The class which defines an ESD CAN client which inherites CanClient. 更多...

#include <socket_can_client_raw.h>

类 apollo::drivers::canbus::can::SocketCanClientRaw 继承关系图:

apollo::drivers::canbus::can::SocketCanClientRaw 的协作图:

Public 成员函数
bool	Init (const CANCardParameter &parameter) override
	Initialize the ESD CAN client by specified CAN card parameters.

virtual	~SocketCanClientRaw ()
	Destructor

apollo::common::ErrorCode	Start () override
	Start the ESD CAN client.

void	Stop () override
	Stop the ESD CAN client.

apollo::common::ErrorCode	Send (const std::vector< CanFrame > &frames, int32_t *const frame_num) override
	Send messages

apollo::common::ErrorCode	Receive (std::vector< CanFrame > const frames, int32_t const frame_num) override
	Receive messages

std::string	GetErrorString (const int32_t status) override
	Get the error string.

Public 成员函数继承自 apollo::drivers::canbus::CanClient
	CanClient ()=default
	Constructor

virtual	~CanClient ()=default
	Destructor

virtual apollo::common::ErrorCode	SendSingleFrame (const std::vector< CanFrame > &frames)
	Send a single message.

额外继承的成员函数
Protected 属性继承自 apollo::drivers::canbus::CanClient
bool	is_started_ = false
	The CAN client is started.

详细描述

The class which defines an ESD CAN client which inherites CanClient.

在文件 socket_can_client_raw.h 第 60 行定义.

构造及析构函数说明

◆ ~SocketCanClientRaw()

apollo::drivers::canbus::can::SocketCanClientRaw::~SocketCanClientRaw ( )

virtual

Destructor

在文件 socket_can_client_raw.cc 第 58 行定义.

                                        {
  if (dev_handler_) {
    Stop();
  }
}

成员函数说明

◆ GetErrorString()

std::string apollo::drivers::canbus::can::SocketCanClientRaw::GetErrorString ( const int32_t status )

overridevirtual

Get the error string.

参数

status The status to get the error string.

实现了 apollo::drivers::canbus::CanClient.

在文件 socket_can_client_raw.cc 第 240 行定义.

                                                            {
  return "";
}

◆ Init()

bool apollo::drivers::canbus::can::SocketCanClientRaw::Init ( const CANCardParameter & parameter )

overridevirtual

Initialize the ESD CAN client by specified CAN card parameters.

参数

parameter CAN card parameters to initialize the CAN client.

返回: If the initialization is successful.

实现了 apollo::drivers::canbus::CanClient.

在文件 socket_can_client_raw.cc 第 39 行定义.

                                                               {
  if (!parameter.has_channel_id()) {
    AERROR << "Init CAN failed: parameter does not have channel id. The "
              "parameter is "
           << parameter.DebugString();
    return false;
  }
 
  port_ = parameter.channel_id();
  interface_ = parameter.interface();
  auto num_ports = parameter.num_ports();
  if (port_ > static_cast<int32_t>(num_ports) || port_ < 0) {
    AERROR << "Can port number [" << port_ << "] is out of range [0, "
           << num_ports << ") !";
    return false;
  }
  return true;
}

◆ Receive()

ErrorCode apollo::drivers::canbus::can::SocketCanClientRaw::Receive	(	std::vector< CanFrame > *const	frames,
		int32_t *const	frame_num
	)

overridevirtual

Receive messages

参数

frames	The messages to receive.
frame_num	The amount of messages to receive.

返回: The status of the receiving action which is defined by apollo::common::ErrorCode.

实现了 apollo::drivers::canbus::CanClient.

在文件 socket_can_client_raw.cc 第 195 行定义.

