First implementation

driver/CANBlastDriver/CANBlastDriver.pri

@@ -0,0 +1,13 @@
+CONFIG += c++11
+QT += network
+
+SOURCES += \
+    $$PWD/CANBlasterDriver.cpp \
+    $$PWD/CANBlasterInterface.cpp
+
+HEADERS  += \
+    $$PWD/CANBlasterDriver.h \
+    $$PWD/CANBlasterInterface.h
+
+FORMS +=
+

driver/CANBlastDriver/CANBlasterDriver.cpp

@@ -0,0 +1,140 @@
+/*
+
+  Copyright (c) 2022 Ethan Zonca
+
+  This file is part of cangaroo.
+
+  cangaroo is free software: you can redistribute it and/or modify
+  it under the terms of the GNU General Public License as published by
+  the Free Software Foundation, either version 2 of the License, or
+  (at your option) any later version.
+
+  cangaroo is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  GNU General Public License for more details.
+
+  You should have received a copy of the GNU General Public License
+  along with cangaroo.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+
+#include "CANBlasterDriver.h"
+#include "CANBlasterInterface.h"
+#include <core/Backend.h>
+#include <driver/GenericCanSetupPage.h>
+
+#include <errno.h>
+#include <cstring>
+#include <stdio.h>
+#include <unistd.h>
+#include <string.h>
+
+#include <QCoreApplication>
+#include <QDebug>
+#include <QtNetwork/QUdpSocket>
+#include <QNetworkDatagram>
+#include <QJsonDocument>
+#include <QJsonObject>
+#include <QList>
+
+CANBlasterDriver::CANBlasterDriver(Backend &backend)
+  : CanDriver(backend),
+    setupPage(new GenericCanSetupPage())
+{
+    QObject::connect(&backend, SIGNAL(onSetupDialogCreated(SetupDialog&)), setupPage, SLOT(onSetupDialogCreated(SetupDialog&)));
+}
+
+CANBlasterDriver::~CANBlasterDriver() {
+}
+
+bool CANBlasterDriver::update() {
+
+    deleteAllInterfaces();
+
+    // TODO: Listen for multicast packets for discovery of canblaster servers
+    QUdpSocket udpSocket;
+    QHostAddress groupAddress;
+    groupAddress.setAddress("239.255.43.21");
+    udpSocket.bind(QHostAddress::AnyIPv4, 20000, QUdpSocket::ShareAddress);
+    udpSocket.joinMulticastGroup(groupAddress);
+
+    // Record start time
+    struct timeval start_time;
+    gettimeofday(&start_time,NULL);
+
+    fprintf(stderr, "CANblaster: start listen\r\n");
+
+    QList<QString> detected_servers;
+
+    while(1)
+    {
+        while (udpSocket.hasPendingDatagrams())
+        {
+            QNetworkDatagram res = udpSocket.receiveDatagram(1024);
+            if(res.isValid())
+            {
+                QByteArray asd = res.data();
+                qDebug() << asd;
+                QJsonDocument document = QJsonDocument::fromJson(res.data());
+                QJsonObject rootObj = document.object();
+
+
+                if(rootObj.length() == 2 &&
+                   rootObj["protocol"].toString() == "CANblaster" &&
+                   rootObj["version"].toInt() == 1)
+                {
+                    if(!detected_servers.contains(res.senderAddress().toString()))
+                        detected_servers.append(res.senderAddress().toString());
+                }
+                else
+                {
+                    fprintf(stderr, "Invalid CANblaster server. Protocol: %s  Version: %d \r\n", rootObj["protocol"].toString().toStdString().c_str(), rootObj["version"].toInt());
+                }
+            }
+        }
+
+        struct timeval tv;
+        gettimeofday(&tv,NULL);
+
+        // Iterate until timer expires
+        if(tv.tv_sec - start_time.tv_sec > 2)
+            break;
+    }
+    fprintf(stderr, "CANblaster: stop listen\r\n");
+
+    fprintf(stderr, "Found %d servers: \r\n", detected_servers.length());
+    int interface_cnt = 0;
+
+    for(QString server: detected_servers)
+    {
