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#![deny(missing_docs)]
extern crate canadensis_can;
extern crate canadensis_core;
extern crate canadensis_filter_config;
extern crate log;
extern crate socketcan;
use canadensis_can::driver::{optimize_filters, ReceiveDriver, TransmitDriver};
use canadensis_can::{CanNodeId, Frame};
use canadensis_core::subscription::Subscription;
use canadensis_core::time::{Clock, Instant, Microseconds64};
use canadensis_core::{nb, OutOfMemoryError};
use socketcan::CANSocket;
use std::cmp::Ordering;
use std::convert::TryInto;
use std::io;
use std::io::ErrorKind;
pub struct LinuxCan {
socket: CANSocket,
}
impl LinuxCan {
pub fn new(socket: CANSocket) -> Self {
LinuxCan { socket }
}
}
impl TransmitDriver<SystemClock> for LinuxCan {
type Error = io::Error;
fn try_reserve(&mut self, _frames: usize) -> Result<(), OutOfMemoryError> {
Ok(())
}
fn transmit(
&mut self,
frame: Frame<Microseconds64>,
clock: &mut SystemClock,
) -> nb::Result<Option<Frame<Microseconds64>>, Self::Error> {
let now = clock.now();
if frame.timestamp().overflow_safe_compare(&now) == Ordering::Less {
log::warn!("Dropping frame that has missed its deadline");
return Ok(None);
}
let socketcan_frame =
socketcan::CANFrame::new(frame.id().into(), frame.data(), false, false)
.expect("Invalid frame format");
self.socket
.write_frame_insist(&socketcan_frame)
.map(|()| None)
.map_err(|e| {
if e.kind() == ErrorKind::WouldBlock {
nb::Error::WouldBlock
} else {
nb::Error::Other(e)
}
})
}
fn flush(&mut self, _clock: &mut SystemClock) -> canadensis_core::nb::Result<(), Self::Error> {
Ok(())
}
}
impl ReceiveDriver<SystemClock> for LinuxCan {
type Error = io::Error;
fn receive(
&mut self,
clock: &mut SystemClock,
) -> nb::Result<Frame<Microseconds64>, Self::Error> {
loop {
let socketcan_frame = self.socket.read_frame()?;
if socketcan_frame.data().len() <= canadensis_can::FRAME_CAPACITY {
let cyphal_frame = canadensis_can::Frame::new(
clock.now(),
socketcan_frame.id().try_into().expect("Invalid CAN ID"),
socketcan_frame.data(),
);
return Ok(cyphal_frame);
} else {
log::warn!(
"Ignoring a frame {} bytes long, which is too large",
socketcan_frame.data().len()
);
}
}
}
fn apply_filters<S>(&mut self, local_node: Option<CanNodeId>, subscriptions: S)
where
S: IntoIterator<Item = Subscription>,
{
optimize_filters(local_node, subscriptions, usize::MAX, |optimized| {
let socketcan_filters = optimized
.iter()
.map(|filter| socketcan::CANFilter::new(filter.id(), filter.mask()).unwrap())
.collect::<Vec<_>>();
self.socket.set_filter(&socketcan_filters).unwrap();
})
.unwrap()
}
fn apply_accept_all(&mut self) {
self.socket.filter_accept_all().unwrap();
}
}
#[derive(Debug, Clone)]
pub struct SystemClock {
start_time: std::time::Instant,
}
impl SystemClock {
pub fn new() -> Self {
SystemClock {
start_time: std::time::Instant::now(),
}
}
}
impl Default for SystemClock {
fn default() -> Self {
Self::new()
}
}
impl Clock for SystemClock {
type Instant = Microseconds64;
fn now(&mut self) -> Self::Instant {
let since_start = std::time::Instant::now().duration_since(self.start_time);
let microseconds = since_start.as_micros();
Microseconds64::new(microseconds as u64)
}
}