavcan_frame.id& AP_HAL::CANFrame::MaskExtID, uavcan_frame.dlc, { }, };
memset(sockcan_frame.data, 0, sizeof(sockcan_frame.data));
std::copy(uavcan_frame.data, uavcan_frame.data + uavcan_frame.dlc, sockcan_frame.data);
if (uavcan_frame.isExtended()) {
sockcan_frame.can_id |= CAN_EFF_FLAG;
}
if (uavcan_frame.isErrorFrame()) {
sockcan_frame.can_id |= CAN_ERR_FLAG;
}
if (uavcan_frame.isRemoteTransmissionRequest()) {
sockcan_frame.can_id |= CAN_RTR_FLAG;
}
return sockcan_frame;
}
static canfd_frame makeSocketCanFDFrame(const AP_HAL::CANFrame& uavcan_frame)
{
canfd_frame sockcan_frame { uavcan_frame.id& AP_HAL::CANFrame::MaskExtID, AP_HAL::CANFrame::dlcToDataLength(uavcan_frame.dlc), CANFD_BRS, 0, 0, { }, };
memset(sockcan_frame.data, 0, sizeof(sockcan_frame.data));
std::copy(uavcan_frame.data, uavcan_frame.data + AP_HAL::CANFrame::dlcToDataLength(uavcan_frame.dlc), sockcan_frame.data);
if (uavcan_frame.isExtended()) {
sockcan_frame.can_id |= CAN_EFF_FLAG;
}
if (uavcan_frame.isErrorFrame()) {
sockcan_frame.can_id |= CAN_ERR_FLAG;
}
if (uavcan_frame.isRemoteTransmissionRequest()) {
sockcan_frame.can_id |= CAN_RTR_FLAG;
}
return sockcan_frame;
}
static AP_HAL::CANFrame makeCanFrame(const can_frame& sockcan_frame)
{
AP_HAL::CANFrame can_frame(sockcan_frame.can_id & CAN_EFF_MASK, sockcan_frame.data, sockcan_frame.can_dlc);
if (sockcan_frame.can_id & CAN_EFF_FLAG) {
can_frame.id |= AP_HAL::CANFrame::FlagEFF;
}
if (sockcan_frame.can_id & CAN_ERR_FLAG) {
can_frame.id |= AP_HAL::CANFrame::FlagERR;
}
if (sockcan_frame.can_id & CAN_RTR_FLAG) {
can_frame.id |= AP_HAL::CANFrame::FlagRTR;
}
return can_frame;
}
static AP_HAL::CANFrame makeCanFDFrame(const canfd_frame& sockcan_frame)
{
AP_HAL::CANFrame can_frame(sockcan_frame.can_id & CAN_EFF_MASK, sockcan_frame.data, sockcan_frame.len, true);
if (sockcan_frame.can_id & CAN_EFF_FLAG) {
can_frame.id |= AP_HAL::CANFrame::FlagEFF;
}
if (sockcan_frame.can_id & CAN_ERR_FLAG) {
can_frame.id |= AP_HAL::CANFrame::FlagERR;
}
if (sockcan_frame.can_id & CAN_RTR_FLAG) {
can_frame.id |= AP_HAL::CANFrame::FlagRTR;
}
return can_frame;
}
bool CANIface::is_initialized() const
{
return _initialized;
}
int CANIface::_openSocket(const std::string& iface_name)
{
errno = 0;
int s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
if (s < 0) {
return s;
}
std::shared_ptr<void> defer(&s, [](int* fd) { if (*fd >= 0) close(*fd); });
const int ret = s;
// Detect the iface index
auto ifr = ifreq();
if (iface_name.length() >= IFNAMSIZ) {
errno = ENAMETOOLONG;
return -1;
}
std::strncpy(ifr.ifr_name, iface_name.c_str(), iface_name.length());
if (ioctl(s, SIOCGIFINDEX, &ifr) < 0 || ifr.ifr_ifindex < 0) {
return -1;
}
// Bind to the specified CAN iface
{
auto addr = sockaddr_can();
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
if (bind(s, reinterpret_cast<sockaddr*>(&addr), sizeof(addr)) < 0) {
return -1;
}
}
// Configure
{
const int on = 1;
// Timestamping
if (setsockopt(s, SOL_SOCKET, SO_TIMESTAMP, &on, sizeof(on)) < 0) {
return -1;
}
// Socket loopback
if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS, &on, sizeof(on)) < 0) {
