mirror of https://github.com/ArduPilot/ardupilot
HAL_SITL: add SocketCAN Iface driver over virtual CAN
This commit is contained in:
Siddharth Purohit
Andrew Tridgell
parent
0e923fe061
commit
c17aec07a2
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@ -17,6 +17,5 @@ class Semaphore;
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class GPIO;
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class DigitalSource;
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class DSP;
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class HALSITLCAN;
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class HALSITLCANDriver;
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class CANIface;
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} // namespace HALSITL
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@ -6,4 +6,5 @@
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#include "UARTDriver.h"
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#include "SITL_State.h"
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#include "Semaphores.h"
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#include "CANSocketIface.h"
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#include "DSP.h"
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@ -0,0 +1,603 @@
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* Many thanks to members of the UAVCAN project:
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* Pavel Kirienko <pavel.kirienko@gmail.com>
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* Ilia Sheremet <illia.sheremet@gmail.com>
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*
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* license info can be found in the uavcan submodule located:
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* modules/uavcan/libuavcan_drivers/linux/include/uavcan_linux/socketcan.hpp
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*/
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/system.h>
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#if HAL_NUM_CAN_IFACES
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#include "CANSocketIface.h"
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#include <unistd.h>
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#include <fcntl.h>
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#include <sys/socket.h>
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#include <sys/ioctl.h>
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#include <net/if.h>
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#include <linux/can/raw.h>
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#include <cstring>
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#include "Scheduler.h"
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#include <AP_CANManager/AP_CANManager.h>
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extern const AP_HAL::HAL& hal;
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using namespace HALSITL;
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#define Debug(fmt, args...) do { AP::can().log_text(AP_CANManager::LOG_DEBUG, "CANLinuxIface", fmt, ##args); } while (0)
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CANIface::CANSocketEventSource CANIface::evt_can_socket[HAL_NUM_CAN_IFACES];
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static can_frame makeSocketCanFrame(const AP_HAL::CANFrame& uavcan_frame)
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{
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can_frame sockcan_frame { uavcan_frame.id& AP_HAL::CANFrame::MaskExtID, uavcan_frame.dlc, { } };
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std::copy(uavcan_frame.data, uavcan_frame.data + uavcan_frame.dlc, sockcan_frame.data);
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if (uavcan_frame.isExtended()) {
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sockcan_frame.can_id |= CAN_EFF_FLAG;
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}
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if (uavcan_frame.isErrorFrame()) {
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sockcan_frame.can_id |= CAN_ERR_FLAG;
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}
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if (uavcan_frame.isRemoteTransmissionRequest()) {
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sockcan_frame.can_id |= CAN_RTR_FLAG;
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}
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return sockcan_frame;
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}
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static AP_HAL::CANFrame makeUavcanFrame(const can_frame& sockcan_frame)
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{
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AP_HAL::CANFrame uavcan_frame(sockcan_frame.can_id & CAN_EFF_MASK, sockcan_frame.data, sockcan_frame.can_dlc);
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if (sockcan_frame.can_id & CAN_EFF_FLAG) {
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uavcan_frame.id |= AP_HAL::CANFrame::FlagEFF;
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}
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if (sockcan_frame.can_id & CAN_ERR_FLAG) {
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uavcan_frame.id |= AP_HAL::CANFrame::FlagERR;
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}
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if (sockcan_frame.can_id & CAN_RTR_FLAG) {
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uavcan_frame.id |= AP_HAL::CANFrame::FlagRTR;
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}
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return uavcan_frame;
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}
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bool CANIface::is_initialized() const
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{
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return _initialized;
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}
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int CANIface::_openSocket(const std::string& iface_name)
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{
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errno = 0;
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int s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
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if (s < 0) {
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return s;
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}
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std::shared_ptr<void> defer(&s, [](int* fd) { if (*fd >= 0) close(*fd); });
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const int ret = s;
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// Detect the iface index
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auto ifr = ifreq();
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if (iface_name.length() >= IFNAMSIZ) {
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errno = ENAMETOOLONG;
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return -1;
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}
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std::strncpy(ifr.ifr_name, iface_name.c_str(), iface_name.length());
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if (ioctl(s, SIOCGIFINDEX, &ifr) < 0 || ifr.ifr_ifindex < 0) {
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return -1;
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}
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// Bind to the specified CAN iface
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{
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auto addr = sockaddr_can();
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addr.can_family = AF_CAN;
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addr.can_ifindex = ifr.ifr_ifindex;
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if (bind(s, reinterpret_cast<sockaddr*>(&addr), sizeof(addr)) < 0) {
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return -1;
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}
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}
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// Configure
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{
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const int on = 1;
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// Timestamping
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if (setsockopt(s, SOL_SOCKET, SO_TIMESTAMP, &on, sizeof(on)) < 0) {
