#include <SockCanScan.h>

Inherits CCanAccess, CCanAccess, and CCanAccess.

Public Member Functions
	CSockCanScan ()

virtual	~CSockCanScan ()

virtual bool	sendMessage (short cobID, unsigned char len, unsigned char *message)

virtual bool	sendRemoteRequest (short cobID)
	Method that sends a remote request trough the can bus channel. More...

virtual bool	createBUS (const char name, const char parameters)

string &	getNamePort ()

int	getHandler ()

string &	getChannel ()

	CSockCanScan ()

	CSockCanScan (CSockCanScan const &other)=delete

CSockCanScan &	operator= (CSockCanScan const &other)=delete

virtual	~CSockCanScan ()

virtual bool	sendRemoteRequest (short cobID)

virtual bool	createBus (const string name, string parameters)
	Method that initializes a can bus channel. More...

virtual bool	sendMessage (short cobID, unsigned char len, unsigned char *message, bool rtr=false)
	Method that sends a message trough the can bus channel. More...

int	getHandler ()
	Returns socket handler. More...

virtual void	getStatistics (CanStatistics &result)
	Returns the instance of the CanStatistics object. More...

Log::LogComponentHandle	logItHandle ()

	CSockCanScan ()

int	FinalConstruct (const char port, const char parameters, CCanCallback *)

string &	getNamePort ()

int	getHandler ()

int	sendErrorCode (int)

virtual	~CSockCanScan ()

virtual bool	sendMessage (short cobID, unsigned char len, unsigned char *message)

virtual bool	sendRemoteRequest (short cobID)

virtual bool	createBUS (const char name, const char parameters, CCanCallback *callback)

Public Member Functions inherited from CCanAccess
	CCanAccess ()

std::string &	getBusName ()

void	setBusName (std::string &name)

virtual	~CCanAccess ()

	CCanAccess ()

virtual void	setCallBack (CCanCallback *callback)

virtual bool	getErrorMessage (long, char **)

int	getCanBusHandler ()

void	setCanBusHandler (int h)

char *	getBusName ()

virtual	~CCanAccess ()

Static Public Member Functions
static can_frame	emptyCanFrame (void)
	produce and empty can frame More...

Public Attributes
int	numModule

int	numChannel

int	numCanHandle

CCanCallback *	cb

Public Attributes inherited from CCanAccess
boost::signals2::signal< void(const canMessage &) >	canMessageCame

boost::signals2::signal< void(const int, const char *, timeval &) >	canMessageError

Static Public Attributes
static std::map< string, string >	m_busMap
	© Copyright CERN, 2015. More...

Private Member Functions
void	sendErrorMessage (const char *)

void	sendErrorMessage (const struct can_frame *)

void	clearErrorMessage ()

int	configureCanboard (const char , const char )

int	openCanPort ()
	stop, set bitrate, start a CAN port, open a socket for it, set the socket to CAN, bind it and check any errors More...

void	waitCanDriver ()

bool	stopBus ()
	notify the main thread to finish and delete the bus from the map of connections More...

void	updateInitialError ()

void	sendErrorMessage (const char *)

void	clearErrorMessage ()

int	configureCanBoard (const string name, const string parameters)

int	openCanPort ()
	Obtains a SocketCAN socket and opens it. More...

int	configureCanboard (const char , const char )

Static Private Member Functions
static void *	CanScanControlThread (void *)
	reading from socket, and supervising thread for monitoring the sockets/CAN buses. More...

static std::string	errorFrameToString (const struct can_frame &f)

static void *	CanScanControlThread (void *)

static void *	CanScanControlThread (void *)

Private Attributes
bool	run_can

int	sock

pthread_t	m_hCanScanThread

int	m_idCanScanThread

string	name_of_port

string	channelName

string	param

volatile bool	m_CanScanThreadRunEnableFlag

int	m_sock

CanStatistics	m_statistics

int	m_errorCode

std::string	m_channelName

std::string	m_busName

Log::LogComponentHandle	m_logItHandleSock

Additional Inherited Members
Protected Attributes inherited from CCanAccess
char *	busName

int	handler

CCanCallback *	cb

Detailed Description

Definition at line 21 of file SockCanScan.h.

