mirror of https://github.com/ArduPilot/ardupilot
624 lines
18 KiB
C++
624 lines
18 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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#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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#include <AP_Common/ExpandingString.h>
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extern const AP_HAL::HAL& hal;
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using namespace Linux;
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#if HAL_CANMANAGER_ENABLED
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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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#else
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#define Debug(fmt, args...)
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#endif
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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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WITH_SEMAPHORE(sem);
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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 AP_HAL::CANIface::send(frame, tx_deadline, flags);
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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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WITH_SEMAPHORE(sem);
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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 AP_HAL::CANIface::receive(out_frame, out_timestamp_us, out_flags);
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}
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bool CANIface::_hasReadyTx()
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{
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WITH_SEMAPHORE(sem);
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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()
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{
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WITH_SEMAPHORE(sem);
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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 uint16_t num_configs)
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{
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if (filter_configs == nullptr || mode_ != FilteredMode) {
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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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WITH_SEMAPHORE(sem);
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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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WITH_SEMAPHORE(sem);
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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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if (_fd < 0) {
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return -1;
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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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if (_fd < 0) {
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return -1;
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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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WITH_SEMAPHORE(sem);
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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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WITH_SEMAPHORE(sem);
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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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#if HAL_LINUX_USE_VIRTUAL_CAN
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sprintf(iface_name, "vcan%u", _self_index);
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#else
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sprintf(iface_name, "can%u", _self_index);
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#endif
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if (_initialized) {
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return _initialized;
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}
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bitrate_ = bitrate;
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mode_ = mode;
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// TODO: Add possibility change bitrate
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_fd = _openSocket(iface_name);
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Debug("Socket opened iface_name: %s fd: %d", iface_name, _fd);
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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,
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const AP_HAL::CANFrame* const pending_tx, uint64_t 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 = !write_select; // Write queue is infinite
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if (read_select && _hasReadyRx()) {
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need_block = false;
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}
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if (need_block) {
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if (_down) {
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return false;
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} else {
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_pollfd.fd = _fd;
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_pollfd.events |= POLLIN;
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stats.num_rx_poll_req++;
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if (_hasReadyTx() && write_select) {
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_pollfd.events |= POLLOUT;
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stats.num_tx_poll_req++;
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}
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}
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if (_evt_handle != nullptr && blocking_deadline > AP_HAL::native_micros64()) {
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|
_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(uint16_t duration_us, 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 = 0;
|
|
ts.tv_nsec = duration_us * 1000UL;
|
|
|
|
// 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;
|
|
}
|
|
|
|
void CANIface::get_stats(ExpandingString &str)
|
|
{
|
|
str.printf("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);
|
|
}
|
|
|
|
#endif
|