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use std::io;
use std::os::raw::c_uint;
use std::os::unix::io::{AsRawFd, FromRawFd};
use std::pin::Pin;
use std::task::Poll;
use std::{future::Future, os::unix::prelude::RawFd};
use libc;
use futures::prelude::*;
use futures::ready;
use futures::task::Context;
use mio::{event, unix::SourceFd, Interest, Registry, Token};
use thiserror::Error as ThisError;
use socketcan;
pub use socketcan::CANFrame;
pub use socketcan::CANSocketOpenError;
use tokio::io::unix::AsyncFd;
#[derive(Debug, ThisError)]
pub enum Error {
#[error("Failed to open CAN Socket")]
CANSocketOpen(#[from] socketcan::CANSocketOpenError),
#[error("IO error")]
IO(#[from] io::Error),
}
pub struct CANWriteFuture {
socket: CANSocket,
frame: CANFrame,
}
impl Future for CANWriteFuture {
type Output = io::Result<()>;
fn poll(self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Self::Output> {
let _ = ready!(self.socket.0.poll_write_ready(cx))?;
match self.socket.0.get_ref().0.write_frame_insist(&self.frame) {
Ok(_) => Poll::Ready(Ok(())),
Err(err) => Poll::Ready(Err(err)),
}
}
}
#[derive(Debug)]
pub struct EventedCANSocket(socketcan::CANSocket);
impl EventedCANSocket {
fn get_ref(&self) -> &socketcan::CANSocket {
&self.0
}
}
impl AsRawFd for EventedCANSocket {
fn as_raw_fd(&self) -> RawFd {
self.0.as_raw_fd()
}
}
impl event::Source for EventedCANSocket {
fn register(
&mut self,
registry: &Registry,
token: Token,
interests: Interest,
) -> io::Result<()> {
SourceFd(&self.0.as_raw_fd()).register(registry, token, interests)
}
fn reregister(
&mut self,
registry: &Registry,
token: Token,
interests: Interest,
) -> io::Result<()> {
SourceFd(&self.0.as_raw_fd()).reregister(registry, token, interests)
}
fn deregister(&mut self, registry: &Registry) -> io::Result<()> {
SourceFd(&self.0.as_raw_fd()).deregister(registry)
}
}
#[derive(Debug)]
pub struct CANSocket(AsyncFd<EventedCANSocket>);
impl CANSocket {
pub fn open(ifname: &str) -> Result<CANSocket, Error> {
let sock = socketcan::CANSocket::open(ifname)?;
sock.set_nonblocking(true)?;
Ok(CANSocket(AsyncFd::new(EventedCANSocket(sock))?))
}
pub fn open_if(if_index: c_uint) -> Result<CANSocket, Error> {
let sock = socketcan::CANSocket::open_if(if_index)?;
sock.set_nonblocking(true)?;
Ok(CANSocket(AsyncFd::new(EventedCANSocket(sock))?))
}
pub fn set_filter(&self, filters: &[socketcan::CANFilter]) -> io::Result<()> {
self.0.get_ref().0.set_filter(filters)
}
pub fn filter_drop_all(&self) -> io::Result<()> {
self.0.get_ref().0.filter_drop_all()
}
pub fn filter_accept_all(&self) -> io::Result<()> {
self.0.get_ref().0.filter_accept_all()
}
pub fn set_error_filter(&self, mask: u32) -> io::Result<()> {
self.0.get_ref().0.set_error_filter(mask)
}
pub fn error_filter_drop_all(&self) -> io::Result<()> {
self.0.get_ref().0.error_filter_drop_all()
}
pub fn error_filter_accept_all(&self) -> io::Result<()> {
self.0.get_ref().0.error_filter_accept_all()
}
pub fn write_frame(&self, frame: CANFrame) -> Result<CANWriteFuture, Error> {
Ok(CANWriteFuture {
socket: self.try_clone()?,
frame,
})
}
fn try_clone(&self) -> Result<Self, Error> {
let fd = self.0.get_ref().0.as_raw_fd();
unsafe {
let new_fd = libc::dup(fd);
let new = socketcan::CANSocket::from_raw_fd(new_fd);
Ok(CANSocket(AsyncFd::new(EventedCANSocket(new))?))