Constructor & Destructor Documentation

◆ CSockCanScan() [1/4]

CSockCanScan::CSockCanScan ( )

inline

Definition at line 25 of file SockCanScan.h.

◆ ~CSockCanScan() [1/3]

CSockCanScan::~CSockCanScan ( )

virtual

Definition at line 148 of file SockCanScan.cpp.

◆ CSockCanScan() [2/4]

CSockCanScan::CSockCanScan ( )

◆ CSockCanScan() [3/4]

CSockCanScan::CSockCanScan ( CSockCanScan const & other )

delete

◆ ~CSockCanScan() [2/3]

virtual CSockCanScan::~CSockCanScan ( )

virtual

◆ CSockCanScan() [4/4]

CSockCanScan::CSockCanScan ( )

inline

Definition at line 23 of file SockCanScan.h.

◆ ~CSockCanScan() [3/3]

virtual CSockCanScan::~CSockCanScan ( )

virtual

Member Function Documentation

◆ CanScanControlThread() [1/3]

static void* CSockCanScan::CanScanControlThread ( void * )

staticprivate

◆ CanScanControlThread() [2/3]

void * CSockCanScan::CanScanControlThread ( void * p_voidSockCanScan )

staticprivate

reading from socket, and supervising thread for monitoring the sockets/CAN buses.

It takes an object reference (cast) and listens with a select call on that socket/object. The select runs with 1Hz, and if there is nothing to receive it should timeout.

the select failed. that is very bad, system problem, but let's continue nevertheless. There is not much we can do

select returned, either on the timeout or with something on that socket/object. Assumption: at this moment sock holds meaningful value. Now select result >=0 so it was either nothing received (timeout) or something received

The preceding call took either 'timeout' time, or there is frame received – perfect time to attempt to clean error frame.

select reports that it has got something, so no timeout in this case

try to re-open the socket. only reopen the socket if we still need it. If we need to shutdown the thread, leave it closed and terminate main loop.

if we have an open socket again, and we can read numberOfReadBytes >=0 we should be fine again and continue the thread execution normally

we have a CAN message, error free, lets digest it

reformat and buffer the message from the socket. this actually should exclude more bits

the select got nothing to read, this was just a timeout.

Definition at line 48 of file SockCanScan.cpp.

◆ CanScanControlThread() [3/3]

static void* CSockCanScan::CanScanControlThread ( void * )

staticprivate

◆ clearErrorMessage() [1/2]

void CSockCanScan::clearErrorMessage ( )

private

Definition at line 472 of file SockCanScan.cpp.

◆ clearErrorMessage() [2/2]

void CSockCanScan::clearErrorMessage ( )

private

◆ configureCanboard() [1/2]

int CSockCanScan::configureCanboard	(	const char *	,
		const char *
	)

private

◆ configureCanboard() [2/2]

int CSockCanScan::configureCanboard	(	const char *	name,
		const char *	parameters
	)

private

Definition at line 161 of file SockCanScan.cpp.

◆ configureCanBoard()

int CSockCanScan::configureCanBoard	(	const string	name,
		const string	parameters
	)

private

Definition at line 311 of file SockCanScan.cpp.

◆ createBUS() [1/2]

bool CSockCanScan::createBUS	(	const char *	name,
		const char *	parameters
	)

virtual

Implements CCanAccess.

Definition at line 354 of file SockCanScan.cpp.

◆ createBUS() [2/2]

bool CSockCanScan::createBUS	(	const char *	name,
		const char *	parameters,
		CCanCallback *	callback
	)

virtual

Implements CCanAccess.

Definition at line 206 of file SockCanScan.cpp.