                                                                {
  if (!is_started_) {
    AERROR << "Nvidia can client is not init! Please init first!";
    return ErrorCode::CAN_CLIENT_ERROR_RECV_FAILED;
  }
 
  if (*frame_num > MAX_CAN_RECV_FRAME_LEN || *frame_num < 0) {
    AERROR << "recv can frame num not in range[0, " << MAX_CAN_RECV_FRAME_LEN
           << "], frame_num:" << *frame_num;
    // TODO(Authors): check the difference of returning frame_num/error_code
    return ErrorCode::CAN_CLIENT_ERROR_FRAME_NUM;
  }
 
  for (int32_t i = 0; i < *frame_num && i < MAX_CAN_RECV_FRAME_LEN; ++i) {
    CanFrame cf;
    auto ret = read(dev_handler_, &recv_frames_[i], sizeof(recv_frames_[i]));
 
    if (ret < 0) {
      AERROR << "receive message failed, error code: " << ret;
      return ErrorCode::CAN_CLIENT_ERROR_BASE;
    }
    if (recv_frames_[i].can_dlc > CANBUS_MESSAGE_LENGTH ||
        recv_frames_[i].can_dlc < 0) {
      AERROR << "recv_frames_[" << i
             << "].can_dlc = " << recv_frames_[i].can_dlc
             << ", which is not equal to can message data length ("
             << CANBUS_MESSAGE_LENGTH << ").";
      return ErrorCode::CAN_CLIENT_ERROR_RECV_FAILED;
    }
    if (recv_frames_[i].can_id > CAN_STANDARD_MAX_ID) {
      cf.id = FLAGS_enable_can_err_check
                  ? recv_frames_[i].can_id & CAN_EFF_MASK | CAN_ERR_FLAG
                  : recv_frames_[i].can_id & CAN_EFF_MASK;
    } else {
      cf.id = (recv_frames_[i].can_id & CAN_SFF_MASK);
    }
    ADEBUG << "Socket can receive can id is " << recv_frames_[i].can_id;
    cf.len = recv_frames_[i].can_dlc;
    std::memcpy(cf.data, recv_frames_[i].data, recv_frames_[i].can_dlc);
    frames->push_back(cf);
  }
  return ErrorCode::OK;
}

◆ Send()

ErrorCode apollo::drivers::canbus::can::SocketCanClientRaw::Send	(	const std::vector< CanFrame > &	frames,
		int32_t *const	frame_num
	)

overridevirtual

Send messages

参数

frames	The messages to send.
frame_num	The amount of messages to send.

返回: The status of the sending action which is defined by apollo::common::ErrorCode.

实现了 apollo::drivers::canbus::CanClient.

在文件 socket_can_client_raw.cc 第 157 行定义.

                                                             {
  CHECK_NOTNULL(frame_num);
  CHECK_EQ(frames.size(), static_cast<size_t>(*frame_num));
 
  if (!is_started_) {
    AERROR << "Nvidia can client has not been initiated! Please init first!";
    return ErrorCode::CAN_CLIENT_ERROR_SEND_FAILED;
  }
  for (size_t i = 0; i < frames.size() && i < MAX_CAN_SEND_FRAME_LEN; ++i) {
    if (frames[i].len > CANBUS_MESSAGE_LENGTH || frames[i].len < 0) {
      AERROR << "frames[" << i << "].len = " << frames[i].len
             << ", which is not equal to can message data length ("
             << CANBUS_MESSAGE_LENGTH << ").";
      return ErrorCode::CAN_CLIENT_ERROR_SEND_FAILED;
    }
    if (frames[i].id > CAN_STANDARD_MAX_ID) {
      send_frames_[i].can_id = (frames[i].id & CAN_EFF_MASK) | CAN_EFF_FLAG;
    } else {
      send_frames_[i].can_id = (frames[i].id & CAN_SFF_MASK);
    }
    ADEBUG << "send can id is " << send_frames_[i].can_id;
    send_frames_[i].can_dlc = frames[i].len;
    std::memcpy(send_frames_[i].data, frames[i].data, frames[i].len);
 
    // Synchronous transmission of CAN messages
    int ret = static_cast<int>(
        write(dev_handler_, &send_frames_[i], sizeof(send_frames_[i])));
    if (ret <= 0) {
      AERROR << "send message failed, error code: " << ret;
      return ErrorCode::CAN_CLIENT_ERROR_BASE;
    }
  }
 
  return ErrorCode::OK;
}

◆ Start()

ErrorCode apollo::drivers::canbus::can::SocketCanClientRaw::Start ( )

overridevirtual

Start the ESD CAN client.

返回: The status of the start action which is defined by apollo::common::ErrorCode.