return -1;
}
// Allow CANFD
if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &on, sizeof(on)) < 0) {
return -1;
}
// Non-blocking
if (fcntl(s, F_SETFL, O_NONBLOCK) < 0) {
return -1;
}
}
// Validate the resulting socket
{
int socket_error = 0;
socklen_t errlen = sizeof(socket_error);
getsockopt(s, SOL_SOCKET, SO_ERROR, reinterpret_cast<void*>(&socket_error), &errlen);
if (socket_error != 0) {
errno = socket_error;
return -1;
}
}
s = -1;
return ret;
return transport != nullptr;
}
int16_t CANIface::send(const AP_HAL::CANFrame& frame, const uint64_t tx_deadline,
@ -251,180 +119,59 @@ bool CANIface::_hasReadyRx()
void CANIface::_poll(bool read, bool write)
{
if (read) {
stats.num_poll_rx_events++;
_pollRead(); // Read poll must be executed first because it may decrement _frames_in_socket_tx_queue
}
if (write) {
stats.num_poll_tx_events++;
_pollWrite();
}
}
bool CANIface::configureFilters(const CanFilterConfig* const filter_configs,
const uint16_t num_configs)
{
#if 0
if (filter_configs == nullptr || mode_ != FilteredMode) {
return false;
}
_hw_filters_container.clear();
_hw_filters_container.resize(num_configs);
for (unsigned i = 0; i < num_configs; i++) {
const CanFilterConfig& fc = filter_configs[i];
_hw_filters_container[i].can_id = fc.id & AP_HAL::CANFrame::MaskExtID;
_hw_filters_container[i].can_mask = fc.mask & AP_HAL::CANFrame::MaskExtID;
if (fc.id & AP_HAL::CANFrame::FlagEFF) {
_hw_filters_container[i].can_id |= CAN_EFF_FLAG;
}
if (fc.id & AP_HAL::CANFrame::FlagRTR) {
_hw_filters_container[i].can_id |= CAN_RTR_FLAG;
}
if (fc.mask & AP_HAL::CANFrame::FlagEFF) {
_hw_filters_container[i].can_mask |= CAN_EFF_FLAG;
}
if (fc.mask & AP_HAL::CANFrame::FlagRTR) {
_hw_filters_container[i].can_mask |= CAN_RTR_FLAG;
}
}
#endif
return true;
}
/**
* SocketCAN emulates the CAN filters in software, so the number of filters is virtually unlimited.
* This method returns a constant value.
*/
static constexpr unsigned NumFilters = CAN_FILTER_NUMBER;
uint16_t CANIface::getNumFilters() const { return NumFilters; }
uint32_t CANIface::getErrorCount() const
{
uint32_t ec = 0;
for (auto& kv : _errors) { ec += kv.second; }
return ec;
return 0;
}
void CANIface::_pollWrite()
{
if (transport == nullptr) {
return;
}
while (_hasReadyTx()) {
WITH_SEMAPHORE(sem);
const CanTxItem tx = _tx_queue.top();
uint64_t curr_time = AP_HAL::micros64();
const uint64_t curr_time = AP_HAL::micros64();
if (tx.deadline >= curr_time) {
// hal.console->printf("%x TDEAD: %lu CURRT: %lu DEL: %lu\n",tx.frame.id, tx.deadline, curr_time, tx.deadline-curr_time);
const int res = _write(tx.frame);
if (res == 1) { // Transmitted successfully
_incrementNumFramesInSocketTxQueue();
if (tx.loopback) {
_pending_loopback_ids.insert(tx.frame.id);
}
bool ok = transport->send(tx.frame);
if (ok) {
stats.tx_success++;
} else if (res == 0) { // Not transmitted, nor is it an error
stats.tx_full++;
break; // Leaving the loop, the frame remains enqueued for the next retry
} else { // Transmission error
stats.tx_rejected++;
} else {
break;
}
} else {
// hal.console->printf("TDEAD: %lu CURRT: %lu DEL: %lu\n", tx.deadline, curr_time, curr_time-tx.deadline);
