mirror of https://github.com/ArduPilot/ardupilot
617 lines
17 KiB
C++
617 lines
17 KiB
C++
/*
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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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#include <AP_BoardConfig/AP_BoardConfig.h>
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#if HAL_WITH_UAVCAN
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#include "CAN.h"
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#include <AP_UAVCAN/AP_UAVCAN.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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extern const AP_HAL::HAL& hal;
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using namespace Linux;
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uavcan::MonotonicTime getMonotonic()
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{
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return uavcan::MonotonicTime::fromUSec(AP_HAL::micros64());
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}
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static can_frame makeSocketCanFrame(const uavcan::CanFrame& uavcan_frame)
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{
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can_frame sockcan_frame { uavcan_frame.id& uavcan::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 uavcan::CanFrame makeUavcanFrame(const can_frame& sockcan_frame)
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{
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uavcan::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 |= uavcan::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 |= uavcan::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 |= uavcan::CanFrame::FlagRTR;
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}
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return uavcan_frame;
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}
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bool CAN::begin(uint32_t bitrate)
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{
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if (_initialized) return _initialized;
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// TODO: Add possibility change bitrate
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_fd = openSocket(HAL_BOARD_CAN_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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void CAN::reset()
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{
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if (_initialized && _bitrate != 0) {
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close(_fd);
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begin(_bitrate);
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}
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}
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void CAN::end()
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{
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_initialized = false;
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close(_fd);
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}
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bool CAN::is_initialized()
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{
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return _initialized;
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}
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int32_t CAN::tx_pending()
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{
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if (_initialized) {
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return _tx_queue.size();
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} else {
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return -1;
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}
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}
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int32_t CAN::available()
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{
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if (_initialized) {
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return _rx_queue.size();
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} else {
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return -1;
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}
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}
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int CAN::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 CAN::send(const uavcan::CanFrame& frame, const uavcan::MonotonicTime tx_deadline,
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const uavcan::CanIOFlags flags)
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{
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_tx_queue.emplace(frame, tx_deadline, flags, _tx_frame_counter);
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_tx_frame_counter++;
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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 CAN::receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& out_ts_monotonic,
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uavcan::UtcTime& out_ts_utc, uavcan::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 RxItem& rx = _rx_queue.front();
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out_frame = rx.frame;
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out_ts_monotonic = rx.ts_mono;
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out_ts_utc = rx.ts_utc;
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out_flags = rx.flags;
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}
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_rx_queue.pop();
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return 1;
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}
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bool CAN::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 CAN::hasReadyRx() const
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{
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return !_rx_queue.empty();
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}
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void CAN::poll(bool read, bool write)
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{
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if (read) {
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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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_pollWrite();
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}
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}
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int16_t CAN::configureFilters(const uavcan::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 -1;
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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 uavcan::CanFilterConfig& fc = filter_configs[i];
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_hw_filters_container[i].can_id = fc.id & uavcan::CanFrame::MaskExtID;
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_hw_filters_container[i].can_mask = fc.mask & uavcan::CanFrame::MaskExtID;
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if (fc.id & uavcan::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 & uavcan::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 & uavcan::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 & uavcan::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 0;
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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 CAN::getNumFilters() const { return NumFilters; }
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uint64_t CAN::getErrorCount() const
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{
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uint64_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 CAN::_pollWrite()
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{
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while (hasReadyTx()) {
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const TxItem tx = _tx_queue.top();
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if (tx.deadline >= getMonotonic()) {
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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.flags & uavcan::CanIOFlagLoopback) {
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_pending_loopback_ids.insert(tx.frame.id);
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}
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} else if (res == 0) { // Not transmitted, nor is it an error
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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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_registerError(SocketCanError::SocketWriteFailure);
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}
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} else {
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_registerError(SocketCanError::TxTimeout);
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}
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// Removing the frame from the queue even if transmission failed
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_tx_queue.pop();
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}
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}
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void CAN::_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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RxItem rx;
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rx.ts_mono = getMonotonic(); // 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.ts_utc, 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 |= uavcan::CanIOFlagLoopback;
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accept = _wasInPendingLoopbackSet(rx.frame);
