Evolution-x/hardware_interfaces
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Add support for registering existing interfaces

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This adds support for native and slcan interfaces which are already
configured up to be registered in the CAN bus HAL.

Bug: 142655647
Test: manual
Change-Id: Ifd129db14dbf473bb627ebc9b9d13f5cb945b611
This commit is contained in:
chrisweir
2020-01-06 15:21:07 -08:00
parent 1d0c4bbee9
commit 39187dbbff
3 changed files with 39 additions and 15 deletions
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5
automotive/can/1.0/default/CanBusNative.cpp
View File

@@ -31,6 +31,11 @@ ICanController::Result CanBusNative::preUp() {
return ICanController::Result::BAD_ADDRESS;
}
if (mBaudrate == 0) {
// interface is already up and we just want to register it
return ICanController::Result::OK;
}
if (!netdevice::down(mIfname)) {
LOG(ERROR) << "Can't bring " << mIfname << " down (to configure it)";
return ICanController::Result::UNKNOWN_ERROR;

47
automotive/can/1.0/default/CanBusSlcan.cpp
View File

@@ -47,13 +47,34 @@ static const std::map<uint32_t, std::string> kBitrateCommands = {
CanBusSlcan::CanBusSlcan(const std::string& uartName, uint32_t bitrate)
: CanBus(), mUartName(uartName), kBitrate(bitrate) {}
/** helper function to update CanBusSlcan object's iface name */
ICanController::Result CanBusSlcan::updateIfaceName(base::unique_fd& uartFd) {
struct ifreq ifrequest = {};
/*
* Fetching the iface name with an ioctl won't interfere with an open socketCAN iface attached
* to this tty. This is important in the event we are trying to register a SLCAN based iface
* that has already been configured and brought up.
*/
if (ioctl(uartFd.get(), SIOCGIFNAME, ifrequest.ifr_name) < 0) {
LOG(ERROR) << "Failed to get the name of the created device: " << strerror(errno);
return ICanController::Result::UNKNOWN_ERROR;
}
// Update the CanBus object with name that was assigned to it
mIfname = ifrequest.ifr_name;
return ICanController::Result::OK;
}
ICanController::Result CanBusSlcan::preUp() {
// verify valid bitrate and translate to serial command format
const auto lookupIt = slcanprotocol::kBitrateCommands.find(kBitrate);
if (lookupIt == slcanprotocol::kBitrateCommands.end()) {
return ICanController::Result::BAD_BAUDRATE;
std::optional<std::string> canBitrateCommand = std::nullopt;
if (kBitrate != 0) {
const auto lookupIt = slcanprotocol::kBitrateCommands.find(kBitrate);
if (lookupIt == slcanprotocol::kBitrateCommands.end()) {
return ICanController::Result::BAD_BAUDRATE;
}
canBitrateCommand = lookupIt->second;
}
const auto canBitrateCommand = lookupIt->second;
/* Attempt to open the uart in r/w without blocking or becoming the
* controlling terminal */
@@ -63,6 +84,11 @@ ICanController::Result CanBusSlcan::preUp() {
return ICanController::Result::BAD_ADDRESS;
}
// If the device is already up, update the iface name in our CanBusSlcan object
if (kBitrate == 0) {
return updateIfaceName(mFd);
}
// blank terminal settings and pull them from the device
struct termios terminalSettings = {};
if (tcgetattr(mFd.get(), &terminalSettings) < 0) {
@@ -102,7 +128,7 @@ ICanController::Result CanBusSlcan::preUp() {
}
// apply speed setting for CAN
if (write(mFd.get(), canBitrateCommand.c_str(), canBitrateCommand.length()) <= 0) {
if (write(mFd.get(), canBitrateCommand->c_str(), canBitrateCommand->length()) <= 0) {
LOG(ERROR) << "Failed to apply CAN bitrate: " << strerror(errno);
return ICanController::Result::UNKNOWN_ERROR;
}
@@ -120,17 +146,8 @@ ICanController::Result CanBusSlcan::preUp() {
return ICanController::Result::UNKNOWN_ERROR;
}
// get the name of the device we created
struct ifreq ifrequest = {};
if (ioctl(mFd.get(), SIOCGIFNAME, ifrequest.ifr_name) < 0) {
LOG(ERROR) << "Failed to get the name of the created device: " << strerror(errno);
return ICanController::Result::UNKNOWN_ERROR;
}
// Update the CanBus object with name that was assigned to it
mIfname = ifrequest.ifr_name;
return ICanController::Result::OK;
return updateIfaceName(mFd);
}
bool CanBusSlcan::postDown() {

2
automotive/can/1.0/default/CanBusSlcan.h
View File

@@ -32,6 +32,8 @@ struct CanBusSlcan : public CanBus {
virtual bool postDown() override;
private:
ICanController::Result updateIfaceName(base::unique_fd& uartFd);
const std::string mUartName;
const uint32_t kBitrate;
base::unique_fd mFd;