stats.tx_timedout++;
}
// Removing the frame from the queue even if transmission failed
// Removing the frame from the queue
(void)_tx_queue.pop();
}
}
bool CANIface::_pollRead()
{
uint8_t iterations_count = 0;
while (iterations_count < CAN_MAX_POLL_ITERATIONS_COUNT)
{
CanRxItem rx;
rx.timestamp_us = AP_HAL::micros64(); // Monotonic timestamp is not required to be precise (unlike UTC)
bool loopback = false;
int res;
res = _read(rx.frame, rx.timestamp_us, loopback);
if (res == 1) {
bool accept = true;
if (loopback) { // We receive loopback for all CAN frames
_confirmSentFrame();
rx.flags |= Loopback;
accept = _wasInPendingLoopbackSet(rx.frame);
stats.tx_confirmed++;
}
if (accept) {
WITH_SEMAPHORE(sem);
add_to_rx_queue(rx);
stats.rx_received++;
return true;
}
} else if (res == 0) {
break;
} else {
stats.rx_errors++;
break;
}
if (transport == nullptr) {
return false;
}
return false;
}
int CANIface::_write(const AP_HAL::CANFrame& frame) const
{
if (_fd < 0) {
return -1;
CanRxItem rx {};
bool ok = transport->receive(rx.frame);
if (!ok) {
return false;
}
errno = 0;
int res = 0;
if (frame.isCanFDFrame()) {
const canfd_frame sockcan_frame = makeSocketCanFDFrame(frame);
res = write(_fd, &sockcan_frame, sizeof(sockcan_frame));
if (res > 0 && res != sizeof(sockcan_frame)) {
return -1;
}
} else {
const can_frame sockcan_frame = makeSocketCanFrame(frame);
res = write(_fd, &sockcan_frame, sizeof(sockcan_frame));
if (res > 0 && res != sizeof(sockcan_frame)) {
return -1;
}
}
if (res <= 0) {
if (errno == ENOBUFS || errno == EAGAIN) { // Writing is not possible atm, not an error
return 0;
}
return res;
}
return 1;
}
int CANIface::_read(AP_HAL::CANFrame& frame, uint64_t& timestamp_us, bool& loopback) const
{
if (_fd < 0) {
return -1;
}
union {
can_frame frame;
canfd_frame frame_fd;
} frames;
const int res = read(_fd, &frames, sizeof(frames));
if (res <= 0) {
return (res < 0 && errno == EWOULDBLOCK) ? 0 : res;
}
if (res == sizeof(can_frame)) {
frame = makeCanFrame(frames.frame);
} else {
frame = makeCanFDFrame(frames.frame_fd);
}
/*
* Timestamp
*/
timestamp_us = AP_HAL::micros64();
return 1;
rx.timestamp_us = AP_HAL::micros64();
WITH_SEMAPHORE(sem);
add_to_rx_queue(rx);
stats.rx_received++;
return true;
}
// Might block forever, only to be used for testing
@ -432,9 +179,8 @@ void CANIface::flush_tx()
{
WITH_SEMAPHORE(sem);
do {
_updateDownStatusFromPollResult(_pollfd);
_poll(true, true);
} while(!_tx_queue.empty() && !_down);
} while(!_tx_queue.empty());
}
void CANIface::clear_rx()
@ -445,11 +191,6 @@ void CANIface::clear_rx()
std::swap( _rx_queue, empty );
}
void CANIface::_incrementNumFramesInSocketTxQueue()
{
_frames_in_socket_tx_queue++;
}
void CANIface::_confirmSentFrame()
{
if (_frames_in_socket_tx_queue > 0) {
@ -457,88 +198,51 @@ void CANIface::_confirmSentFrame()
}
}
bool CANIface::_wasInPendingLoopbackSet(const AP_HAL::CANFrame& frame)
{
if (_pending_loopback_ids.count(frame.id) > 0) {
_pending_loopback_ids.erase(frame.id);
return true;
}
return false;
}
bool CANIface::_checkHWFilters(const can_frame& frame) const