+        fprintf(stderr, "  - %s\r\n", server.toStdString().c_str());
+        createOrUpdateInterface(interface_cnt++, server, false);
+    }
+
+
+    return true;
+}
+
+QString CANBlasterDriver::getName() {
+    return "CANblaster";
+}
+
+
+
+CANBlasterInterface *CANBlasterDriver::createOrUpdateInterface(int index, QString name, bool fd_support) {
+
+    foreach (CanInterface *intf, getInterfaces()) {
+        CANBlasterInterface *scif = dynamic_cast<CANBlasterInterface*>(intf);
+		if (scif->getIfIndex() == index) {
+			scif->setName(name);
+            return scif;
+		}
+	}
+
+
+    CANBlasterInterface *scif = new CANBlasterInterface(this, index, name, fd_support);
+    addInterface(scif);
+    return scif;
+}

driver/CANBlastDriver/CANBlasterDriver.h

@@ -0,0 +1,43 @@
+/*
+
+  Copyright (c) 2015, 2016 Hubert Denkmair
+
+  This file is part of cangaroo.
+
+  cangaroo is free software: you can redistribute it and/or modify
+  it under the terms of the GNU General Public License as published by
+  the Free Software Foundation, either version 2 of the License, or
+  (at your option) any later version.
+
+  cangaroo is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  GNU General Public License for more details.
+
+  You should have received a copy of the GNU General Public License
+  along with cangaroo.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+#pragma once
+
+#include <QString>
+#include <core/Backend.h>
+#include <driver/CanDriver.h>
+
+class CANBlasterInterface;
+class SetupDialogInterfacePage;
+class GenericCanSetupPage;
+
+class CANBlasterDriver: public CanDriver {
+public:
+    CANBlasterDriver(Backend &backend);
+    virtual ~CANBlasterDriver();
+
+    virtual QString getName();
+    virtual bool update();
+
+private:
+    CANBlasterInterface *createOrUpdateInterface(int index, QString name, bool fd_support);
+    GenericCanSetupPage *setupPage;
+};

driver/CANBlastDriver/CANBlasterInterface.cpp

@@ -0,0 +1,314 @@
+/*
+
+  Copyright (c) 2022 Ethan Zonca
+
+  This file is part of cangaroo.
+
+  cangaroo is free software: you can redistribute it and/or modify
+  it under the terms of the GNU General Public License as published by
+  the Free Software Foundation, either version 2 of the License, or
+  (at your option) any later version.
+
+  cangaroo is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  GNU General Public License for more details.
+
+  You should have received a copy of the GNU General Public License
+  along with cangaroo.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+#include "CANBlasterInterface.h"
+
+#include <core/Backend.h>
+#include <core/MeasurementInterface.h>
+#include <core/CanMessage.h>
+
+#include <stdio.h>
+#include <unistd.h>
+#include <time.h>
+#include <fcntl.h>
+#include <QString>
+#include <QStringList>
+#include <QProcess>
+#include <QThread>
+#include <QTimer>
+#include <QNetworkDatagram>
+
+
+CANBlasterInterface::CANBlasterInterface(CANBlasterDriver *driver, int index, QString name, bool fd_support)
+  : CanInterface((CanDriver *)driver),
+	_idx(index),
+    _isOpen(false),
+    _name(name),
+    _ts_mode(ts_mode_SIOCSHWTSTAMP),
+    _socket(NULL)
+{
+    // Set defaults
+    _settings.setBitrate(500000);
+    _settings.setSamplePoint(875);
+
+    _config.supports_canfd = fd_support;
+
+    // Record start time
+    gettimeofday(&_heartbeat_time,NULL);
+}
+
+CANBlasterInterface::~CANBlasterInterface() {
+}
+
+QString CANBlasterInterface::getDetailsStr() const {
+    if(_config.supports_canfd)
+    {
+        return "CANBlaster client with CANFD support";
+    }
+    else
+    {
+        return "CANBlaster client with standard CAN support";
+    }
+}
+
+QString CANBlasterInterface::getName() const {
+	return _name;