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return -1;
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}
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// Socket loopback
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if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS, &on, sizeof(on)) < 0) {
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return -1;
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}
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// Non-blocking
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if (fcntl(s, F_SETFL, O_NONBLOCK) < 0) {
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return -1;
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}
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}
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// Validate the resulting socket
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{
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int socket_error = 0;
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socklen_t errlen = sizeof(socket_error);
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getsockopt(s, SOL_SOCKET, SO_ERROR, reinterpret_cast<void*>(&socket_error), &errlen);
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if (socket_error != 0) {
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errno = socket_error;
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return -1;
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}
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}
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s = -1;
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return ret;
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}
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int16_t CANIface::send(const AP_HAL::CANFrame& frame, const uint64_t tx_deadline,
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const CANIface::CanIOFlags flags)
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{
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CanTxItem tx_item {};
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tx_item.frame = frame;
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if (flags & Loopback) {
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tx_item.loopback = true;
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}
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if (flags & AbortOnError) {
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tx_item.abort_on_error = true;
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}
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tx_item.setup = true;
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tx_item.index = _tx_frame_counter;
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tx_item.deadline = tx_deadline;
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_tx_queue.emplace(tx_item);
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_tx_frame_counter++;
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stats.tx_requests++;
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_pollRead(); // Read poll is necessary because it can release the pending TX flag
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_pollWrite();
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return 1;
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}
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int16_t CANIface::receive(AP_HAL::CANFrame& out_frame, uint64_t& out_timestamp_us,
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CANIface::CanIOFlags& out_flags)
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{
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if (_rx_queue.empty()) {
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_pollRead(); // This allows to use the socket not calling poll() explicitly.
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if (_rx_queue.empty()) {
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return 0;
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}
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}
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{
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const CanRxItem& rx = _rx_queue.front();
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out_frame = rx.frame;
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out_timestamp_us = rx.timestamp_us;
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out_flags = rx.flags;
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}
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(void)_rx_queue.pop();
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return 1;
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}
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bool CANIface::_hasReadyTx() const
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{
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return !_tx_queue.empty() && (_frames_in_socket_tx_queue < _max_frames_in_socket_tx_queue);
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}
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bool CANIface::_hasReadyRx() const
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{
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return !_rx_queue.empty();
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}
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void CANIface::_poll(bool read, bool write)
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{
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if (read) {
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stats.num_poll_rx_events++;
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_pollRead(); // Read poll must be executed first because it may decrement _frames_in_socket_tx_queue
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}
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if (write) {
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stats.num_poll_tx_events++;
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_pollWrite();
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}
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}
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bool CANIface::configureFilters(const CanFilterConfig* const filter_configs,
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const std::uint16_t num_configs)
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{
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if (filter_configs == nullptr) {
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return false;
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}
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_hw_filters_container.clear();
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_hw_filters_container.resize(num_configs);
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for (unsigned i = 0; i < num_configs; i++) {
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const CanFilterConfig& fc = filter_configs[i];
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_hw_filters_container[i].can_id = fc.id & AP_HAL::CANFrame::MaskExtID;
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_hw_filters_container[i].can_mask = fc.mask & AP_HAL::CANFrame::MaskExtID;
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if (fc.id & AP_HAL::CANFrame::FlagEFF) {
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_hw_filters_container[i].can_id |= CAN_EFF_FLAG;
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}
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if (fc.id & AP_HAL::CANFrame::FlagRTR) {
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_hw_filters_container[i].can_id |= CAN_RTR_FLAG;
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}
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if (fc.mask & AP_HAL::CANFrame::FlagEFF) {
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_hw_filters_container[i].can_mask |= CAN_EFF_FLAG;
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}
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if (fc.mask & AP_HAL::CANFrame::FlagRTR) {
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_hw_filters_container[i].can_mask |= CAN_RTR_FLAG;
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}
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}
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return true;
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}
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/**
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* SocketCAN emulates the CAN filters in software, so the number of filters is virtually unlimited.