{
if (!_hw_filters_container.empty()) {
for (auto& f : _hw_filters_container) {
if (((frame.can_id & f.can_mask) ^ f.can_id) == 0) {
return true;
}
}
return false;
} else {
return true;
}
}
bool CANIface::_checkHWFilters(const canfd_frame& frame) const
{
if (!_hw_filters_container.empty()) {
for (auto& f : _hw_filters_container) {
if (((frame.can_id & f.can_mask) ^ f.can_id) == 0) {
return true;
}
}
return false;
} else {
return true;
}
}
void CANIface::_updateDownStatusFromPollResult(const pollfd& pfd)
{
if (!_down && (pfd.revents & POLLERR)) {
int error = 0;
socklen_t errlen = sizeof(error);
getsockopt(pfd.fd, SOL_SOCKET, SO_ERROR, reinterpret_cast<void*>(&error), &errlen);
_down= error == ENETDOWN || error == ENODEV;
stats.num_downs++;
Debug("Iface %d is dead; error %d", _fd, error);
}
}
bool CANIface::init(const uint32_t bitrate, const uint32_t fdbitrate, const OperatingMode mode)
{
// we are using vcan, so bitrate is irrelevant
return init(bitrate, mode);
}
bool CANIface::init(const uint32_t bitrate, const OperatingMode mode)
{
char iface_name[16];
sprintf(iface_name, "vcan%u", _self_index);
bitrate_ = bitrate;
mode_ = mode;
if (_initialized) {
return _initialized;
const auto *_sitl = AP::sitl();
if (_sitl == nullptr) {
return false;
}
// TODO: Add possibility change bitrate
_fd = _openSocket(iface_name);
if (_fd > 0) {
_bitrate = bitrate;
_initialized = true;
} else {
_initialized = false;
if (_self_index >= HAL_NUM_CAN_IFACES) {
return false;
}
return _initialized;
const SITL::SIM::CANTransport can_type = _sitl->can_transport[_self_index];
switch (can_type) {
case SITL::SIM::CANTransport::MulticastUDP:
transport = new CAN_Multicast();
break;
case SITL::SIM::CANTransport::SocketCAN:
#if HAL_CAN_WITH_SOCKETCAN
transport = new CAN_SocketCAN();
#endif
break;
}
if (transport == nullptr) {
return false;
}
if (!transport->init(_self_index)) {
delete transport;
transport = nullptr;
return false;
}
return true;
}
bool CANIface::select(bool &read_select, bool &write_select,
const AP_HAL::CANFrame* const pending_tx, uint64_t blocking_deadline)
const AP_HAL::CANFrame* const pending_tx, uint64_t blocking_deadline)
{
if (transport == nullptr) {
return false;
}
// Detecting whether we need to block at all
bool need_block = !write_select; // Write queue is infinite
// call poll here to flush some tx
_poll(true, true);
@ -547,39 +251,22 @@ bool CANIface::select(bool &read_select, bool &write_select,
}
if (need_block) {
if (_down) {
return false;
} else {
_pollfd.fd = _fd;
_pollfd.events |= POLLIN;
stats.num_rx_poll_req++;
if (_hasReadyTx() && write_select) {
_pollfd.events |= POLLOUT;
stats.num_tx_poll_req++;
}
}
if (_evt_handle != nullptr && blocking_deadline > AP_HAL::micros64()) {
_evt_handle->wait(blocking_deadline - AP_HAL::micros64());
}
_pollfd.fd = transport->get_read_fd();
_pollfd.events |= POLLIN;
}
if (_evt_handle != nullptr && blocking_deadline > AP_HAL::micros64()) {
_evt_handle->wait(blocking_deadline - AP_HAL::micros64());
}
// Writing the output masks
if (!_down) {
write_select = true; // Always ready to write if not down