+}
+
+void CANBlasterInterface::setName(QString name) {
+    _name = name;
+}
+
+QList<CanTiming> CANBlasterInterface::getAvailableBitrates()
+{
+    QList<CanTiming> retval;
+    QList<unsigned> bitrates({10000, 20000, 50000, 83333, 100000, 125000, 250000, 500000, 800000, 1000000});
+    QList<unsigned> bitrates_fd({0, 2000000, 5000000});
+
+    QList<unsigned> samplePoints({875});
+
+    unsigned i=0;
+    foreach (unsigned br, bitrates) {
+        foreach(unsigned br_fd, bitrates_fd) {
+            foreach (unsigned sp, samplePoints) {
+                retval << CanTiming(i++, br, br_fd, sp);
+            }
+        }
+    }
+
+    return retval;
+}
+
+
+void CANBlasterInterface::applyConfig(const MeasurementInterface &mi)
+{
+    // Save settings for port configuration
+    _settings = mi;
+}
+
+
+
+bool CANBlasterInterface::supportsTimingConfiguration()
+{
+    return _config.supports_timing;
+}
+
+bool CANBlasterInterface::supportsCanFD()
+{
+    return _config.supports_canfd;
+}
+
+bool CANBlasterInterface::supportsTripleSampling()
+{
+    return false;
+}
+
+unsigned CANBlasterInterface::getBitrate()
+{
+    return 0;
+}
+
+uint32_t CANBlasterInterface::getCapabilities()
+{
+    uint32_t retval =
+        CanInterface::capability_config_os |
+        CanInterface::capability_listen_only |
+        CanInterface::capability_auto_restart;
+
+    if (supportsCanFD()) {
+        retval |= CanInterface::capability_canfd;
+    }
+
+    if (supportsTripleSampling()) {
+        retval |= CanInterface::capability_triple_sampling;
+    }
+
+    return retval;
+}
+
+bool CANBlasterInterface::updateStatistics()
+{
+    return false;
+}
+
+uint32_t CANBlasterInterface::getState()
+{
+    if(_isOpen)
+        return state_ok;
+    else
+        return state_bus_off;
+}
+
+int CANBlasterInterface::getNumRxFrames()
+{
+    return _status.rx_count;
+}
+
+int CANBlasterInterface::getNumRxErrors()
+{
+    return _status.rx_errors;
+}
+
+int CANBlasterInterface::getNumTxFrames()
+{
+    return _status.tx_count;
+}
+
+int CANBlasterInterface::getNumTxErrors()
+{
+    return _status.tx_errors;
+}
+
+int CANBlasterInterface::getNumRxOverruns()
+{
+    return _status.rx_overruns;
+}
+
+int CANBlasterInterface::getNumTxDropped()
+{
+    return _status.tx_dropped;
+}
+
+int CANBlasterInterface::getIfIndex() {
+    return _idx;
+}
+
+const char *CANBlasterInterface::cname()
+{
+    return _name.toStdString().c_str();
+}
+
+void CANBlasterInterface::open()
+{
+
+    // Start off with a fresh socket
+    if(_socket != NULL)
+    {
+        delete _socket;
+    }
+    _socket = new QUdpSocket();
+
+    if(_socket->bind(QHostAddress::AnyIPv4, 20001))
+    {
+        _isOpen = true;
+    }
+    else
+    {
+        perror("CANBlaster Bind Failed!");
+        _isOpen = false;
+    }
+}
+
+void CANBlasterInterface::close()
+{
+    if(_socket != NULL && _socket->isOpen())
+    {
+        _socket->close();
+    }
+    _isOpen = false;
+}
+
+bool CANBlasterInterface::isOpen()
+{
+    return _isOpen;
+}
+
+void CANBlasterInterface::sendMessage(const CanMessage &msg) {
+
+}
+
+bool CANBlasterInterface::readMessage(QList<CanMessage> &msglist, unsigned int timeout_ms)
+{
+    // Don't saturate the thread
+    QThread().usleep(250);
+
+    // Record start time
+    struct timeval now;
+    gettimeofday(&now,NULL);
+
+    if(now.tv_sec - _heartbeat_time.tv_sec > 1)
+    {
+
+        _heartbeat_time.tv_sec = now.tv_sec;
+
+        if(_isOpen)
+        {
+            QByteArray Data;
+            Data.append("Heartbeat");
+            _socket->writeDatagram(Data, QHostAddress(getName()), 20002);
+        }
+    }
+
+    // NOTE: This only works with standard CAN frames right now!