◆ createBus()

bool CSockCanScan::createBus	(	const string	name,
		string	parameters
	)

virtual

Method that initializes a can bus channel.

The following methods called upon the same object will be using this initialized channel.

Parameters

name	= 2 parameters separated by ":", like "n0:n1" n0 = "sock" for sockets, used by systec and peak n1 = CAN port number on the module, can be prefixed with "can" ex.: "sock:can1" speaks to port 1 on systec or peak module ex.: "sock:1" works as well
parameters	one parameter: "p0", positive integer "Unspecified" (or empty): using defaults = "125000" // params missing p0: bitrate: 50000, 100000, 125000, 250000, 500000, 1000000 bit/s, other values might be allowed by the module

i.e. "250000"

Returns: Was the initialization process successful?

dont create a main thread for the same bus twice: if it exists already, just configure the board again this protects agains having multiple threads if a given port ports is opened several times: protects against erro/unusual runtime. If the connection is closed, it's main thread is stopped and joined, and the port is erased from the connection map. when the same port is opened again later on, a (new) main thread is created, and the connection is again added to the map.

Definition at line 540 of file SockCanScan.cpp.

◆ emptyCanFrame()

static can_frame CSockCanScan::emptyCanFrame ( void )

inlinestatic

produce and empty can frame

Definition at line 72 of file SockCanScan.h.

◆ errorFrameToString()

std::string CSockCanScan::errorFrameToString ( const struct can_frame & f )

staticprivate

Definition at line 585 of file SockCanScan.cpp.

◆ FinalConstruct()

int CSockCanScan::FinalConstruct	(	const char *	port,
		const char *	parameters,
		CCanCallback *	callb
	)

Definition at line 71 of file SockCanScan.cpp.

◆ getChannel()

string& CSockCanScan::getChannel ( )

inline

Definition at line 35 of file SockCanScan.h.

◆ getHandler() [1/3]

int CSockCanScan::getHandler ( )

inline

Definition at line 26 of file SockCanScan.h.

◆ getHandler() [2/3]

int CSockCanScan::getHandler ( )

inline

Definition at line 34 of file SockCanScan.h.

◆ getHandler() [3/3]

int CSockCanScan::getHandler ( )

inline

Returns socket handler.

Definition at line 62 of file SockCanScan.h.

◆ getNamePort() [1/2]

string& CSockCanScan::getNamePort ( )

inline

Definition at line 25 of file SockCanScan.h.

◆ getNamePort() [2/2]

string& CSockCanScan::getNamePort ( )

inline

Definition at line 33 of file SockCanScan.h.

◆ getStatistics()

void CSockCanScan::getStatistics ( CanStatistics & result )

virtual

Returns the instance of the CanStatistics object.

Definition at line 703 of file SockCanScan.cpp.

◆ logItHandle()

Log::LogComponentHandle CSockCanScan::logItHandle ( )

inline

Definition at line 82 of file SockCanScan.h.

◆ openCanPort() [1/2]

int CSockCanScan::openCanPort ( )

private

stop, set bitrate, start a CAN port, open a socket for it, set the socket to CAN, bind it and check any errors

Definition at line 180 of file SockCanScan.cpp.

◆ openCanPort() [2/2]

int CSockCanScan::openCanPort ( )

private

Obtains a SocketCAN socket and opens it.

The name of the port and parameters should have been specified by preceding call to configureCanboard()

Returns: less than zero in case of error, otherwise success

◆ operator=()

CSockCanScan& CSockCanScan::operator= ( CSockCanScan const & other )

delete

◆ sendErrorCode()

int CSockCanScan::sendErrorCode ( int status )

Definition at line 155 of file SockCanScan.cpp.

◆ sendErrorMessage() [1/3]

void CSockCanScan::sendErrorMessage ( const char * mess )

private

Definition at line 484 of file SockCanScan.cpp.

◆ sendErrorMessage() [2/3]

void CSockCanScan::sendErrorMessage ( const struct can_frame * errFrame )

private

Definition at line 369 of file SockCanScan.cpp.