} else {
write_select = false;
}
if (_hasReadyRx()) {
read_select = true; // Readability depends only on RX buf, even if down
} else {
read_select = false;
}
write_select = true;
read_select = _hasReadyRx();
// Return value is irrelevant as long as it's non-negative
return true;
}
bool CANIface::set_event_handle(AP_HAL::EventHandle* handle) {
bool CANIface::set_event_handle(AP_HAL::EventHandle* handle)
{
_evt_handle = handle;
evt_can_socket[_self_index]._ifaces[_self_index] = this;
_evt_handle->set_source(&evt_can_socket[_self_index]);
@ -601,13 +288,9 @@ bool CANIface::CANSocketEventSource::wait(uint16_t duration_us, AP_HAL::EventHan
if (_ifaces[i] == nullptr) {
continue;
}
if (_ifaces[i]->_down) {
continue;
}
pollfds[num_pollfds] = _ifaces[i]->_pollfd;
pollfd_iface_map[num_pollfds] = i;
num_pollfds++;
_ifaces[i]->stats.num_poll_waits++;
}
if (num_pollfds == 0) {
@ -617,13 +300,9 @@ bool CANIface::CANSocketEventSource::wait(uint16_t duration_us, AP_HAL::EventHan
const uint32_t start_us = AP_HAL::micros();
do {
uint16_t wait_us = MIN(100, duration_us);
// Timeout conversion
auto ts = timespec();
ts.tv_sec = 0;
ts.tv_nsec = wait_us * 1000UL;
// check FD for input
const int res = ppoll(pollfds, num_pollfds, &ts, nullptr);
const int res = poll(pollfds, num_pollfds, wait_us/1000U);
if (res < 0) {
return false;
@ -642,7 +321,6 @@ bool CANIface::CANSocketEventSource::wait(uint16_t duration_us, AP_HAL::EventHan
if (_ifaces[pollfd_iface_map[i]] == nullptr) {
continue;
}
_ifaces[pollfd_iface_map[i]]->_updateDownStatusFromPollResult(pollfds[i]);
const bool poll_read = pollfds[i].revents & POLLIN;
const bool poll_write = pollfds[i].revents & POLLOUT;
@ -655,32 +333,16 @@ void CANIface::get_stats(ExpandingString &str)
{
str.printf("tx_requests: %u\n"
"tx_rejected: %u\n"
"tx_full: %u\n"
"tx_confirmed: %u\n"
"tx_success: %u\n"
"tx_timedout: %u\n"
"rx_received: %u\n"
"rx_errors: %u\n"
"num_downs: %u\n"
"num_rx_poll_req: %u\n"
"num_tx_poll_req: %u\n"
"num_poll_waits: %u\n"
"num_poll_tx_events: %u\n"
"num_poll_rx_events: %u\n",
"rx_errors: %u\n",
stats.tx_requests,
stats.tx_rejected,
stats.tx_full,
stats.tx_confirmed,
stats.tx_success,
stats.tx_timedout,
stats.rx_received,
stats.rx_errors,
stats.num_downs,
stats.num_rx_poll_req,
stats.num_tx_poll_req,
stats.num_poll_waits,
stats.num_poll_tx_events,
stats.num_poll_rx_events);
stats.rx_errors);
}
#endif

67
libraries/AP_HAL_SITL/CANSocketIface.h
View File

@ -13,17 +13,6 @@
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
*/
#pragma once
#include "AP_HAL_SITL.h"
@ -32,28 +21,16 @@
#include <AP_HAL/CANIface.h>
#include <linux/can.h>
#include <string>
#include <queue>
#include <memory>
#include <map>
#include <unordered_set>
#include <poll.h>
#include "CAN_Transport.h"
namespace HALSITL {
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
class CANIface: public AP_HAL::CANIface {
public:
CANIface(int index)
@ -86,10 +63,6 @@ public:
int16_t receive(AP_HAL::CANFrame& out_frame, uint64_t& out_timestamp_us,
CanIOFlags& out_flags) override;
// Set Filters to ignore frames not to be handled by us
