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authorDaniel Silverstone <dsilvers@digital-scurf.org>2018-04-02 17:35:40 +0100
committerDaniel Silverstone <dsilvers@digital-scurf.org>2018-04-02 17:35:44 +0100
commit762c0d0a05ced71803e60d89c1f34880c761d03b (patch)
tree85e869b608361aee4360165cc878b3016ee19e7c
parent360a946e98c68d2a2bbac58d7d672f00a9ff6083 (diff)
downloadcanopied-762c0d0a05ced71803e60d89c1f34880c761d03b.tar.bz2
Basic example with dump and reply
-rw-r--r--.gitignore2
-rw-r--r--Cargo.toml7
-rw-r--r--notes/candump-2018-03-28_201641.log2432
-rw-r--r--src/canstream.rs169
-rw-r--r--src/main.rs42
5 files changed, 2649 insertions, 3 deletions
diff --git a/.gitignore b/.gitignore
index 70e3cae..6fce65c 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,5 @@
/target
**/*.rs.bk
+
+Cargo.lock \ No newline at end of file
diff --git a/Cargo.toml b/Cargo.toml
index 22a95f6..3652d8d 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,6 +1,9 @@
[package]
+authors = ["Daniel Silverstone <dsilvers@digital-scurf.org>"]
name = "canopied"
version = "0.1.0"
-authors = ["Daniel Silverstone <dsilvers@digital-scurf.org>"]
-
[dependencies]
+mio = "0.6.14"
+socketcan = "1.7.0"
+time = "0.1.39"
+tokio = "0.1.4" \ No newline at end of file
diff --git a/notes/candump-2018-03-28_201641.log b/notes/candump-2018-03-28_201641.log
new file mode 100644
index 0000000..90f1eaa
--- /dev/null
+++ b/notes/candump-2018-03-28_201641.log
@@ -0,0 +1,2432 @@
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diff --git a/src/canstream.rs b/src/canstream.rs
new file mode 100644
index 0000000..ce985db
--- /dev/null
+++ b/src/canstream.rs
@@ -0,0 +1,169 @@
+use std::io;
+use std::os::unix::io::AsRawFd;
+
+use mio::{Poll, PollOpt, Ready, Token};
+use mio::event::Evented;
+use mio::unix::EventedFd;
+
+use socketcan::{CANFrame, CANSocket, CANSocketOpenError, ShouldRetry};
+
+use tokio::reactor::PollEvented2;
+use tokio::prelude::*;
+
+pub struct EventableCANSocket {
+ socket: CANSocket,
+}
+
+impl EventableCANSocket {
+ fn new(socket: CANSocket) -> EventableCANSocket {
+ EventableCANSocket { socket: socket }
+ }
+
+ pub fn from_interfacename(ifname: &str) -> Result<EventableCANSocket, CANSocketOpenError> {
+ Ok(EventableCANSocket::new(CANSocket::open(ifname)?))
+ }
+
+ pub fn get_ref(&self) -> &CANSocket {
+ &self.socket
+ }
+}
+
+impl Evented for EventableCANSocket {
+ fn register(
+ &self,
+ poll: &Poll,
+ token: Token,
+ interest: Ready,
+ opts: PollOpt,
+ ) -> io::Result<()> {
+ EventedFd(&self.socket.as_raw_fd()).register(poll, token, interest, opts)
+ }
+
+ fn reregister(
+ &self,
+ poll: &Poll,
+ token: Token,
+ interest: Ready,
+ opts: PollOpt,
+ ) -> io::Result<()> {
+ EventedFd(&self.socket.as_raw_fd()).reregister(poll, token, interest, opts)
+ }
+
+ fn deregister(&self, poll: &Poll) -> io::Result<()> {
+ EventedFd(&self.socket.as_raw_fd()).deregister(poll)
+ }
+}
+
+pub struct CANStream {
+ socket: PollEvented2<EventableCANSocket>,
+ flushed: bool,
+ pending_frame: Option<CANFrame>,
+}
+
+impl CANStream {
+ pub fn new(socket: EventableCANSocket) -> CANStream {
+ let pollsock = PollEvented2::new(socket);
+ CANStream {
+ socket: pollsock,
+ flushed: true,
+ pending_frame: None,
+ }
+ }
+
+ pub fn from_name(ifname: &str) -> Result<CANStream, CANSocketOpenError> {
+ let sock = EventableCANSocket::from_interfacename(ifname)?;
+ Ok(CANStream::new(sock))
+ }
+}
+
+impl Stream for CANStream {
+ type Item = CANFrame;
+ type Error = io::Error;
+
+ fn poll(&mut self) -> Result<Async<Option<Self::Item>>, Self::Error> {
+ // We shouldn't be woken unless we're ready, but just in case, let's
+ // ensure...