◆ sendErrorMessage() [3/3]

void CSockCanScan::sendErrorMessage ( const char * )

private

◆ sendMessage() [1/3]

bool CSockCanScan::sendMessage	(	short	cobID,
		unsigned char	len,
		unsigned char *	message
	)

virtual

Implements CCanAccess.

Definition at line 271 of file SockCanScan.cpp.

◆ sendMessage() [2/3]

virtual bool CSockCanScan::sendMessage	(	short	cobID,
		unsigned char	len,
		unsigned char *	message
	)

virtual

Implements CCanAccess.

◆ sendMessage() [3/3]

bool CSockCanScan::sendMessage	(	short	cobID,
		unsigned char	len,
		unsigned char *	message,
		bool	rtr = `false`
	)

virtual

Method that sends a message trough the can bus channel.

If the method createBUS was not called before this, sendMessage will fail, as there is no can bus channel to send a message through.

Parameters

cobID	Identifier that will be used for the message.
len	Length of the message. If the message is bigger than 8 characters, it will be split into separate 8 characters messages.
message	Message to be sent trough the can bus.
rtr	is the message a remote transmission request?

Returns: Was the initialisation process successful?

Definition at line 409 of file SockCanScan.cpp.

◆ sendRemoteRequest() [1/3]

bool CSockCanScan::sendRemoteRequest ( short cobID )

virtual

Method that sends a remote request trough the can bus channel.

If the method createBUS was not called before this, sendMessage will fail, as there is no can bus channel to send the request trough. Similar to sendMessage, but it sends an special message reserved for requests.

Parameters

cobID Identifier that will be used for the request.

Returns: : Was the initialisation process successful?

that is not tested or used until now, and I am not sure it works

Implements CCanAccess.

Definition at line 319 of file SockCanScan.cpp.

◆ sendRemoteRequest() [2/3]

virtual bool CSockCanScan::sendRemoteRequest ( short cobID )

virtual

Implements CCanAccess.

◆ sendRemoteRequest() [3/3]

virtual bool CSockCanScan::sendRemoteRequest ( short cobID )

virtual

Implements CCanAccess.

◆ stopBus()

bool CSockCanScan::stopBus ( void )

private

notify the main thread to finish and delete the bus from the map of connections

Definition at line 679 of file SockCanScan.cpp.

◆ updateInitialError()

void CSockCanScan::updateInitialError ( )

private

Definition at line 710 of file SockCanScan.cpp.

◆ waitCanDriver()

void CSockCanScan::waitCanDriver ( )

private

Definition at line 495 of file SockCanScan.cpp.

Member Data Documentation

◆ cb

CCanCallback* CSockCanScan::cb

Definition at line 40 of file SockCanScan.h.

◆ channelName

string CSockCanScan::channelName

private

Definition at line 55 of file SockCanScan.h.

◆ m_busMap

std::map< string, string > CSockCanScan::m_busMap

static

All rights not expressly granted are reserved.

SockCanScan.cpp

Created on: Jul 21, 2011 Based on work by vfilimon Rework and logging done by Piotr Nikiel piotr.nosp@m.@nik.nosp@m.iel.i.nosp@m.nfo mludwig at cern dot ch

This file is part of Quasar.

Quasar is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public Licence as published by the Free Software Foundation, either version 3 of the Licence.

Quasar 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 Lesser General Public Licence for more details.

You should have received a copy of the GNU Lesser General Public License along with Quasar. If not, see http://www.gnu.org/licenses/.

Definition at line 81 of file SockCanScan.h.

◆ m_busName

std::string CSockCanScan::m_busName

private

Definition at line 93 of file SockCanScan.h.

◆ m_CanScanThreadRunEnableFlag

volatile bool CSockCanScan::m_CanScanThreadRunEnableFlag

private

Definition at line 85 of file SockCanScan.h.

◆ m_channelName

std::string CSockCanScan::m_channelName

private

Definition at line 92 of file SockCanScan.h.