}
}
}
impl Stream for CANSocket {
type Item = io::Result<CANFrame>;
fn poll_next(self: Pin<&mut Self>, cx: &mut Context) -> Poll<Option<Self::Item>> {
loop {
let mut ready_guard = ready!(self.0.poll_read_ready(cx))?;
match ready_guard.try_io(|inner| inner.get_ref().get_ref().read_frame()) {
Ok(result) => return Poll::Ready(Some(result)),
Err(_would_block) => continue,
}
}
}
}
impl Sink<CANFrame> for CANSocket {
type Error = io::Error;
fn poll_ready(self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Result<(), Self::Error>> {
let _ = ready!(self.0.poll_write_ready(cx))?;
Poll::Ready(Ok(()))
}
fn poll_flush(self: Pin<&mut Self>, _cx: &mut Context<'_>) -> Poll<Result<(), Self::Error>> {
Poll::Ready(Ok(()))
}
fn poll_close(self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Result<(), Self::Error>> {
let mut ready_guard = ready!(self.0.poll_write_ready(cx))?;
ready_guard.clear_ready();
Poll::Ready(Ok(()))
}
fn start_send(self: Pin<&mut Self>, item: CANFrame) -> Result<(), Self::Error> {
self.0.get_ref().0.write_frame_insist(&item)?;
Ok(())
}
}
#[cfg(test)]
mod tests {
use super::*;
use futures::{select, try_join};
use futures_timer::Delay;
use std::io;
use std::time::Duration;
async fn recv_frame(mut socket: CANSocket) -> io::Result<CANSocket> {
select!(
frame = socket.next().fuse() => if let Some(_frame) = frame { Ok(socket) } else { panic!("unexpected") },
_timeout = Delay::new(Duration::from_millis(100)).fuse() => Err(io::Error::from(io::ErrorKind::TimedOut)),
)
}
async fn write_frame(socket: &CANSocket) -> Result<(), Error> {
let test_frame = socketcan::CANFrame::new(0x1, &[0], false, false).unwrap();
socket.write_frame(test_frame)?.await?;
Ok(())
}
#[tokio::test]
async fn test_receive() -> Result<(), Error> {
let socket1 = CANSocket::open("vcan0").unwrap();
let socket2 = CANSocket::open("vcan0").unwrap();
let send_frames = future::try_join(write_frame(&socket1), write_frame(&socket1));
let recv_frames = async {
let socket2 = recv_frame(socket2).await?;
let _socket2 = recv_frame(socket2).await;
Ok(())
};
try_join!(recv_frames, send_frames)?;
Ok(())
}
#[tokio::test]
async fn test_sink_stream() -> io::Result<()> {
let socket1 = CANSocket::open("vcan0").unwrap();
let socket2 = CANSocket::open("vcan0").unwrap();
let frame_id_1 = CANFrame::new(1, &[0u8], false, false).unwrap();
let frame_id_2 = CANFrame::new(2, &[0u8], false, false).unwrap();
let frame_id_3 = CANFrame::new(3, &[0u8], false, false).unwrap();
let (mut sink, _stream) = socket1.split();
let (_sink, stream) = socket2.split();
let count_ids_less_than_3 = stream
.map(|x| x.unwrap())
.take_while(|frame| future::ready(frame.id() < 3))
.fold(0u8, |acc, _frame| async move { acc + 1 });
let send_frames = async {
let _frame_1 = sink.send(frame_id_1).await?;
let _frame_2 = sink.send(frame_id_2).await?;
let _frame_3 = sink.send(frame_id_3).await?;
println!("Sent 3 frames");
Ok::<(), io::Error>(())
};
let (x, frame_send_r) = futures::future::join(count_ids_less_than_3, send_frames).await;
frame_send_r?;
assert_eq!(x, 2);
Ok(())
}
}