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Can.cpp
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Can.cpp
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//
// Created by sylar on 24-12-24.
//
/***************************************************************
Copyright(c) 2013 AITON. All rights reserved.
Author: AITON
FileName: Can.cpp
Date: 2013-1-1
Description:CAN总线接口处理类文件.包含CAN总线数据收发操作.
Version: V1.0
History:
***************************************************************/
#include "Can.h"
#include "Detector.h"
#include "LampBoard.h"
#include "FlashMac.h"
#include "PowerBoard.h"
#include "MacControl.h"
#include <ace/Guard_T.h>
#include "ComFunc.h" //ADD:201309281040
#include "WirelessButtons.h"
#include "MainBackup.h"
#ifndef WINDOWS
#include <sys/time.h>
#include <unistd.h>
#endif
/*
*协议版本 bit0-bit3
*/
enum
{
B2B_PROTOCOL_V00 = 0x0F , //V0.0
B2B_PROTOCOL_V01 = 0x0E , //V0.1
B2B_PROTOCOL_V02 = 0x0D //V0.2
};
/**************************************************************
Function: Can::Can
Description: Can，用于类初始化处理
Input: 无
Output: 无
Return: 0
***************************************************************/
Can::Can()
{
pMainBoardLed = CMainBoardLed::CreateInstance();
m_CanMsgQue = ACE_Message_Queue_Factory<ACE_MT_SYNCH>::create_static_message_queue();
InitCan();
ACE_DEBUG((LM_DEBUG,"%s:%d Init CanBus object ok !\n",__FILE__,__LINE__));
}
/**************************************************************
Function: Can::~Can
Description: Can 析构函数
Input: 无
Output: 无
Return: 0
***************************************************************/
Can::~Can()
{
ACE_DEBUG((LM_DEBUG,"%s:%d Destruct CanBus object ok !\n",__FILE__,__LINE__));
}
/**************************************************************
Function: Can::CreateInstance
Description: 创建 Can静态对象
Input: 无
Output: 无
Return: 静态对象指针
***************************************************************/
Can* Can::CreateInstance()
{
static Can can;
return &can;
}
/**************************************************************
Function: Can::InitCan
Description: 初始化Can socket总线
Input: 无
Output: 无
Return: 无
***************************************************************/
void Can::InitCan()
{
#ifdef LINUX
m_socketHandle = socket(PF_CAN,SOCK_RAW,CAN_RAW);
strcpy((char *)(m_ifrCan.ifr_name),"can0");
ioctl(m_socketHandle,SIOCGIFINDEX,&m_ifrCan);
ACE_DEBUG((LM_DEBUG,"%s:%d can0 can_ifindex = %x,m_socketHandle= %d\n",__FILE__,__LINE__,m_ifrCan.ifr_ifindex,m_socketHandle));
m_addrCan.can_family = AF_CAN;
m_addrCan.can_ifindex = m_ifrCan.ifr_ifindex;
bind(m_socketHandle,(struct sockaddr*)&m_addrCan,sizeof(m_addrCan));
#endif
}
/**************************************************************
Function: Can::GetHandle
Description: 获取Can socket总线文件句柄
Input: 无
Output: 无
Return: Can socket总线文件句柄
***************************************************************/
int Can::GetHandle()
{
return m_socketHandle;
}
/**************************************************************
Function: Can::Send
Description: 发送Can数据包
Input: sendFrame can数据包
Output: 无
Return: false-失败 true-成功
***************************************************************/
bool Can::Send(SCanFrame& sendFrame)