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* This method returns a constant value.
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*/
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static constexpr unsigned NumFilters = CAN_FILTER_NUMBER;
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uint16_t CANIface::getNumFilters() const { return NumFilters; }
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uint32_t CANIface::getErrorCount() const
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{
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uint32_t ec = 0;
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for (auto& kv : _errors) { ec += kv.second; }
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return ec;
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}
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void CANIface::_pollWrite()
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{
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while (_hasReadyTx()) {
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const CanTxItem tx = _tx_queue.top();
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uint64_t curr_time = AP_HAL::native_micros64();
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if (tx.deadline >= curr_time) {
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// hal.console->printf("%x TDEAD: %lu CURRT: %lu DEL: %lu\n",tx.frame.id, tx.deadline, curr_time, tx.deadline-curr_time);
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const int res = _write(tx.frame);
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if (res == 1) { // Transmitted successfully
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_incrementNumFramesInSocketTxQueue();
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if (tx.loopback) {
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_pending_loopback_ids.insert(tx.frame.id);
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}
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stats.tx_success++;
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} else if (res == 0) { // Not transmitted, nor is it an error
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stats.tx_full++;
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break; // Leaving the loop, the frame remains enqueued for the next retry
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} else { // Transmission error
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stats.tx_write_fail++;
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}
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} else {
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// hal.console->printf("TDEAD: %lu CURRT: %lu DEL: %lu\n", tx.deadline, curr_time, curr_time-tx.deadline);
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stats.tx_timedout++;
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}
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// Removing the frame from the queue even if transmission failed
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(void)_tx_queue.pop();
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}
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}
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bool CANIface::_pollRead()
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{
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uint8_t iterations_count = 0;
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while (iterations_count < CAN_MAX_POLL_ITERATIONS_COUNT)
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{
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iterations_count++;
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CanRxItem rx;
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rx.timestamp_us = AP_HAL::native_micros64(); // Monotonic timestamp is not required to be precise (unlike UTC)
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bool loopback = false;
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const int res = _read(rx.frame, rx.timestamp_us, loopback);
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if (res == 1) {
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bool accept = true;
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if (loopback) { // We receive loopback for all CAN frames
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_confirmSentFrame();
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rx.flags |= Loopback;
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accept = _wasInPendingLoopbackSet(rx.frame);
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stats.tx_confirmed++;
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}
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if (accept) {
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_rx_queue.push(rx);
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stats.rx_received++;
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return true;
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}
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} else if (res == 0) {
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break;
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} else {
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stats.rx_errors++;
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break;
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}
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}
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return false;
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}