+
+ let readiness = match self.socket.poll_read_ready(Ready::readable())? {
+ Async::NotReady => return Ok(Async::NotReady),
+ Async::Ready(r) => r,
+ };
+
+ if !readiness.is_readable() {
+ return Ok(Async::NotReady);
+ }
+
+ // Okay, we're readable, so let's have a go at reading...
+ let frame = self.socket.get_ref().get_ref().read_frame()?;
+
+ Ok(Async::Ready(Some(frame)))
+ }
+}
+
+impl Sink for CANStream {
+ type SinkItem = CANFrame;
+ type SinkError = io::Error;
+
+ fn start_send(
+ &mut self,
+ item: Self::SinkItem,
+ ) -> Result<AsyncSink<Self::SinkItem>, Self::SinkError> {
+ if !self.flushed {
+ println!("Checking poll_complete in start_send");
+ match self.poll_complete()? {
+ Async::Ready(()) => {}
+ Async::NotReady => return Ok(AsyncSink::NotReady(item)),
+ }
+ }
+ println!("Okay, storing frame for transmission later");
+ self.pending_frame = Some(item);
+ self.flushed = false;
+ // println!("Depressingly we now need to do *something* get us scheduled");
+ // self.poll_complete().and_then(|_| Ok(AsyncSink::Ready))
+ Ok(AsyncSink::Ready)
+ }
+
+ fn poll_complete(&mut self) -> Result<Async<()>, Self::SinkError> {
+ if self.flushed {
+ println!("poll_complete already flushed, stop");
+ return Ok(Async::Ready(()));
+ }
+
+ let readiness = match self.socket.poll_write_ready()? {
+ Async::NotReady => return Ok(Async::NotReady),
+ Async::Ready(r) => r,
+ };
+ println!("Ready!");
+
+ if !readiness.is_writable() {
+ return Ok(Async::NotReady);
+ }
+ println!("Writable");
+ match self.socket
+ .get_ref()
+ .get_ref()
+ .write_frame(&self.pending_frame.unwrap())
+ {
+ Ok(()) => {
+ println!("Written, clearing pending frame");
+ self.pending_frame = None;
+ }
+ Err(e) => {
+ if !e.should_retry() {
+ println!("Bad error");
+ return Err(e);
+ }
+ println!("Retryable error");
+ }
+ }
+
+ if self.pending_frame.is_none() {
+ self.flushed = true;
+ println!("Okay, we finished, flushed is true");
+ Ok(Async::Ready(()))
+ } else {
+ println!("Not finished, perhaps EAGAIN?");
+ Ok(Async::NotReady)
+ }
+ }
+}
diff --git a/src/main.rs b/src/main.rs
index e7a11a9..6092e8d 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -1,3 +1,43 @@
+extern crate mio;
+extern crate socketcan;
+extern crate tokio;
+
+extern crate time;
+
+mod canstream;
+
+use tokio::prelude::*;
+
+fn process_frame(frame: socketcan::CANFrame) {
+ let ts = time::now_utc().to_timespec();
+ print!(
+ "({}.{:06}) {} {:03x}#",
+ ts.sec,
+ ts.nsec / 1000,
+ "vcan0",
+ frame.id()
+ );
+ for byte in frame.data().iter() {
+ print!("{:02x}", byte);
+ }
+ println!("");
+}
+
fn main() {
- println!("Hello, world!");
+ let (sink, stream) = canstream::CANStream::from_name("vcan0").unwrap().split();
+ let mut waiter = sink.wait();
+ tokio::run(
+ stream
+ .map_err(|e| println!("error = {:?}", e))
+ .for_each(move |frame| {
+ process_frame(frame);
+ if frame.id() == 0x7E4 {
+ let reply = socketcan::CANFrame::new(0x123, &[0; 8], false, false).unwrap();
+ waiter.send(reply).map_err(|_| ())?;
+ waiter.flush().map_err(|_| ())
+ } else {
+ Ok(())
+ }
+ }),
+ );
}