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}
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if (accept) {
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_rx_queue.push(rx);
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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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_registerError(SocketCanError::SocketReadFailure);
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break;
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}
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}
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}
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int CAN::_write(const uavcan::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 CAN::_read(uavcan::CanFrame& frame, uavcan::UtcTime& ts_utc, 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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struct Control
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{
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cmsghdr cm;
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std::uint8_t data[sizeof(::timeval)];
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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;
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msg.msg_controllen = sizeof(control);
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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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const cmsghdr* const cmsg = CMSG_FIRSTHDR(&msg);
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if (cmsg->cmsg_level == SOL_SOCKET && cmsg->cmsg_type == SO_TIMESTAMP) {
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auto tv = timeval();
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std::memcpy(&tv, CMSG_DATA(cmsg), sizeof(tv)); // Copy to avoid alignment problems
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ts_utc = uavcan::UtcTime::fromUSec(std::uint64_t(tv.tv_sec) * 1000000ULL + tv.tv_usec);
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} else {
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return -1;
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}
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return 1;
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}
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void CAN::_incrementNumFramesInSocketTxQueue()
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{
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_frames_in_socket_tx_queue++;
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}
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void CAN::_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 CAN::_wasInPendingLoopbackSet(const uavcan::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 CAN::_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 CANManager::IfaceWrapper::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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hal.console->printf("Iface %d is dead; error %d", this->getFileDescriptor(), error);
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}
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}
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void CANManager::_timer_tick()
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{
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if (!_initialized) return;
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if (p_uavcan != nullptr) {
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p_uavcan->do_cyclic();
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} else {
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hal.console->printf("p_uavcan is nullptr");
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}
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}
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bool CANManager::begin(uint32_t bitrate, uint8_t can_number)
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{
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if (init(can_number) >= 0) {
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_initialized = true;
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}
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return _initialized;
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}
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bool CANManager::is_initialized()
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{
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return _initialized;
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}
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void CANManager::initialized(bool val)
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{
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_initialized = val;
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}
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AP_UAVCAN *CANManager::get_UAVCAN(void)
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{
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return p_uavcan;
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}
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void CANManager::set_UAVCAN(AP_UAVCAN *uavcan)
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{
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p_uavcan = uavcan;
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}
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CAN* CANManager::getIface(uint8_t iface_index)
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{
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return (iface_index >= _ifaces.size()) ? nullptr : _ifaces[iface_index].get();
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}
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int CANManager::init(uint8_t can_number)
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{
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int res = -1;
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char iface_name[16];
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sprintf(iface_name, "can%u", can_number);
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res = addIface(iface_name);
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if (res < 0) {
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hal.console->printf("CANManager: init %s failed\n", iface_name);
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}
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return res;
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}
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int16_t CANManager::select(uavcan::CanSelectMasks& inout_masks,
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const uavcan::CanFrame* (&)[uavcan::MaxCanIfaces],
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uavcan::MonotonicTime blocking_deadline)
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{
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// Detecting whether we need to block at all
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bool need_block = (inout_masks.write == 0); // Write queue is infinite
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for (unsigned i = 0; need_block && (i < _ifaces.size()); i++) {
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const bool need_read = inout_masks.read & (1 << i);
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if (need_read && _ifaces[i]->hasReadyRx()) {
|
|
need_block = false;
|
|
}
|
|
}
|
|
|
|
if (need_block) {
|
|
// Poll FD set setup
|
|
pollfd pollfds[uavcan::MaxCanIfaces] = {};
|
|
unsigned num_pollfds = 0;
|
|
IfaceWrapper* pollfd_index_to_iface[uavcan::MaxCanIfaces] = {};
|
|
|
|
for (unsigned i = 0; i < _ifaces.size(); i++) {
|
|
if (!_ifaces[i]->isDown()) {
|
|
pollfds[num_pollfds].fd = _ifaces[i]->getFileDescriptor();
|
|
pollfds[num_pollfds].events = POLLIN;
|
|
if (_ifaces[i]->hasReadyTx() || (inout_masks.write & (1U << i))) {
|
|
pollfds[num_pollfds].events |= POLLOUT;
|
|
}
|
|
pollfd_index_to_iface[num_pollfds] = _ifaces[i].get();
|
|
num_pollfds++;
|
|
}
|
|
}
|
|
|
|
if (num_pollfds == 0) {
|
|
return 0;
|
|
}
|
|
|
|
// Timeout conversion
|
|
const std::int64_t timeout_usec = (blocking_deadline - getMonotonic()).toUSec();
|
|
auto ts = timespec();
|
|
if (timeout_usec > 0) {
|
|
ts.tv_sec = timeout_usec / 1000000LL;
|
|
ts.tv_nsec = (timeout_usec % 1000000LL) * 1000;
|
|
}
|
|
|
|
// Blocking here
|
|
const int res = ppoll(pollfds, num_pollfds, &ts, nullptr);
|
|
if (res < 0) {
|
|
return res;
|
|
}
|
|
|
|
// Handling poll output
|
|
for (unsigned i = 0; i < num_pollfds; i++) {
|
|
pollfd_index_to_iface[i]->updateDownStatusFromPollResult(pollfds[i]);
|
|
|
|
const bool poll_read = pollfds[i].revents & POLLIN;
|
|
const bool poll_write = pollfds[i].revents & POLLOUT;
|
|
pollfd_index_to_iface[i]->poll(poll_read, poll_write);
|
|
}
|
|
}
|
|
|
|
// Writing the output masks
|
|
inout_masks = uavcan::CanSelectMasks();
|
|
for (unsigned i = 0; i < _ifaces.size(); i++) {
|
|
if (!_ifaces[i]->isDown()) {
|
|
inout_masks.write |= std::uint8_t(1U << i); // Always ready to write if not down
|
|
}
|
|
if (_ifaces[i]->hasReadyRx()) {
|
|
inout_masks.read |= std::uint8_t(1U << i); // Readability depends only on RX buf, even if down
|
|
}
|
|
}
|
|
|
|
// Return value is irrelevant as long as it's non-negative
|
|
return _ifaces.size();
|
|
}
|
|
|
|
int CANManager::addIface(const std::string& iface_name)
|
|
{
|
|
if (_ifaces.size() >= uavcan::MaxCanIfaces) {
|
|
return -1;
|
|
}
|
|
|
|
// Open the socket
|
|
const int fd = CAN::openSocket(iface_name);
|
|
if (fd < 0) {
|
|
return fd;
|
|
}
|
|
|
|
// Construct the iface - upon successful construction the iface will take ownership of the fd.
|
|
_ifaces.emplace_back(new IfaceWrapper(fd));
|
|
|
|
hal.console->printf("New iface '%s' fd %d\n", iface_name.c_str(), fd);
|
|
|
|
return _ifaces.size() - 1;
|
|
}
|
|
|
|
#endif
|