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int CANIface::_write(const AP_HAL::CANFrame& frame) const
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{
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errno = 0;
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const can_frame sockcan_frame = makeSocketCanFrame(frame);
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const int res = write(_fd, &sockcan_frame, sizeof(sockcan_frame));
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if (res <= 0) {
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if (errno == ENOBUFS || errno == EAGAIN) { // Writing is not possible atm, not an error
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return 0;
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}
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return res;
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}
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if (res != sizeof(sockcan_frame)) {
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return -1;
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}
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return 1;
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}
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int CANIface::_read(AP_HAL::CANFrame& frame, uint64_t& timestamp_us, bool& loopback) const
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{
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auto iov = iovec();
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auto sockcan_frame = can_frame();
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iov.iov_base = &sockcan_frame;
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iov.iov_len = sizeof(sockcan_frame);
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union {
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uint8_t data[CMSG_SPACE(sizeof(::timeval))];
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struct cmsghdr align;
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} control;
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auto msg = msghdr();
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msg.msg_iov = &iov;
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msg.msg_iovlen = 1;
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msg.msg_control = control.data;
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msg.msg_controllen = sizeof(control.data);
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const int res = recvmsg(_fd, &msg, MSG_DONTWAIT);
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if (res <= 0) {
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return (res < 0 && errno == EWOULDBLOCK) ? 0 : res;
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}
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/*
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* Flags
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*/
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loopback = (msg.msg_flags & static_cast<int>(MSG_CONFIRM)) != 0;
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if (!loopback && !_checkHWFilters(sockcan_frame)) {
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return 0;
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}
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frame = makeUavcanFrame(sockcan_frame);
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/*
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* Timestamp
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*/
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timestamp_us = AP_HAL::native_micros64();
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return 1;
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}
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// Might block forever, only to be used for testing
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void CANIface::flush_tx()
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{
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do {
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_updateDownStatusFromPollResult(_pollfd);
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_poll(true, true);
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} while(!_tx_queue.empty() && !_down);
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}
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void CANIface::clear_rx()
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{
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// Clean Rx Queue
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std::queue<CanRxItem> empty;
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std::swap( _rx_queue, empty );
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}
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void CANIface::_incrementNumFramesInSocketTxQueue()
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{
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_frames_in_socket_tx_queue++;
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}
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void CANIface::_confirmSentFrame()
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{
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if (_frames_in_socket_tx_queue > 0) {
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_frames_in_socket_tx_queue--;
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}
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}