+
+    // Process all pending datagrams
+    // TODO: Could switch to if from while but the caller expects 1 can frame
+    if (_isOpen && _socket->hasPendingDatagrams())
+    {
+        can_frame frame;
+        QHostAddress address;
+        quint16 port;
+        int res = _socket->readDatagram((char*)&frame, sizeof(can_frame), &address, &port);
+
+        // TODO: Read all bytes... to CANFD_MTU max
+//        if (nbytes == CANFD_MTU) {
+//                printf("got CAN FD frame with length %d\n", cfd.len);
+//                /* cfd.flags contains valid data */
+//        } else if (nbytes == CAN_MTU) {
+//                printf("got Classical CAN frame with length %d\n", cfd.len);
+//                /* cfd.flags is undefined */
+//        } else {
+//                fprintf(stderr, "read: invalid CAN(FD) frame\n");
+//                return 1;
+//        }
+
+        if(res > 0)
+        {
+            // Set timestamp to current time
+            struct timeval tv;
+            gettimeofday(&tv,NULL);
+            CanMessage msg;
+            msg.setTimestamp(tv);
+
+            msg.setInterfaceId(getId());
+            msg.setId(frame.can_id & CAN_ERR_MASK);
+            msg.setBRS(false);
+            msg.setErrorFrame(frame.can_id & CAN_ERR_FLAG);
+            msg.setExtended(frame.can_id & CAN_EFF_FLAG);
+            msg.setRTR(frame.can_id & CAN_RTR_FLAG);
+            msg.setLength(frame.len);
+
+            for(int i=0; i<frame.len && i<CAN_MAX_DLEN; i++)
+            {
+                msg.setDataAt(i, frame.data[i]);
+            }
+            msglist.append(msg);
+            return true;
+        }
+        else
+        {
+            return false;
+        }
+    }
+    return false;
+
+}
+

driver/CANBlastDriver/CANBlasterInterface.h

@@ -0,0 +1,237 @@
+/*
+
+  Copyright (c) 2015, 2016 Hubert Denkmair
+
+  This file is part of cangaroo.
+
+  cangaroo is free software: you can redistribute it and/or modify
+  it under the terms of the GNU General Public License as published by
+  the Free Software Foundation, either version 2 of the License, or
+  (at your option) any later version.
+
+  cangaroo is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  GNU General Public License for more details.