{
ACE_Guard<ACE_Thread_Mutex> guard(m_mutexCan);
int ulBytes = 0;
m_frameCan.can_id = sendFrame.ulCanId;
ACE_OS::memcpy(m_frameCan.data,sendFrame.pCanData,sendFrame.ucCanDataLen);
m_frameCan.can_dlc = sendFrame.ucCanDataLen;
ulBytes = sendto(m_socketHandle , &m_frameCan , sizeof(struct can_frame), 0 ,(struct sockaddr*)&m_addrCan,sizeof(m_addrCan));
if(ulBytes == -1)
{
int erronum = errno ;
return false ;
}
if ( ulBytes == sizeof(struct can_frame))
{
//ACE_DEBUG((LM_DEBUG,"%s:%d CAN 的帧与ulBytes大小不相等!\n",__FILE__,__LINE__));//MOD�0�2:20130523 14 25
//这里影响到的can数据的发送
pMainBoardLed->DoCan0Led();
}
return true;
}
/**************************************************************
Function: Can::Recv
Description: 接收Can数据包
Input: recvFrame 接收到到can数据包
Output: 无
Return: false-失败 true-成功
***************************************************************/
bool Can::Recv(SCanFrame& recvFrame)
{
ACE_Guard<ACE_Thread_Mutex> guard(m_mutexCan);
Ulong ulBytes = 0;
Ulong ulLen = 0;
#ifdef LINUX
ulBytes = recvfrom(m_socketHandle , &m_frameCan,sizeof(struct can_frame) , 0 ,(struct sockaddr *)&m_addrCan,(socklen_t*)&ulLen);
//ACE_DEBUG((LM_DEBUG,"%s:%d Recv %d bytes from can_frame! \n",__FILE__,__LINE__,ulBytes));//MOD�0�2:20130523 1422
recvFrame.ulCanId = m_frameCan.can_id;
ACE_OS::memcpy(recvFrame.pCanData,m_frameCan.data,m_frameCan.can_dlc);
recvFrame.ucCanDataLen = m_frameCan.can_dlc;
#endif
return true;
}
/**************************************************************
Function: Can::BuildCanId
Description: 建立CanId
Input: bit28-bit26 bit25-bit20 bit19-bit18 bit17-bit12 bit11-bit4 bit0-bit3
报文类型 模块地址 帧模式 目的地址 保留 协议版本
ucCanMsgType ucModuleAddr ucFrameMode ucRemodeAddr
Output: ulCanId can报文id
Return: 无
***************************************************************/
void Can::BuildCanId(Ulong u1CanMsgType
, Ulong u1ModuleAddr
, Ulong u1FrameMode
, Ulong u1RemodeAddr
, Ulong* ulCanId)
{
Ulong ulCanIdTmp = 0;
ulCanIdTmp = ulCanIdTmp | B2B_PROTOCOL_V00;
ulCanIdTmp = ulCanIdTmp | (0xff << 4); //保留部分 err
ulCanIdTmp = ulCanIdTmp | (u1RemodeAddr << 12);
ulCanIdTmp = ulCanIdTmp | (u1FrameMode << 18);
ulCanIdTmp = ulCanIdTmp | (u1ModuleAddr << 20);
ulCanIdTmp = ulCanIdTmp | (u1CanMsgType << 26);
ulCanIdTmp = ulCanIdTmp | (1 << 31);
*ulCanId = ulCanIdTmp;
}
/**************************************************************
Function: Can::ExtractCanId
Description: 解析CanId
Output: bit28-bit26 bit25-bit20 bit19-bit18 bit17-bit12 bit11-bit4 bit0-bit3
报文类型 模块地址 帧模式 目的地址 保留 协议版本
ucCanMsgType ucModuleAddr ucFrameMode ucRemodeAddr
Input: ulCanId can报文id
Return: 无
***************************************************************/
void Can::ExtractCanId(Ulong& u1CanMsgType
, Ulong& u1ModuleAddr
, Ulong& u1FrameMode
, Ulong& u1RemodeAddr
, Ulong& ulProtocolVersion
, Ulong ulCanId)
{
u1CanMsgType = 0;
u1ModuleAddr = 0;
u1FrameMode = 0;
u1RemodeAddr = 0;
ulProtocolVersion = 0;
ulProtocolVersion = ulCanId & 0x0F;
u1RemodeAddr = (ulCanId >> 12) & 0x3F;
u1FrameMode = (ulCanId >> 18) & 0x3;
u1ModuleAddr = (ulCanId >> 20) & 0x3F;
u1CanMsgType = (ulCanId >> 26) & 0x07;
}