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bool CANIface::_wasInPendingLoopbackSet(const AP_HAL::CANFrame& frame)
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{
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if (_pending_loopback_ids.count(frame.id) > 0) {
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_pending_loopback_ids.erase(frame.id);
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return true;
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}
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return false;
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}
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bool CANIface::_checkHWFilters(const can_frame& frame) const
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{
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if (!_hw_filters_container.empty()) {
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for (auto& f : _hw_filters_container) {
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if (((frame.can_id & f.can_mask) ^ f.can_id) == 0) {
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return true;
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}
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}
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return false;
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} else {
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return true;
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}
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}
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void CANIface::_updateDownStatusFromPollResult(const pollfd& pfd)
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{
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if (!_down && (pfd.revents & POLLERR)) {
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int error = 0;
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socklen_t errlen = sizeof(error);
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getsockopt(pfd.fd, SOL_SOCKET, SO_ERROR, reinterpret_cast<void*>(&error), &errlen);
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_down= error == ENETDOWN || error == ENODEV;
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stats.num_downs++;
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Debug("Iface %d is dead; error %d", _fd, error);
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}
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}
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bool CANIface::init(const uint32_t bitrate, const OperatingMode mode)
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{
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char iface_name[16];
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sprintf(iface_name, "vcan%u", _self_index);
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if (_initialized) {
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return _initialized;
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}
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// TODO: Add possibility change bitrate
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_fd = _openSocket(iface_name);
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if (_fd > 0) {
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_bitrate = bitrate;
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_initialized = true;
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} else {
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_initialized = false;
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}
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return _initialized;
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}
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|
||||
bool CANIface::select(bool &read_select, bool &write_select,
|
||||
const AP_HAL::CANFrame* const pending_tx, uint64_t blocking_deadline)
|
||||
{
|
||||
// Detecting whether we need to block at all
|
||||
bool need_block = !write_select; // Write queue is infinite
|
||||
|
||||
if (read_select && _hasReadyRx()) {
|
||||
need_block = false;
|
||||
}
|
||||
|
||||
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::native_micros64()) {
|
||||
_evt_handle->wait(blocking_deadline - AP_HAL::native_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;
|
||||
}
|
||||
|
||||
// Return value is irrelevant as long as it's non-negative
|
||||
return true;
|
||||
}
|
||||
|
||||
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]);
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
bool CANIface::CANSocketEventSource::wait(uint64_t duration, AP_HAL::EventHandle* evt_handle)
|
||||
{
|
||||
if (evt_handle == nullptr) {
|
||||
return false;
|
||||
}
|
||||
pollfd pollfds[HAL_NUM_CAN_IFACES] {};
|
||||
uint8_t pollfd_iface_map[HAL_NUM_CAN_IFACES] {};
|
||||
unsigned long int num_pollfds = 0;
|
||||
|
||||
// Poll FD set setup
|
||||
for (unsigned i = 0; i < HAL_NUM_CAN_IFACES; i++) {
|
||||
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) {
|
||||
return true;
|
||||
}
|
||||
|
||||
// Timeout conversion
|
||||
auto ts = timespec();
|
||||
ts.tv_sec = duration / 1000000LL;
|
||||
ts.tv_nsec = (duration % 1000000LL) * 1000;
|
||||
|
||||
// Blocking here
|
||||
const int res = ppoll(pollfds, num_pollfds, &ts, nullptr);
|
||||
|
||||
if (res < 0) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// Handling poll output
|
||||
for (unsigned i = 0; i < num_pollfds; i++) {
|
||||
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;
|
||||
_ifaces[pollfd_iface_map[i]]->_poll(poll_read, poll_write);