◆ m_errorCode

int CSockCanScan::m_errorCode

private

Definition at line 91 of file SockCanScan.h.

◆ m_hCanScanThread

pthread_t CSockCanScan::m_hCanScanThread

private

Definition at line 42 of file SockCanScan.h.

◆ m_idCanScanThread

int CSockCanScan::m_idCanScanThread

private

Definition at line 43 of file SockCanScan.h.

◆ m_logItHandleSock

Log::LogComponentHandle CSockCanScan::m_logItHandleSock

private

Definition at line 95 of file SockCanScan.h.

◆ m_sock

int CSockCanScan::m_sock

private

Definition at line 87 of file SockCanScan.h.

◆ m_statistics

CanStatistics CSockCanScan::m_statistics

private

Definition at line 88 of file SockCanScan.h.

◆ name_of_port

string CSockCanScan::name_of_port

private

Definition at line 54 of file SockCanScan.h.

◆ numCanHandle

int CSockCanScan::numCanHandle

Definition at line 37 of file SockCanScan.h.

◆ numChannel

int CSockCanScan::numChannel

Definition at line 36 of file SockCanScan.h.

◆ numModule

int CSockCanScan::numModule

Definition at line 35 of file SockCanScan.h.

◆ param

string CSockCanScan::param

private

Definition at line 56 of file SockCanScan.h.

◆ run_can

bool CSockCanScan::run_can

private

Definition at line 38 of file SockCanScan.h.

◆ sock

int CSockCanScan::sock

private

Definition at line 39 of file SockCanScan.h.

The documentation for this class was generated from the following files:

CanInterface/sockcan/SockCanScan.h
CanInterface/sockcan/SockCanScan.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Private Member Functions

Static Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CSockCanScan() [1/4]

◆ ~CSockCanScan() [1/3]

◆ CSockCanScan() [2/4]

◆ CSockCanScan() [3/4]

◆ ~CSockCanScan() [2/3]

◆ CSockCanScan() [4/4]

◆ ~CSockCanScan() [3/3]

Member Function Documentation

◆ CanScanControlThread() [1/3]

◆ CanScanControlThread() [2/3]

◆ CanScanControlThread() [3/3]

◆ clearErrorMessage() [1/2]

◆ clearErrorMessage() [2/2]

◆ configureCanboard() [1/2]

◆ configureCanboard() [2/2]

◆ configureCanBoard()

◆ createBUS() [1/2]

◆ createBUS() [2/2]

◆ createBus()

◆ emptyCanFrame()

◆ errorFrameToString()

◆ FinalConstruct()

◆ getChannel()

◆ getHandler() [1/3]

◆ getHandler() [2/3]

◆ getHandler() [3/3]

◆ getNamePort() [1/2]

◆ getNamePort() [2/2]

◆ getStatistics()

◆ logItHandle()

◆ openCanPort() [1/2]

◆ openCanPort() [2/2]

◆ operator=()

◆ sendErrorCode()

◆ sendErrorMessage() [1/3]

◆ sendErrorMessage() [2/3]

◆ sendErrorMessage() [3/3]

◆ sendMessage() [1/3]

◆ sendMessage() [2/3]

◆ sendMessage() [3/3]

◆ sendRemoteRequest() [1/3]

◆ sendRemoteRequest() [2/3]

◆ sendRemoteRequest() [3/3]

◆ stopBus()

◆ updateInitialError()

◆ waitCanDriver()

Member Data Documentation

◆ cb

◆ channelName

◆ m_busMap

◆ m_busName

◆ m_CanScanThreadRunEnableFlag

◆ m_channelName

◆ m_errorCode

◆ m_hCanScanThread

◆ m_idCanScanThread

◆ m_logItHandleSock

◆ m_sock

◆ m_statistics

◆ name_of_port

◆ numCanHandle

◆ numChannel

◆ numModule

◆ param

◆ run_can

◆ sock