mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
643 lines
19 KiB
C++
643 lines
19 KiB
C++
/*
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#pragma once
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#include <cassert>
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#include <cstdint>
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#include <queue>
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#include <vector>
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#include <map>
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#include <unordered_set>
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#include <algorithm>
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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.h>
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#include <linux/can/raw.h>
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#include <poll.h>
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#include <uavcan/uavcan.hpp>
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#include <uavcan_linux/clock.hpp>
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#include <uavcan_linux/exception.hpp>
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namespace uavcan_linux
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{
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/**
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* SocketCan driver class keeps number of each kind of errors occurred since the object was created.
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*/
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enum class SocketCanError
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{
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SocketReadFailure,
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SocketWriteFailure,
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TxTimeout
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};
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/**
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* Single SocketCAN socket interface.
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*
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* SocketCAN socket adapter maintains TX and RX queues in user space. At any moment socket's buffer contains
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* no more than 'max_frames_in_socket_tx_queue_' TX frames, rest is waiting in the user space TX queue; when the
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* socket produces loopback for the previously sent TX frame the next frame from the user space TX queue will
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* be sent into the socket.
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* This approach allows to properly maintain TX timeouts (http://stackoverflow.com/questions/19633015/).
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* TX timestamping is implemented by means of reading RX timestamps of loopback frames (see "TX timestamping" on
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* linux-can mailing list, http://permalink.gmane.org/gmane.linux.can/5322).
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*
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* This class is too complex and needs to be refactored later. At least, basic socket IO and configuration
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* should be extracted into a different class.
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*/
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class SocketCanIface : public uavcan::ICanIface
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{
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static inline ::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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(void)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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{
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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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{
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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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{
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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 inline 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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{
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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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{
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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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{
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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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struct TxItem
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{
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uavcan::CanFrame frame;
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uavcan::MonotonicTime deadline;
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uavcan::CanIOFlags flags;
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TxItem()
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: flags(0)
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{ }
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TxItem(const uavcan::CanFrame& arg_frame, uavcan::MonotonicTime arg_deadline, uavcan::CanIOFlags arg_flags)
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: frame(arg_frame)
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, deadline(arg_deadline)
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, flags(arg_flags)
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{ }
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bool operator<(const TxItem& rhs) const { return frame.priorityLowerThan(rhs.frame); }
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};
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struct RxItem
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{
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uavcan::CanFrame frame;
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uavcan::MonotonicTime ts_mono;
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uavcan::UtcTime ts_utc;
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uavcan::CanIOFlags flags;
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RxItem()
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: flags(0)
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{ }
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};
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const SystemClock& clock_;
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const int fd_;
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const unsigned max_frames_in_socket_tx_queue_;
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unsigned frames_in_socket_tx_queue_;
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std::map<SocketCanError, std::uint64_t> errors_;
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std::priority_queue<TxItem> tx_queue_; // TODO: Use pool allocator
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std::queue<RxItem> rx_queue_; // TODO: Use pool allocator
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std::unordered_multiset<std::uint32_t> pending_loopback_ids_; // TODO: Use pool allocator
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void registerError(SocketCanError e) { errors_[e]++; }
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void incrementNumFramesInSocketTxQueue()
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{
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assert(frames_in_socket_tx_queue_ < max_frames_in_socket_tx_queue_);
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frames_in_socket_tx_queue_++;
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}
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void confirmSentFrame()
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{
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if (frames_in_socket_tx_queue_ > 0)
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{
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frames_in_socket_tx_queue_--;
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}
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else
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{
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assert(0); // Loopback for a frame that we didn't send.
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}
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}
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bool 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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{
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(void)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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int write(const uavcan::CanFrame& frame) const
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{
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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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{
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return res;
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}
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if (res != sizeof(sockcan_frame))
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{
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return -1;
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}
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return 1;
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}
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/**
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* SocketCAN git show 1e55659ce6ddb5247cee0b1f720d77a799902b85
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* MSG_DONTROUTE is set for any packet from localhost,
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* MSG_CONFIRM is set for any pakcet of your socket.
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* Diff: https://git.ucsd.edu/abuss/linux/commit/1e55659ce6ddb5247cee0b1f720d77a799902b85
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* Man: https://www.kernel.org/doc/Documentation/networking/can.txt (chapter 4.1.6).