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
uint32_t CANIface::get_stats(char* data, uint32_t max_size)
|
||||
{
|
||||
if (data == nullptr) {
|
||||
return 0;
|
||||
}
|
||||
uint32_t ret = snprintf(data, max_size,
|
||||
"tx_requests: %u\n"
|
||||
"tx_write_fail: %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",
|
||||
stats.tx_requests,
|
||||
stats.tx_write_fail,
|
||||
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);
|
||||
return ret;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,197 @@
|
|||
/*
|
||||
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.
|
||||
|
||||
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.
|
||||
|
||||
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
|
||||
*/
|
||||
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "AP_HAL_SITL.h"
|
||||
|
||||
#if HAL_NUM_CAN_IFACES
|
||||
|
||||
#include <AP_HAL/CANIface.h>
|
||||
|
||||
#include <linux/can.h>
|
||||
|
||||
#include <string>
|
||||
#include <queue>
|
||||
#include <memory>
|
||||
#include <map>
|
||||
#include <unordered_set>
|
||||
#include <poll.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)
|
||||
: _self_index(index)
|
||||
, _frames_in_socket_tx_queue(0)
|
||||
, _max_frames_in_socket_tx_queue(2)
|
||||
{ }
|
||||
|
||||
~CANIface() { }
|
||||
|
||||
// Initialise CAN Peripheral
|
||||
bool init(const uint32_t bitrate, const OperatingMode mode) override;
|
||||
|
||||
// Put frame into Tx FIFO returns negative on error, 0 on buffer full,
|
||||
// 1 on successfully pushing a frame into FIFO
|
||||
int16_t send(const AP_HAL::CANFrame& frame, uint64_t tx_deadline,
|
||||
CanIOFlags flags) override;
|
||||
|
||||
// Receive frame from Rx Buffer, returns negative on error, 0 on nothing available,
|
||||
// 1 on successfully poping a frame
|
||||
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
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
void flush_tx() override;
|
||||
|
||||
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;
|
||||
|
||||
// returns true if init was successfully called
|
||||
bool is_initialized() const override;
|
||||
|
||||
/******************************************
|
||||
* Select Method *
|
||||
* ****************************************/
|
||||
// wait until selected event is available, false when timed out waiting else true
|
||||
bool select(bool &read, bool &write,
|
||||
const AP_HAL::CANFrame* const pending_tx,
|
||||
uint64_t blocking_deadline) override;
|
||||
|
||||
// setup event handle for waiting on events
|
||||
bool set_event_handle(AP_HAL::EventHandle* handle) override;
|
||||
|
||||
// fetch stats text and return the size of the same,
|
||||
// results available via @SYS/can0_stats.txt or @SYS/can1_stats.txt
|
||||
uint32_t get_stats(char* data, uint32_t max_size) override;
|
||||
|
||||
class CANSocketEventSource : public AP_HAL::EventSource {
|
||||
friend class CANIface;
|
||||
CANIface *_ifaces[HAL_NUM_CAN_IFACES];
|
||||
|
||||
public:
|
||||
// we just poll fd, no signaling is done
|
||||
void signal(uint32_t evt_mask) override { return; }
|
||||
bool wait(uint64_t duration, AP_HAL::EventHandle* evt_handle) override;
|
||||
};
|
||||
|
||||
private:
|
||||
void _pollWrite();
|
||||
|
||||
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 _hasReadyTx() const;
|
||||
|
||||
bool _hasReadyRx() const;
|
||||
|
||||
void _poll(bool read, bool write);
|
||||
|
||||
int _openSocket(const std::string& iface_name);
|
||||
|
||||
void _updateDownStatusFromPollResult(const pollfd& pfd);
|
||||
|
||||
uint32_t _bitrate;
|
||||
|
||||
bool _down;
|
||||
bool _initialized;
|
||||
|
||||
int _fd;
|
||||
|
||||
const uint8_t _self_index;
|
||||
|
||||
const unsigned _max_frames_in_socket_tx_queue;
|
||||
unsigned _frames_in_socket_tx_queue;
|
||||
uint32_t _tx_frame_counter;
|
||||
AP_HAL::EventHandle *_evt_handle;
|
||||
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;
|
||||
|
||||
struct {
|
||||
uint32_t tx_requests;
|
||||
uint32_t tx_full;
|
||||
uint32_t tx_confirmed;
|
||||
uint32_t tx_write_fail;
|
||||
uint32_t tx_success;
|
||||
uint32_t tx_timedout;
|
||||
uint32_t rx_received;
|
||||
uint32_t rx_errors;
|
||||
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;
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#endif //#if HAL_NUM_CAN_IFACES
|
||||
|
|
@ -21,6 +21,7 @@
|
|||
#include "SITL_State.h"
|
||||
#include "Util.h"
|
||||
#include "DSP.h"
|
||||
#include "CANSocketIface.h"
|
||||
|
||||
#include <AP_BoardConfig/AP_BoardConfig.h>
|
||||
#include <AP_HAL_Empty/AP_HAL_Empty.h>
|
||||
|
|
@ -58,6 +59,11 @@ static I2CDeviceManager i2c_mgr_instance;
|
|||
|
||||
static Util utilInstance(&sitlState);
|
||||
|
||||
|
||||
#if HAL_NUM_CAN_IFACES
|
||||
static HALSITL::CANIface* canDrivers[HAL_NUM_CAN_IFACES];
|
||||
#endif
|
||||
|
||||
HAL_SITL::HAL_SITL() :
|
||||
AP_HAL::HAL(
|
||||
&sitlUart0Driver, /* uartA */
|
||||
|
|
@ -81,7 +87,12 @@ HAL_SITL::HAL_SITL() :
|
|||
&emptyOpticalFlow, /* onboard optical flow */
|
||||
&emptyFlash, /* flash driver */
|
||||
&dspDriver, /* dsp driver */
|
||||
nullptr), /* CAN */
|
||||
#if HAL_NUM_CAN_IFACES
|
||||
(AP_HAL::CANIface**)canDrivers
|
||||
#else
|
||||
nullptr
|
||||
#endif
|
||||
), /* CAN */
|
||||
_sitl_state(&sitlState)
|
||||
{}
|
||||
|
||||
|
|
|
|||
|
|
@ -21,4 +21,8 @@ private:
|
|||
static void exit_signal_handler(int);
|
||||
};
|
||||
|
||||
#if HAL_NUM_CAN_IFACES
|
||||
typedef HALSITL::CANIface HAL_CANIface;
|
||||
#endif
|
||||
|
||||
#endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
||||
|
|
|
|||
Loading…
Reference in New Issue