+
+  You should have received a copy of the GNU General Public License
+  along with cangaroo.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+#pragma once
+
+#include "../CanInterface.h"
+#include <core/MeasurementInterface.h>
+#include <QtNetwork/QUdpSocket>
+#include <QTimer>
+
+class CANBlasterDriver;
+
+typedef struct {
+    bool supports_canfd;
+    bool supports_timing;
+    uint32_t state;
+    uint32_t base_freq;
+    uint32_t sample_point;
+    uint32_t ctrl_mode;
+    uint32_t restart_ms;
+} can_config_t;
+
+typedef struct {
+    uint32_t can_state;
+
+    uint64_t rx_count;
+    int rx_errors;
+    uint64_t rx_overruns;
+
+    uint64_t tx_count;
+    int tx_errors;
+    uint64_t tx_dropped;
+} can_status_t;
+
+class CANBlasterInterface: public CanInterface {
+public:
+    CANBlasterInterface(CANBlasterDriver *driver, int index, QString name, bool fd_support);
+    virtual ~CANBlasterInterface();
+
+    QString getDetailsStr() const;
+    virtual QString getName() const;
+    void setName(QString name);
+
+    virtual QList<CanTiming> getAvailableBitrates();
+
+    virtual void applyConfig(const MeasurementInterface &mi);
+
+    bool supportsTimingConfiguration();
+    bool supportsCanFD();
+    bool supportsTripleSampling();
+
+    virtual unsigned getBitrate();
+    virtual uint32_t getCapabilities();
+
+
+	virtual void open();
+    virtual void close();
+    virtual bool isOpen();
+
+    virtual void sendMessage(const CanMessage &msg);
+    virtual bool readMessage(QList<CanMessage> &msglist, unsigned int timeout_ms);
+
+    virtual bool updateStatistics();
+    virtual uint32_t getState();
+    virtual int getNumRxFrames();
+    virtual int getNumRxErrors();
+    virtual int getNumRxOverruns();
+
+    virtual int getNumTxFrames();
+    virtual int getNumTxErrors();
+    virtual int getNumTxDropped();
+
+
+    int getIfIndex();
+
+private:
+    typedef enum {
+        ts_mode_SIOCSHWTSTAMP,
+        ts_mode_SIOCGSTAMPNS,
+        ts_mode_SIOCGSTAMP
+    } ts_mode_t;
+
+    int _idx;
+    bool _isOpen;
+    QString _name;
+
+    MeasurementInterface _settings;
+
+    can_config_t _config;
+    can_status_t _status;
+    ts_mode_t _ts_mode;
+
+    struct timeval _heartbeat_time;
+    QUdpSocket* _socket;
+    const char *cname();
+
+};
+
+
+/* Duplicated from Linux can.h for compilation on Windows. Not a great solution. */
+
+
+/* special address description flags for the CAN_ID */
+#define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */
+#define CAN_RTR_FLAG 0x40000000U /* remote transmission request */
+#define CAN_ERR_FLAG 0x20000000U /* error message frame */
+
+/* valid bits in CAN ID for frame formats */
+#define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */
+#define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */
+#define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */
+
+/*
+ * Controller Area Network Identifier structure
+ *
+ * bit 0-28	: CAN identifier (11/29 bit)
+ * bit 29	: error message frame flag (0 = data frame, 1 = error message)
+ * bit 30	: remote transmission request flag (1 = rtr frame)
+ * bit 31	: frame format flag (0 = standard 11 bit, 1 = extended 29 bit)
+ */
+typedef uint32_t canid_t;
+
+#define CAN_SFF_ID_BITS		11
+#define CAN_EFF_ID_BITS		29
+
+/*
+ * Controller Area Network Error Message Frame Mask structure
+ *
+ * bit 0-28	: error class mask (see include/uapi/linux/can/error.h)
+ * bit 29-31	: set to zero
+ */
+typedef uint32_t can_err_mask_t;
+
+/* CAN payload length and DLC definitions according to ISO 11898-1 */
+#define CAN_MAX_DLC 8
+#define CAN_MAX_RAW_DLC 15
+#define CAN_MAX_DLEN 8
+
+/* CAN FD payload length and DLC definitions according to ISO 11898-7 */
+#define CANFD_MAX_DLC 15
+#define CANFD_MAX_DLEN 64
+
+/**
+ * struct can_frame - Classical CAN frame structure (aka CAN 2.0B)
+ * @can_id:   CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition
+ * @len:      CAN frame payload length in byte (0 .. 8)
+ * @can_dlc:  deprecated name for CAN frame payload length in byte (0 .. 8)
+ * @__pad:    padding
+ * @__res0:   reserved / padding
+ * @len8_dlc: optional DLC value (9 .. 15) at 8 byte payload length
+ *            len8_dlc contains values from 9 .. 15 when the payload length is
+ *            8 bytes but the DLC value (see ISO 11898-1) is greater then 8.