/**************************************************************
Function: Can::PrintInfo
Description: 打印数据
Output: 无
Input: file 打印文件名
line 打印起始行
iSub 打印结束行
canFrame 打印数据帧
Return: 无
***************************************************************/
void Can::PrintInfo(char* file,int line,int iSub,SCanFrame canFrame)
{
ACE_DEBUG((LM_DEBUG,"%s:%d-%d\n",file,line,iSub));
ACE_DEBUG((LM_DEBUG,"CanId:%08x CanDataLen:%d\nData:",canFrame.ulCanId,canFrame.ucCanDataLen));
for ( int iPrtIndex=0; iPrtIndex<canFrame.ucCanDataLen; iPrtIndex++)
{
ACE_DEBUG((LM_DEBUG,"%02x ",canFrame.pCanData[iPrtIndex]));
}
ACE_DEBUG((LM_DEBUG,"\n"));
}
/**************************************************************
Function: Can::PrintCurTime
Description: 打印当前时间
Output: 无
Input: file 打印文件名
line 打印起始行
sTmp 打印字符
Return: 无
***************************************************************/
void Can::PrintCurTime(char* file,int line,char* sTmp)
{
#ifndef WINDOWS
struct timeval tvCurTime;
struct timezone tzCurTime;
gettimeofday (&tvCurTime , &tzCurTime );
ACE_DEBUG((LM_DEBUG,"%s:%d %s %d %06d(us)\n",file,line,sTmp,tvCurTime.tv_sec,tvCurTime.tv_usec));
#endif
}
/**************************************************************
Function: Can::RunCanRecv
Description: Can返回消息接收线程函数，接收数据并放入CAN消息队列
Output: 无
Input: arg 默认NULL
Return: 0
***************************************************************/
void * Can::RunCanRecv(void *arg)
{
SCanFrame sRecvFrameTmp;
int iLenCanFrame = sizeof(sRecvFrameTmp) ;
fd_set rfds;
struct timeval tv;
int iCanHandle = Can::CreateInstance()->GetHandle();
Can* pCan = Can::CreateInstance();
while(true)
{
tv.tv_sec = 0;
tv.tv_usec = 20000;
FD_ZERO(&rfds);
FD_SET(iCanHandle, &rfds);
int iRetCnt = select(iCanHandle + 1, &rfds, NULL, NULL, &tv);
if ( -1 == iRetCnt ) //select error
{
ACE_DEBUG((LM_DEBUG,"%s:%d select error\n",__FILE__,__LINE__));
continue ;
}
else if ( 0 == iRetCnt ) //timeout
{
//ACE_DEBUG((LM_DEBUG,"%s:%d timeout\n",__FILE__,__LINE__));
continue ;
}
else
{
Can::CreateInstance()->Recv(sRecvFrameTmp);
ACE_Message_Block *mb = new ACE_Message_Block(iLenCanFrame); //构造消息块
mb->copy((char*)&sRecvFrameTmp, iLenCanFrame); // 将数据拷贝进消息块
//ACE_Time_Value nowait(GetCurTime()+ACE_Time_Value(1));
ACE_Time_Value nowait(getCurrTime()) ;
if( -1 == (pCan->m_CanMsgQue)->enqueue_tail(mb, &nowait)) //向 CAN ACE_Message_Queue中添加新数据块
{
mb->release();
}
//pGbtMsgQueue->SendGbtMsg(&sMsg,sizeof(sMsg));
}
}
return 0 ;
}
/**************************************************************
Function: Can::DealCanData
Description: 从CAN接收信息队列取出接收数据并处理线程函数
Output: 无
Input: arg 默认NULL
Return: 0
***************************************************************/
void * Can::DealCanData(void* arg)
{
int iLen = 0;
Ulong u1CanMsgType;
Ulong u1ModuleAddr;
Ulong u1FrameMode;
Ulong u1RemodeAddr;
Ulong ulProtocolVersion;
timeval tTmp;
tTmp.tv_sec = 0;
tTmp.tv_usec = 10 * 1000;//10毫秒
ACE_Message_Block *mb = NULL;
SCanFrame sRecvFrameTmp;
//int iLenCanFrame = sizeof(sRecvFrameTmp) ;
Can* pCan = Can::CreateInstance();
CDetector *pDector = CDetector::CreateInstance();
CLampBoard *pLampBoard = CLampBoard::CreateInstance();
CFlashMac *pFlash = CFlashMac::CreateInstance();