实现了 apollo::drivers::canbus::CanClient.

在文件 socket_can_client_raw.cc 第 64 行定义.

                                    {
  if (is_started_) {
    return ErrorCode::OK;
  }
  struct sockaddr_can addr;
  struct ifreq ifr;
 
  // open device
  // guss net is the device minor number, if one card is 0,1
  // if more than one card, when install driver u can specify the minior id
  // int32_t ret = canOpen(net, pCtx->mode, txbufsize, rxbufsize, 0, 0,
  // &dev_handler_);
  dev_handler_ = socket(PF_CAN, SOCK_RAW, CAN_RAW);
  if (dev_handler_ < 0) {
    AERROR << "open device error code [" << dev_handler_ << "]: ";
    return ErrorCode::CAN_CLIENT_ERROR_BASE;
  }
 
  // init config and state
  int ret;
 
  // 1. for non virtual busses, set receive message_id filter, ie white list
  if (interface_ != CANCardParameter::VIRTUAL) {
    // set a scope for each EID instead of a single filter rule for each EID
    struct can_filter filter[1];
    // filter[0].can_mask = CAN_ID_MASK;
    // all EID without filter
    filter[0].can_id = 0x000;
    filter[0].can_mask = 0x000;
 
    ret = setsockopt(dev_handler_, SOL_CAN_RAW, CAN_RAW_FILTER, &filter,
                     sizeof(filter));
    if (ret < 0) {
      AERROR << "add receive msg id filter error code: " << ret;
      return ErrorCode::CAN_CLIENT_ERROR_BASE;
    }
  }
 
  // 2. enable reception of can frames.
  int enable = 1;
  ret = ::setsockopt(dev_handler_, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &enable,
                     sizeof(enable));
  if (ret < 0) {
    AERROR << "enable reception of can frame error code: " << ret;
    return ErrorCode::CAN_CLIENT_ERROR_BASE;
  }
 
  std::string interface_prefix;
  if (interface_ == CANCardParameter::VIRTUAL) {
    interface_prefix = "vcan";
  } else if (interface_ == CANCardParameter::SLCAN) {
    interface_prefix = "slcan";
  } else {  // default: CANCardParameter::NATIVE
    interface_prefix = "can";
  }
 
  const std::string can_name = absl::StrCat(interface_prefix, port_);
  std::strncpy(ifr.ifr_name, can_name.c_str(), IFNAMSIZ);
  if (ioctl(dev_handler_, SIOCGIFINDEX, &ifr) < 0) {
    AERROR << "ioctl error";
    return ErrorCode::CAN_CLIENT_ERROR_BASE;
  }
 
  // bind socket to network interface
 
  addr.can_family = AF_CAN;
  addr.can_ifindex = ifr.ifr_ifindex;
  ret = ::bind(dev_handler_, reinterpret_cast<struct sockaddr *>(&addr),
               sizeof(addr));
 
  if (ret < 0) {
    AERROR << "bind socket to network interface error code: " << ret;
    return ErrorCode::CAN_CLIENT_ERROR_BASE;
  }
 
  is_started_ = true;
  return ErrorCode::OK;
}

◆ Stop()

void apollo::drivers::canbus::can::SocketCanClientRaw::Stop ( )

overridevirtual

Stop the ESD CAN client.

实现了 apollo::drivers::canbus::CanClient.

在文件 socket_can_client_raw.cc 第 143 行定义.

                              {
  if (is_started_) {
    is_started_ = false;
 
    int ret = close(dev_handler_);
    if (ret < 0) {
      AERROR << "close error code:" << ret << ", " << GetErrorString(ret);
    } else {
      AINFO << "close socket can ok. port:" << port_;
    }
  }
}

该类的文档由以下文件生成:

modules/drivers/canbus/can_client/socket/socket_can_client_raw.h
modules/drivers/canbus/can_client/socket/socket_can_client_raw.cc

Public 成员函数

额外继承的成员函数

详细描述

构造及析构函数说明

◆ ~SocketCanClientRaw()

成员函数说明

◆ GetErrorString()

◆ Init()

◆ Receive()

◆ Send()

◆ Start()

◆ Stop()