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/*
* Copyright (C) 2019 The Android Open Source Project
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#pragma once
#include "CanSocket.h"
#include <android-base/unique_fd.h>
#include <android/hardware/automotive/can/1.0/ICanBus.h>
#include <android/hardware/automotive/can/1.0/ICanController.h>
#include <utils/Mutex.h>
#include <atomic>
#include <thread>
namespace android::hardware::automotive::can::V1_0::implementation {
struct CanBus : public ICanBus {
using ErrorCallback = std::function<void()>;
virtual ~CanBus();
Return<Result> send(const CanMessage& message) override;
Return<void> listen(const hidl_vec<CanMessageFilter>& filter,
const sp<ICanMessageListener>& listener, listen_cb _hidl_cb) override;
Return<sp<ICloseHandle>> listenForErrors(const sp<ICanErrorListener>& listener) override;
void setErrorCallback(ErrorCallback errcb);
ICanController::Result up();
bool down();
protected:
/**
* Blank constructor, since some interface types (such as SLCAN) don't get a name until after
* being initialized.
*
* If using this constructor, you MUST initialize mIfname prior to the completion of preUp().
*/
CanBus();
CanBus(const std::string& ifname);
/**
* Prepare the SocketCAN interface.
*
* After calling this method, mIfname network interface is available and ready to be brought up.
*
* \return OK on success, or an error state on failure. See ICanController::Result
*/
virtual ICanController::Result preUp();
/**
* Cleanup after bringing the interface down.
*
* This is a counterpart to preUp().
*
* \return true upon success and false upon failure
*/
virtual bool postDown();
/** Network interface name. */
std::string mIfname;
private:
struct CanMessageListener {
sp<ICanMessageListener> callback;
hidl_vec<CanMessageFilter> filter;
wp<ICloseHandle> closeHandle;
bool failedOnce = false;
};
void clearMsgListeners();
void clearErrListeners();
void notifyErrorListeners(ErrorEvent err, bool isFatal);
void onRead(const struct canfd_frame& frame, std::chrono::nanoseconds timestamp);
void onError(int errnoVal);
std::mutex mMsgListenersGuard;
std::vector<CanMessageListener> mMsgListeners GUARDED_BY(mMsgListenersGuard);
std::mutex mErrListenersGuard;
std::vector<sp<ICanErrorListener>> mErrListeners GUARDED_BY(mErrListenersGuard);
std::unique_ptr<CanSocket> mSocket;
bool mDownAfterUse;
/**
* Guard for up flag is required to be held for entire time when the interface is being used
* (i.e. message being sent), because we don't want the interface to be torn down while
* executing that operation.
*/
std::mutex mIsUpGuard;
bool mIsUp GUARDED_BY(mIsUpGuard) = false;
ErrorCallback mErrCb;
};
} // namespace android::hardware::automotive::can::V1_0::implementation
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