bool configureFilters(const CanFilterConfig* filter_configs,
uint16_t num_configs) override;
// Always return false, there's no busoff condition in virtual CAN
bool is_busoff() const override
{
@ -100,9 +73,6 @@ public:
void clear_rx() override;
// Get number of Filter configurations
uint16_t getNumFilters() const override;
// Get total number of Errors discovered
uint32_t getErrorCount() const override;
@ -146,19 +116,8 @@ private:
bool _pollRead();
int _write(const AP_HAL::CANFrame& frame) const;
int _read(AP_HAL::CANFrame& frame, uint64_t& ts_usec, bool& loopback) const;
void _incrementNumFramesInSocketTxQueue();
void _confirmSentFrame();
bool _wasInPendingLoopbackSet(const AP_HAL::CANFrame& frame);
bool _checkHWFilters(const can_frame& frame) const;
bool _checkHWFilters(const canfd_frame& frame) const;
bool _hasReadyTx();
bool _hasReadyRx();
@ -169,12 +128,7 @@ private:
void _updateDownStatusFromPollResult(const pollfd& pfd);
uint32_t _bitrate;
bool _down;
bool _initialized;
int _fd;
CAN_Transport *transport;
const uint8_t _self_index;
@ -184,29 +138,16 @@ private:
static CANSocketEventSource evt_can_socket[HAL_NUM_CAN_IFACES];
pollfd _pollfd;
std::map<SocketCanError, uint64_t> _errors;
std::priority_queue<CanTxItem> _tx_queue;
std::queue<CanRxItem> _rx_queue;
std::unordered_multiset<uint32_t> _pending_loopback_ids;
std::vector<can_filter> _hw_filters_container;
/*
additional statistics
bus statistics
*/
struct bus_stats : public AP_HAL::CANIface::bus_stats_t {
uint32_t tx_full;
uint32_t tx_confirmed;
uint32_t num_downs;
uint32_t num_rx_poll_req;
uint32_t num_tx_poll_req;
uint32_t num_poll_waits;
uint32_t num_poll_tx_events;
uint32_t num_poll_rx_events;
} stats;
AP_HAL::CANIface::bus_stats_t stats;
HAL_Semaphore sem;
protected:
bool add_to_rx_queue(const CanRxItem &rx_item) override {
_rx_queue.push(rx_item);
return true;

178
libraries/AP_HAL_SITL/CAN_Multicast.cpp Normal file
View File

@ -0,0 +1,178 @@
/*
multicast UDP transport for SITL CAN
*/
#include "CAN_Multicast.h"
#if HAL_NUM_CAN_IFACES
#include <net/if.h>
#include <unistd.h>
#include <sys/ioctl.h>
#include <errno.h>
#include <stdlib.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <netinet/udp.h>
#include <arpa/inet.h>
#include <fcntl.h>
#include <AP_Math/crc.h>
#define MCAST_ADDRESS_BASE "239.65.82.0"
#define MCAST_PORT 57732U
#define MCAST_MAGIC 0x2934U
#define MCAST_FLAG_CANFD 0x0001
#define MCAST_MAX_PKT_LEN 74 // 64 byte data + 10 byte header
struct PACKED mcast_pkt {
uint16_t magic;
uint16_t crc;
uint16_t flags;
uint32_t message_id;
uint8_t data[MCAST_MAX_PKT_LEN-10];
};
/*
initialise multicast transport
*/
bool CAN_Multicast::init(uint8_t instance)
{
// setup incoming multicast socket
char address[] = MCAST_ADDRESS_BASE;
struct sockaddr_in sockaddr {};
struct ip_mreq mreq {};
int one = 1;
int ret;
#ifdef HAVE_SOCK_SIN_LEN
sockaddr.sin_len = sizeof(sockaddr);
#endif
address[strlen(address)-1] = '0' + instance;
sockaddr.sin_port = htons(MCAST_PORT);
sockaddr.sin_family = AF_INET;
sockaddr.sin_addr.s_addr = inet_addr(address);
fd_in = socket(AF_INET, SOCK_DGRAM, 0);
if (fd_in == -1) {