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*/
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int 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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};
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auto control = 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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{
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return (res < 0 && errno == EWOULDBLOCK) ? 0 : res;
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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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assert(cmsg != nullptr);
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if (cmsg->cmsg_level == SOL_SOCKET && cmsg->cmsg_type == SO_TIMESTAMP)
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{
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auto tv = ::timeval();
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(void)std::memcpy(&tv, CMSG_DATA(cmsg), sizeof(tv)); // Copy to avoid alignment problems
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assert(tv.tv_sec >= 0 && tv.tv_usec >= 0);
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ts_utc = uavcan::UtcTime::fromUSec(std::uint64_t(tv.tv_sec) * 1000000ULL + tv.tv_usec);
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}
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else
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{
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assert(0);
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return -1;
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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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return 1;
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}
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void pollWrite()
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{
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while (!tx_queue_.empty() && (frames_in_socket_tx_queue_ < max_frames_in_socket_tx_queue_))
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{
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const TxItem tx = tx_queue_.top();
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tx_queue_.pop();
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assert(tx_queue_.empty() ? true : !tx.frame.priorityLowerThan(tx_queue_.top().frame)); // Order check
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if (tx.deadline >= clock_.getMonotonic())
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{
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const int res = write(tx.frame);
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if (res == 1)
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{
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incrementNumFramesInSocketTxQueue();
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if (tx.flags & uavcan::CanIOFlagLoopback)
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{
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(void)pending_loopback_ids_.insert(tx.frame.id);
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}
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}
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else
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{
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registerError(SocketCanError::SocketWriteFailure);
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}
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}
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else
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{
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registerError(SocketCanError::TxTimeout);
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}
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}
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}
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void pollRead()
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{
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while (true)
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{
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RxItem rx;
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rx.ts_mono = clock_.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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{
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assert(!rx.ts_utc.isZero());
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bool accept = true;
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if (loopback) // We receive loopback for all CAN frames
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{
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confirmSentFrame();
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rx.flags |= uavcan::CanIOFlagLoopback;
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accept = wasInPendingLoopbackSet(rx.frame); // Do we need to send this loopback into the lib?
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}
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if (accept)
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{
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rx.ts_utc += clock_.getPrivateAdjustment();
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rx_queue_.push(rx);
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}
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}
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else if (res == 0)
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{
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break;
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}
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else
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{
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registerError(SocketCanError::SocketReadFailure);
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}
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}
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}
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public:
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/**
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* Takes ownership of socket's file descriptor.
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*/
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SocketCanIface(const SystemClock& clock, int socket_fd, int max_frames_in_socket_tx_queue = 3)
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: clock_(clock)
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, fd_(socket_fd)
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, max_frames_in_socket_tx_queue_(max_frames_in_socket_tx_queue)
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, frames_in_socket_tx_queue_(0)
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{
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assert(fd_ >= 0);
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}
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/**
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* Socket file descriptor will be closed.
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*/
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virtual ~SocketCanIface()
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{
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(void)::close(fd_);
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}
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/**
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* Assumes that the socket is writeable
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*/
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virtual std::int16_t 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);
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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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/**
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* Will read the socket only if RX queue is empty.
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* Normally, poll() needs to be executed first.
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*/
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virtual std::int16_t 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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{
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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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{
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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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/**
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* Performs socket read/write.
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* @param read Socket is readable
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* @param write Socket is writeable
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*/
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void poll(bool read, bool write)
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{
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if (read)
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{
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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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{
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pollWrite();
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}
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}
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bool hasPendingTx() const { return !tx_queue_.empty(); }
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bool hasReadyRx() const { return !rx_queue_.empty(); }
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virtual std::int16_t 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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{
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assert(0);
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return -1;
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}
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std::vector< ::can_filter> filts(num_configs);
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for (unsigned i = 0; i < num_configs; i++)
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{
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const uavcan::CanFilterConfig& fc = filter_configs[i];
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filts[i].can_id = fc.id & uavcan::CanFrame::MaskExtID;
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filts[i].can_mask = fc.mask & uavcan::CanFrame::MaskExtID;
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if (fc.id & uavcan::CanFrame::FlagEFF)
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{
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filts[i].can_id |= CAN_EFF_FLAG;
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}
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if (fc.id & uavcan::CanFrame::FlagRTR)
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{
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filts[i].can_id |= CAN_RTR_FLAG;
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}
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if (fc.mask & uavcan::CanFrame::FlagEFF)
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{
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filts[i].can_mask |= CAN_EFF_FLAG;
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}
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if (fc.mask & uavcan::CanFrame::FlagRTR)
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{
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filts[i].can_mask |= CAN_RTR_FLAG;
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}
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}
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int ret = setsockopt(fd_, SOL_CAN_RAW, CAN_RAW_FILTER, filts.data(), sizeof(::can_filter) * num_configs);
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return (ret < 0) ? -1 : 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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virtual std::uint16_t getNumFilters() const { return 255; }
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/**
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* Returns total number of errors of each kind detected since the object was created.
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*/
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virtual std::uint64_t getErrorCount() const
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{
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std::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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/**
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* Returns number of errors of each kind in a map.
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*/
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const decltype(errors_)& getErrors() const { return errors_; }
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int getFileDescriptor() const { return fd_; }
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/**
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* Open and configure a CAN socket on iface specified by name.
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* @param iface_name String containing iface name, e.g. "can0", "vcan1", "slcan0"
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* @return Socket descriptor or negative number on error.
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*/
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static int openSocket(const std::string& iface_name)
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{
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const int s = ::socket(PF_CAN, SOCK_RAW, CAN_RAW);
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if (s < 0)
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{
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return s;
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}
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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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{
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goto fail;
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}
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(void)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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{
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goto fail;
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}
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// Bind to a 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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{
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goto fail;
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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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{
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goto fail;
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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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{
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goto fail;
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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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{
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goto fail;
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}
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}
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return s;
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fail:
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(void)::close(s);
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return -1;
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}
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};
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/**
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* Multiplexing container for multiple SocketCAN sockets.