+ *            CAN_CTRLMODE_CC_LEN8_DLC flag has to be enabled in CAN driver.
+ * @data:     CAN frame payload (up to 8 byte)
+ */
+struct can_frame {
+    canid_t can_id;  /* 32 bit CAN_ID + EFF/RTR/ERR flags */
+    union {
+        /* CAN frame payload length in byte (0 .. CAN_MAX_DLEN)
+         * was previously named can_dlc so we need to carry that
+         * name for legacy support
+         */
+        uint8_t len;
+        uint8_t can_dlc; /* deprecated */
+    } __attribute__((packed)); /* disable padding added in some ABIs */
+    uint8_t __pad; /* padding */
+    uint8_t __res0; /* reserved / padding */
+    uint8_t len8_dlc; /* optional DLC for 8 byte payload length (9 .. 15) */
+    uint8_t data[CAN_MAX_DLEN] __attribute__((aligned(8)));
+};
+
+/*
+ * defined bits for canfd_frame.flags
+ *
+ * The use of struct canfd_frame implies the FD Frame (FDF) bit to
+ * be set in the CAN frame bitstream on the wire. The FDF bit switch turns
+ * the CAN controllers bitstream processor into the CAN FD mode which creates
+ * two new options within the CAN FD frame specification:
+ *
+ * Bit Rate Switch - to indicate a second bitrate is/was used for the payload
+ * Error State Indicator - represents the error state of the transmitting node
+ *
+ * As the CANFD_ESI bit is internally generated by the transmitting CAN
+ * controller only the CANFD_BRS bit is relevant for real CAN controllers when
+ * building a CAN FD frame for transmission. Setting the CANFD_ESI bit can make
+ * sense for virtual CAN interfaces to test applications with echoed frames.
+ *
+ * The struct can_frame and struct canfd_frame intentionally share the same
+ * layout to be able to write CAN frame content into a CAN FD frame structure.
+ * When this is done the former differentiation via CAN_MTU / CANFD_MTU gets
+ * lost. CANFD_FDF allows programmers to mark CAN FD frames in the case of
+ * using struct canfd_frame for mixed CAN / CAN FD content (dual use).
+ * N.B. the Kernel APIs do NOT provide mixed CAN / CAN FD content inside of
+ * struct canfd_frame therefore the CANFD_FDF flag is disregarded by Linux.
+ */
+#define CANFD_BRS 0x01 /* bit rate switch (second bitrate for payload data) */
+#define CANFD_ESI 0x02 /* error state indicator of the transmitting node */
+#define CANFD_FDF 0x04 /* mark CAN FD for dual use of struct canfd_frame */
+
+/**
+ * struct canfd_frame - CAN flexible data rate frame structure
+ * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition
+ * @len:    frame payload length in byte (0 .. CANFD_MAX_DLEN)
+ * @flags:  additional flags for CAN FD
+ * @__res0: reserved / padding
+ * @__res1: reserved / padding
+ * @data:   CAN FD frame payload (up to CANFD_MAX_DLEN byte)
+ */
+struct canfd_frame {
+    canid_t can_id;  /* 32 bit CAN_ID + EFF/RTR/ERR flags */
+    uint8_t    len;     /* frame payload length in byte */
+    uint8_t    flags;   /* additional flags for CAN FD */
+    uint8_t    __res0;  /* reserved / padding */
+    uint8_t    __res1;  /* reserved / padding */
+    uint8_t    data[CANFD_MAX_DLEN] __attribute__((aligned(8)));
+};
+
+#define CAN_MTU		(sizeof(struct can_frame))
+#define CANFD_MTU	(sizeof(struct canfd_frame))