goto fail;
}
ret = fcntl(fd_in, F_SETFD, FD_CLOEXEC);
if (ret == -1) {
goto fail;
}
if (setsockopt(fd_in, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one)) == -1) {
goto fail;
}
// close on exec, to allow reboot
fcntl(fd_in, F_SETFD, FD_CLOEXEC);
#if defined(__CYGWIN__) || defined(__CYGWIN64__) || defined(CYGWIN_BUILD)
/*
on cygwin you need to bind to INADDR_ANY then use the multicast
IP_ADD_MEMBERSHIP to get on the right address
*/
sockaddr.sin_addr.s_addr = htonl(INADDR_ANY);
#endif
ret = bind(fd_in, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
if (ret == -1) {
goto fail;
}
mreq.imr_multiaddr.s_addr = inet_addr(address);
mreq.imr_interface.s_addr = htonl(INADDR_ANY);
ret = setsockopt(fd_in, IPPROTO_IP, IP_ADD_MEMBERSHIP, &mreq, sizeof(mreq));
if (ret == -1) {
goto fail;
}
// setup outgoing socket
fd_out = socket(AF_INET, SOCK_DGRAM, 0);
if (fd_out == -1) {
goto fail;
}
ret = fcntl(fd_out, F_SETFD, FD_CLOEXEC);
if (ret == -1) {
goto fail;
}
ret = connect(fd_out, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
if (ret == -1) {
goto fail;
}
return true;
fail:
if (fd_in != -1) {
(void)close(fd_in);
fd_in = -1;
}
if (fd_out != -1) {
(void)close(fd_out);
fd_out = -1;
}
return false;
}
/*
send a CAN frame
*/
bool CAN_Multicast::send(const AP_HAL::CANFrame &frame)
{
struct mcast_pkt pkt {};
pkt.magic = MCAST_MAGIC;
pkt.flags = 0;
#if HAL_CANFD_SUPPORTED
if (frame.canfd) {
pkt.flags |= MCAST_FLAG_CANFD;
}
#endif
pkt.message_id = frame.id;
const uint8_t data_length = AP_HAL::CANFrame::dlcToDataLength(frame.dlc);
memcpy(pkt.data, frame.data, data_length);
pkt.crc = crc16_ccitt((uint8_t*)&pkt.flags, data_length+6, 0xFFFFU);
return ::send(fd_out, (void*)&pkt, data_length+10, 0) == data_length+10;
}
/*
receive a CAN frame
*/
bool CAN_Multicast::receive(AP_HAL::CANFrame &frame)
{
struct mcast_pkt pkt;
struct sockaddr_in src_addr;
socklen_t src_len = sizeof(src_addr);
ssize_t ret = ::recvfrom(fd_in, (void*)&pkt, sizeof(pkt), MSG_DONTWAIT, (struct sockaddr *)&src_addr, &src_len);
if (ret < 10) {
return false;
}
if (pkt.magic != MCAST_MAGIC) {
return false;
}
if (pkt.crc != crc16_ccitt((uint8_t*)&pkt.flags, ret-4, 0xFFFFU)) {
return false;
}
// ensure it isn't a packet we sent
struct sockaddr_in send_addr;
socklen_t send_len = sizeof(send_addr);
if (getsockname(fd_out, (struct sockaddr *)&send_addr, &send_len) != 0) {
return false;
}
if (src_addr.sin_port == send_addr.sin_port &&
src_addr.sin_family == send_addr.sin_family &&
src_addr.sin_addr.s_addr == send_addr.sin_addr.s_addr) {
return false;
}
// run constructor to initialise
new(&frame) AP_HAL::CANFrame(pkt.message_id, pkt.data, ret-10, (pkt.flags & MCAST_FLAG_CANFD) != 0);
return true;
}
#endif // HAL_NUM_CAN_IFACES

24
libraries/AP_HAL_SITL/CAN_Multicast.h Normal file
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/*
multicast UDP transport for SITL CAN
*/
#pragma once
#include "CAN_Transport.h"
#if HAL_NUM_CAN_IFACES
class CAN_Multicast : public CAN_Transport {
public:
bool init(uint8_t instance) override;
bool send(const AP_HAL::CANFrame &frame) override;
