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only:refactoring around SocketCAN

This commit is contained in:
rusefillc 2023-11-29 00:44:18 -05:00
parent b7e8bd3a25
commit 97c1f0c917
2 changed files with 70 additions and 29 deletions
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63
java_console/io/src/main/java/com/rusefi/io/can/SocketCANHelper.java Normal file
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@ -0,0 +1,63 @@
package com.rusefi.io.can;
import com.devexperts.logging.Logging;
import com.rusefi.uds.CanConnector;
import org.jetbrains.annotations.NotNull;
import tel.schich.javacan.CanChannels;
import tel.schich.javacan.CanFrame;
import tel.schich.javacan.NetworkDevice;
import tel.schich.javacan.RawCanChannel;
import java.io.IOException;
import static com.devexperts.logging.Logging.getLogging;
import static tel.schich.javacan.CanFrame.FD_NO_FLAGS;
import static tel.schich.javacan.CanSocketOptions.RECV_OWN_MSGS;
public class SocketCANHelper {
private static Logging log = getLogging(SocketCANIoStream.class);
@NotNull
public static RawCanChannel createSocket() {
final RawCanChannel socket;
try {
NetworkDevice canInterface = NetworkDevice.lookup(System.getProperty("CAN_DEVICE_NAME", "can0"));
socket = CanChannels.newRawChannel();
socket.bind(canInterface);
socket.configureBlocking(true); // we want reader thread to wait for messages
socket.setOption(RECV_OWN_MSGS, false);
} catch (IOException e) {
throw new IllegalStateException("Error looking up", e);
}
return socket;
}
public static void send(int id, byte[] payload, RawCanChannel channel) {
CanFrame packet = CanFrame.create(id, FD_NO_FLAGS, payload);
try {
channel.write(packet);
} catch (IOException e) {
throw new IllegalStateException(e);
}
}
public static CanConnector.CanPacket read(RawCanChannel socket) throws IOException {
CanFrame rx = socket.read();
if (log.debugEnabled())
log.debug("GOT " + String.format("%X", rx));
byte[] raw = new byte[rx.getDataLength()];
rx.getData(raw, 0, raw.length);
return new CanConnector.CanPacket() {
@Override
public int id() {
return rx.getId();
}
@Override
public byte[] payload() {
return raw;
}
};
}
}

36
java_console/io/src/main/java/com/rusefi/io/can/SocketCANIoStream.java
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@ -4,6 +4,7 @@ import com.devexperts.logging.Logging;
import com.opensr5.io.DataListener;
import com.rusefi.binaryprotocol.IncomingDataBuffer;
import com.rusefi.config.generated.Fields;
import com.rusefi.uds.CanConnector;
import com.rusefi.util.HexBinary;
import com.rusefi.io.IoStream;
import com.rusefi.io.can.isotp.IsoTpCanDecoder;
@ -11,9 +12,6 @@ import com.rusefi.io.can.isotp.IsoTpConnector;
import com.rusefi.io.serial.AbstractIoStream;
import com.rusefi.io.tcp.BinaryProtocolServer;
import org.jetbrains.annotations.Nullable;
import tel.schich.javacan.CanChannels;
import tel.schich.javacan.CanFrame;
import tel.schich.javacan.NetworkDevice;
import tel.schich.javacan.RawCanChannel;
import java.io.IOException;
@ -22,8 +20,6 @@ import java.util.concurrent.Executors;
import static com.devexperts.logging.Logging.getLogging;
import static com.rusefi.config.generated.Fields.CAN_ECU_SERIAL_TX_ID;
import static tel.schich.javacan.CanFrame.FD_NO_FLAGS;
import static tel.schich.javacan.CanSocketOptions.RECV_OWN_MSGS;
public class SocketCANIoStream extends AbstractIoStream {
static Logging log = getLogging(SocketCANIoStream.class);
@ -51,25 +47,11 @@ public class SocketCANIoStream extends AbstractIoStream {
if (log.debugEnabled())
log.debug("Sending " + HexBinary.printHexBinary(total));
CanFrame packet = CanFrame.create(Fields.CAN_ECU_SERIAL_RX_ID, FD_NO_FLAGS, total);
try {
socket.write(packet);
} catch (IOException e) {
throw new IllegalStateException(e);
}
SocketCANHelper.send(Fields.CAN_ECU_SERIAL_RX_ID, total, socket);
}
public SocketCANIoStream() {
try {
NetworkDevice canInterface = NetworkDevice.lookup(System.getProperty("CAN_DEVICE_NAME", "can0"));
socket = CanChannels.newRawChannel();
socket.bind(canInterface);
socket.configureBlocking(true); // we want reader thread to wait for messages
socket.setOption(RECV_OWN_MSGS, false);
} catch (IOException e) {
throw new IllegalStateException("Error looking up", e);
}
socket = SocketCANHelper.createSocket();
// buffer could only be created once socket variable is not null due to callback
dataBuffer = createDataBuffer();
}
@ -96,17 +78,13 @@ public class SocketCANIoStream extends AbstractIoStream {
private void readOnePacket(DataListener listener) {
try {
CanFrame rx = socket.read();
if (log.debugEnabled())
log.debug("GOT " + String.format("%X", rx));
if (rx.getId() != CAN_ECU_SERIAL_TX_ID) {
CanConnector.CanPacket rx = SocketCANHelper.read(socket);
if (rx.id() != CAN_ECU_SERIAL_TX_ID) {
if (log.debugEnabled())
log.debug("Skipping non " + String.format("%X", CAN_ECU_SERIAL_TX_ID) + " packet: " + String.format("%X", rx.getId()));
log.debug("Skipping non " + String.format("%X", CAN_ECU_SERIAL_TX_ID) + " packet: " + String.format("%X", rx.id()));
return;
}
byte[] raw = new byte[rx.getDataLength()];
rx.getData(raw, 0, raw.length);
byte[] decode = canDecoder.decodePacket(raw);
byte[] decode = canDecoder.decodePacket(rx.payload());
listener.onDataArrived(decode);
} catch (IOException e) {
throw new IllegalStateException(e);