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* Uses ppoll() for multiplexing.
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*/
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class SocketCanDriver : public uavcan::ICanDriver
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{
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public:
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static constexpr unsigned MaxIfaces = uavcan::MaxCanIfaces;
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private:
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const SystemClock& clock_;
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uavcan::LazyConstructor<SocketCanIface> ifaces_[MaxIfaces];
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::pollfd pollfds_[MaxIfaces];
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std::uint8_t num_ifaces_;
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public:
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/**
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* Reference to the clock object shall remain valid.
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*/
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explicit SocketCanDriver(const SystemClock& clock)
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: clock_(clock)
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, num_ifaces_(0)
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{
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for (auto& p : pollfds_)
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{
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p = ::pollfd();
|
|
p.fd = -1;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* This function may return before deadline expiration even if no requested IO operations become possible.
|
|
* This behavior makes implementation way simpler, and it is OK since libuavcan can properly handle such
|
|
* early returns.
|
|
* Also it can return more events than were originally requested by uavcan, which is also acceptable.
|
|
*/
|
|
virtual std::int16_t select(uavcan::CanSelectMasks& inout_masks, uavcan::MonotonicTime blocking_deadline)
|
|
{
|
|
// Detecting whether we need to block at all
|
|
bool need_block = (inout_masks.write == 0); // Write queue is infinite
|
|
for (unsigned i = 0; need_block && (i < num_ifaces_); i++)
|
|
{
|
|
const bool need_read = inout_masks.read & (1 << i);
|
|
if (need_read && ifaces_[i]->hasReadyRx())
|
|
{
|
|
need_block = false;
|
|
}
|
|
}
|
|
|
|
if (need_block)
|
|
{
|
|
// Poll FD set setup
|
|
for (unsigned i = 0; i < num_ifaces_; i++)
|
|
{
|
|
pollfds_[i].events = POLLIN;
|
|
if (ifaces_[i]->hasPendingTx() || (inout_masks.write & (1 << i)))
|
|
{
|
|
pollfds_[i].events |= POLLOUT;
|
|
}
|
|
}
|
|
|
|
// Timeout conversion
|
|
const std::int64_t timeout_usec = (blocking_deadline - clock_.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_ifaces_, &ts, nullptr);
|
|
if (res < 0)
|
|
{
|
|
return res;
|
|
}
|
|
|
|
// Handling poll output
|
|
for (unsigned i = 0; i < num_ifaces_; i++)
|
|
{
|
|
const bool poll_read = pollfds_[i].revents & POLLIN;
|
|
const bool poll_write = pollfds_[i].revents & POLLOUT;
|
|
ifaces_[i]->poll(poll_read, poll_write);
|
|
}
|
|
}
|
|
|
|
// Writing the output masks
|
|
inout_masks = uavcan::CanSelectMasks();
|
|
for (unsigned i = 0; i < num_ifaces_; i++)
|
|
{
|
|
const std::uint8_t iface_mask = 1 << i;
|
|
inout_masks.write |= iface_mask; // Always ready to write
|
|
if (ifaces_[i]->hasReadyRx())
|
|
{
|
|
inout_masks.read |= iface_mask;
|
|
}
|
|
}
|
|
// Since all ifaces are always ready to write, return value is always the same
|
|
return num_ifaces_;
|
|
}
|
|
|
|
virtual SocketCanIface* getIface(std::uint8_t iface_index)
|
|
{
|
|
return (iface_index >= num_ifaces_) ? nullptr : static_cast<SocketCanIface*>(ifaces_[iface_index]);
|
|
}
|
|
|
|
virtual std::uint8_t getNumIfaces() const { return num_ifaces_; }
|
|
|
|
/**
|
|
* Adds one iface by name. Will fail if there are @ref MaxIfaces ifaces registered already.
|
|
* @param iface_name E.g. "can0", "vcan1"
|
|
* @return Negative on error, zero on success.
|
|
* @throws uavcan_linux::Exception.
|
|
*/
|
|
int addIface(const std::string& iface_name)
|
|
{
|
|
if (num_ifaces_ >= MaxIfaces)
|
|
{
|
|
return -1;
|
|
}
|
|
// Open the socket
|
|
const int fd = SocketCanIface::openSocket(iface_name);
|
|
if (fd < 0)
|
|
{
|
|
return fd;
|
|
}
|
|
// Construct the iface - upon successful construction the iface will take ownership of the fd.
|
|
try
|
|
{
|
|
ifaces_[num_ifaces_].construct<const SystemClock&, int>(clock_, fd);
|
|
}
|
|
catch (...)
|
|
{
|
|
(void)::close(fd);
|
|
throw;
|
|
}
|
|
// Init pollfd
|
|
pollfds_[num_ifaces_].fd = fd;
|
|
num_ifaces_++;
|
|
return 0;
|
|
}
|
|
};
|
|
|
|
}
|