CPowerBoard *pPower = CPowerBoard::CreateInstance(); //ADD :2013 0712 17 54
CMacControl *pMacControl = CMacControl::CreateInstance(); //ADD: 2013 0815 0920
CWirelessBtn *pWirelessBtn = CWirelessBtn::CreateInstance(); //ADD: 20141022 1123
CMainBoardLed*pMaiBdLed = CMainBoardLed::CreateInstance(); //ADD:201501013 ACE_Time_Value nowait(getCurrTime());
MainBackup *pMainBack = MainBackup::CreateInstance(); //ADD:20150310
ACE_Time_Value nowait(GetCurTime());
while ( pCan->m_CanMsgQue != NULL )
{
if((pCan->m_CanMsgQue)->dequeue_head(mb, &nowait) != -1)
{
iLen = (int)mb->length();
ACE_OS::memcpy((char*)&sRecvFrameTmp, mb->base(), iLen); //MOD: add ACE_OS::
mb->release();
}
else
{
ACE_OS::sleep(ACE_Time_Value(tTmp)); //暂停10毫秒
continue;
}
Can::CreateInstance()->ExtractCanId(u1CanMsgType , u1ModuleAddr , u1FrameMode , u1RemodeAddr, ulProtocolVersion , sRecvFrameTmp.ulCanId);
switch(u1ModuleAddr)
{
case BOARD_ADDR_LAMP1:
pLampBoard->RecvLampCan(BOARD_ADDR_LAMP1, sRecvFrameTmp);
break;
case BOARD_ADDR_LAMP2:
pLampBoard->RecvLampCan(BOARD_ADDR_LAMP2, sRecvFrameTmp);
break;
case BOARD_ADDR_LAMP3:
pLampBoard->RecvLampCan(BOARD_ADDR_LAMP3, sRecvFrameTmp);
break;
case BOARD_ADDR_LAMP4:
pLampBoard->RecvLampCan(BOARD_ADDR_LAMP4, sRecvFrameTmp);
break;
case BOARD_ADDR_LAMP5:
pLampBoard->RecvLampCan(BOARD_ADDR_LAMP5, sRecvFrameTmp);
break;
case BOARD_ADDR_LAMP6:
pLampBoard->RecvLampCan(BOARD_ADDR_LAMP6, sRecvFrameTmp);
break;
case BOARD_ADDR_LAMP7:
pLampBoard->RecvLampCan(BOARD_ADDR_LAMP7, sRecvFrameTmp);
break;
case BOARD_ADDR_LAMP8:
pLampBoard->RecvLampCan(BOARD_ADDR_LAMP8, sRecvFrameTmp);
break;
case BOARD_ADDR_POWER:
pPower->RecvPowerCan(BOARD_ADDR_POWER,sRecvFrameTmp);
break;
case BOARD_ADDR_POWER2:
pPower->RecvPowerCan(BOARD_ADDR_POWER2,sRecvFrameTmp);
break;
case BOARD_ADDR_DETECTOR1:
pDector->RecvDetCan(BOARD_ADDR_DETECTOR1, sRecvFrameTmp);// ADD: 2013 0710 1039
break;
case BOARD_ADDR_DETECTOR2:
pDector->RecvDetCan(BOARD_ADDR_DETECTOR2, sRecvFrameTmp);// ADD: 2013 0710 1039
break;
case BOARD_ADDR_INTEDET1 :
pDector->RecvDetCan(BOARD_ADDR_INTEDET1, sRecvFrameTmp);// ADD: 2014 0504 1039
break;
case BOARD_ADDR_INTEDET2 :
pDector->RecvDetCan(BOARD_ADDR_INTEDET2, sRecvFrameTmp);// ADD: 2014 0504 1039
break;
case BOARD_ADDR_FLASH:
pFlash->RecvFlashCan(sRecvFrameTmp) ; //ADD: 2013 0712 1543
break;
case BOARD_ADDR_HARD_CONTROL:
pMacControl->RecvMacCan(sRecvFrameTmp);
break;
case BOARD_ADDR_LED :
pMaiBdLed->RecvMainBdLedCan(sRecvFrameTmp);
break ;
case BOARD_ADDR_WIRELESS_BTNCTRLA:
pWirelessBtn->RecvMacCan(sRecvFrameTmp); //ADD: 20141022 1125
break ;
case BOARD_ADDR_MAINBACK:
pMainBack->RecvMainBackCan(sRecvFrameTmp);//ADD: 2010310 1048
break ;
case BOARD_ADDR_MAIN: //ADD:20141024 Get Can date from mainboard
{
Byte icandatelength = sRecvFrameTmp.ucCanDataLen ;
/*显示 接收到来自主板发的CAN数据
ACE_OS::printf("%s:%d ",__FILE__,__LINE__);
for(Byte idex = 0 ; idex<icandatelength;idex++)
{
ACE_OS::printf(" %2X ",sRecvFrameTmp.pCanData[idex]);
}
ACE_OS::printf("\r\n");
*/
break ;
}
default:
ACE_DEBUG((LM_DEBUG,"\n%s:%d Recv from unknow Module address :%2X !\n",u1ModuleAddr));
break ;
}
}
return 0 ;
}