bool receive(AP_HAL::CANFrame &frame) override;
int get_read_fd(void) const override {
return fd_in;
}
private:
int fd_in = -1;
int fd_out = -1;
};
#endif // HAL_NUM_CAN_IFACES

91
libraries/AP_HAL_SITL/CAN_SocketCAN.cpp Normal file
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/*
socketcan transport for SITL CAN
*/
#include "CAN_SocketCAN.h"
#if HAL_NUM_CAN_IFACES && HAL_CAN_WITH_SOCKETCAN
#include <net/if.h>
#include <poll.h>
#include <string.h>
#include <unistd.h>
#include <sys/ioctl.h>
#include <linux/can.h>
#include <errno.h>
#include <stdlib.h>
#include "CAN_SocketCAN.h"
/*
initialise socketcan transport
*/
bool CAN_SocketCAN::init(uint8_t instance)
{
struct sockaddr_can addr {};
struct ifreq ifr {};
int ret;
fd = socket(PF_CAN, SOCK_RAW | SOCK_NONBLOCK, CAN_RAW);
if (fd < 0) {
goto fail;
}
snprintf(ifr.ifr_name, sizeof(ifr.ifr_name), "vcan%u", instance);
ret = ioctl(fd, SIOCGIFINDEX, &ifr);
if (ret == -1) {
goto fail;
}
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
ret = bind(fd, (struct sockaddr*)&addr, sizeof(addr));
if (ret == -1) {
goto fail;
}
return true;
fail:
if (fd != -1) {
close(fd);
fd = -1;
}
return false;
}
/*
send a CAN frame
*/
bool CAN_SocketCAN::send(const AP_HAL::CANFrame &frame)
{
if (frame.canfd) {
// not supported on socketcan
return false;
}
struct can_frame transmit_frame {};
transmit_frame.can_id = frame.id;
transmit_frame.can_dlc = frame.dlc;
const uint8_t data_length = AP_HAL::CANFrame::dlcToDataLength(frame.dlc);
memcpy(transmit_frame.data, frame.data, data_length);
return ::write(fd, &transmit_frame, sizeof(transmit_frame)) == sizeof(transmit_frame);
}
/*
receive a CAN frame
*/
bool CAN_SocketCAN::receive(AP_HAL::CANFrame &frame)
{
struct can_frame receive_frame;
const ssize_t ret = ::read(fd, &receive_frame, sizeof(receive_frame));
if (ret != sizeof(receive_frame)) {
return false;
}
// run constructor to initialise
new(&frame) AP_HAL::CANFrame(receive_frame.can_id, receive_frame.data, receive_frame.can_dlc, false);
return true;
}
#endif // HAL_NUM_CAN_IFACES

23
libraries/AP_HAL_SITL/CAN_SocketCAN.h Normal file
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/*
socketcan transport for SITL CAN
*/
#pragma once
#include "CAN_Transport.h"
#if HAL_NUM_CAN_IFACES && HAL_CAN_WITH_SOCKETCAN
class CAN_SocketCAN : public CAN_Transport {
public:
bool init(uint8_t instance) override;
bool send(const AP_HAL::CANFrame &frame) override;
bool receive(AP_HAL::CANFrame &frame) override;
int get_read_fd(void) const override {
return fd;
}
private:
int fd = -1;
};
#endif // HAL_NUM_CAN_IFACES

21
libraries/AP_HAL_SITL/CAN_Transport.h Normal file
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/*
parent class for CAN transports in ArduPilot SITL
*/
#pragma once
#include "AP_HAL_SITL.h"
#if HAL_NUM_CAN_IFACES
#include <AP_HAL/CANIface.h>
class CAN_Transport {
public:
virtual ~CAN_Transport() {}
virtual bool init(uint8_t instance) = 0;
virtual bool send(const AP_HAL::CANFrame &frame) = 0;
virtual bool receive(AP_HAL::CANFrame &frame) = 0;
virtual int get_read_fd(void) const = 0;
};
#endif // HAL_NUM_CAN_IFACES