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Add CAN payload len on first frame byte #293

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merged 6 commits into from
Dec 14, 2021
Merged

Add CAN payload len on first frame byte #293

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fb76d42
Modify CAN frame
Acuadros95 Dec 9, 2021
6ff59f3
Add check on recv CAN len
Acuadros95 Dec 10, 2021
8b2f84b
Fix CAN DLC
Acuadros95 Dec 13, 2021
cb6c517
Uncrustify
Acuadros95 Dec 13, 2021
f1b52e2
Fix write/recv size
Acuadros95 Dec 13, 2021
d8752a3
Fix frame used
Acuadros95 Dec 13, 2021
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40 changes: 24 additions & 16 deletions src/cpp/transport/can/CanAgentLinux.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,13 +28,14 @@ namespace eprosima {
namespace uxr {

CanAgent::CanAgent(
char const * dev,
char const* dev,
uint32_t can_id,
Middleware::Kind middleware_kind)
: Server<CanEndPoint>{middleware_kind}
, dev_{dev}
, can_id_{can_id}
{}
{
}

CanAgent::~CanAgent()
{
Expand All @@ -60,7 +61,7 @@ bool CanAgent::init()

if (-1 != poll_fd_.fd)
{
struct sockaddr_can address{};
struct sockaddr_can address {};
struct ifreq ifr;

// Get interface index by name
Expand All @@ -72,12 +73,12 @@ bool CanAgent::init()
address.can_ifindex = ifr.ifr_ifindex;

if (-1 != bind(poll_fd_.fd,
reinterpret_cast<struct sockaddr*>(&address),
sizeof(address)))
reinterpret_cast<struct sockaddr*>(&address),
sizeof(address)))
{
// Enable CAN FD
if (-1 != setsockopt(poll_fd_.fd, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
&enable_canfd, sizeof(enable_canfd)))
&enable_canfd, sizeof(enable_canfd)))
{
poll_fd_.events = POLLIN;
rv = true;
Expand All @@ -88,7 +89,7 @@ bool CanAgent::init()
dev_, poll_fd_.fd);


// TODO: add filter for micro-ROS devices
// TODO: add filter for micro-ROS devices
}
else
{
Expand Down Expand Up @@ -145,7 +146,6 @@ bool CanAgent::fini()
return rv;
}


bool CanAgent::recv_message(
InputPacket<CanEndPoint>& input_packet,
int timeout,
Expand All @@ -158,19 +158,25 @@ bool CanAgent::recv_message(

if (0 < poll_rv)
{
if (0 < read(poll_fd_.fd, &frame, static_cast<size_t>(CANFD_MTU)))
if (0 < read(poll_fd_.fd, &frame, sizeof(struct canfd_frame)))
{
// Omit EFF, RTR, ERR flags (Assume EFF on CAN FD)
uint32_t can_id = frame.can_id & CAN_ERR_MASK;
size_t len = frame.data[0]; // XRCE payload lenght

input_packet.message.reset(new InputMessage(frame.data, size_t(frame.len)));
if (len > (CANFD_MTU - 1))
{
// Overflow MTU (63 bytes)
return false;
}

input_packet.message.reset(new InputMessage(&frame.data[1], len));
input_packet.source = CanEndPoint(can_id);
rv = true;

uint32_t raw_client_key;
if (Server<CanEndPoint>::get_client_key(input_packet.source, raw_client_key))
{
// TODO: add can_id to messages?
UXR_AGENT_LOG_MESSAGE(
UXR_DECORATE_YELLOW("[==>> CAN <<==]"),
raw_client_key,
Expand Down Expand Up @@ -200,9 +206,9 @@ bool CanAgent::send_message(
struct pollfd poll_fd_write_;
size_t packet_len = output_packet.message->get_len();

if (packet_len > CANFD_MTU)
if (packet_len > (CANFD_MTU - 1))
{
// Overflow MTU
// Overflow MTU (63 bytes)
return 0;
}

Expand All @@ -213,10 +219,12 @@ bool CanAgent::send_message(
if (0 < poll_rv)
{
frame.can_id = output_packet.destination.get_can_id() | CAN_EFF_FLAG;
frame.len = (uint8_t) packet_len;
memcpy(&frame.data[0], output_packet.message->get_buf(), packet_len);
frame.data[0] = (uint8_t) packet_len; // XRCE payload lenght
frame.len = (uint8_t) (packet_len + 1); // CAN frame DLC

memcpy(&frame.data[1], output_packet.message->get_buf(), packet_len);

if (0 < ::write(poll_fd_.fd, &frame, static_cast<size_t>(CANFD_MTU)))
if (0 < ::write(poll_fd_.fd, &frame, sizeof(struct canfd_frame)))
{
rv = true;

Expand Down