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feature/ev
| Author | SHA1 | Date |
|---|---|---|
didinst
|
349050edb4
|
3 years ago |
|
didinst
|
1a47ad1c7f
|
3 years ago |
@ -1,133 +1,48 @@ |
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//go:build aix || darwin || dragonfly || freebsd || linux || netbsd || openbsd || solaris
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// +build aix darwin dragonfly freebsd linux netbsd openbsd solaris
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package main |
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import ( |
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"encoding/binary" |
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"errors" |
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"io" |
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"net" |
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"time" |
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"unsafe" |
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"golang.org/x/sys/unix" |
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"fmt" |
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"regexp" |
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"strconv" |
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) |
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// NewCan New returns a new CAN bus socket.
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func NewCan() (*Socket, error) { |
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fd, err := unix.Socket(unix.AF_CAN, unix.SOCK_RAW, unix.CAN_RAW) |
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if err != nil { |
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return nil, err |
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} |
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return &Socket{dev: device{fd}}, nil |
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} |
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// Socket is a high-level representation of a CANBus socket.
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type Socket struct { |
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iface *net.Interface |
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addr *unix.SockaddrCAN |
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dev device |
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} |
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// Close closes the CAN bus socket.
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func (sck *Socket) Close() error { |
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return unix.Close(sck.dev.fd) |
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} |
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func (sck *Socket) Bind(addr string, filter []unix.CanFilter) error { |
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iface, err := net.InterfaceByName(addr) |
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if err != nil { |
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return err |
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} |
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sck.iface = iface |
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sck.addr = &unix.SockaddrCAN{Ifindex: sck.iface.Index} |
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//add filter
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if filter != nil { |
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unix.SetsockoptCanRawFilter(sck.dev.fd, unix.SOL_CAN_RAW, unix.CAN_RAW_FILTER, filter) |
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} |
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return unix.Bind(sck.dev.fd, sck.addr) |
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} |
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// Recv receives data from the CAN socket.
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// id is the CAN_frame id the data was originated from.
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func (sck *Socket) Recv() (id uint32, data []byte, err error) { |
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var buf [frameSize]byte |
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n, err := io.ReadFull(sck.dev, buf[:]) |
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if err != nil { |
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return id, data, err |
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} |
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if n != len(buf) { |
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return id, data, io.ErrUnexpectedEOF |
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} |
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id = binary.LittleEndian.Uint32(buf[:4]) |
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id &= unix.CAN_SFF_MASK |
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data = make([]byte, buf[4]) |
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copy(data, buf[8:]) |
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return id, data, nil |
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} |
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type device struct { |
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fd int |
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} |
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func (d device) Read(data []byte) (int, error) { |
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return unix.Read(d.fd, data) |
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} |
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func (d device) Write(data []byte) (int, error) { |
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return unix.Write(d.fd, data) |
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type CanFrame struct { |
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canid uint16 |
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payload []uint8 |
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date string |
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} |
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const frameSize = unsafe.Sizeof(canframe{}) |
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// (2022-07-08 16:54:15.587099) can0 100 [8] 00 00 00 00 00 00 64 00
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const expr = "\\((.*)\\)\\s+can\\d+\\s+(\\d+)\\s+\\[\\d\\]\\s+([A-F0-9]+)\\s+([A-F0-9]+)\\s+([A-F0-9]+)\\s+([A-F0-9]+)\\s+([A-F0-9]+)\\s+([A-F0-9]+)\\s+([A-F0-9]+)\\s+([A-F0-9]+)" |
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const length = 11 |
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// frame is a can_frame.
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type canframe struct { |
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ID uint32 |
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Len byte |
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_ [3]byte |
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Data [8]byte |
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} |
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func StartCan(canbus string) (<-chan *CanFrame, error) { |
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var filter []unix.CanFilter = []unix.CanFilter{ |
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{Id: CAN_ID_100, Mask: 0xFFF}, |
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{Id: CAN_ID_101, Mask: 0xFFF}, |
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{Id: CAN_ID_102, Mask: 0xFFF}, |
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{Id: CAN_ID_108, Mask: 0xFFF}, |
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{Id: CAN_ID_109, Mask: 0xFFF}, |
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} |
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if socket, err := NewCan(); err == nil { |
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var pattern = regexp.MustCompile(expr) |
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if cerr := socket.Bind(canbus, filter); cerr == nil { |
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canevents := make(chan *CanFrame) |
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func FromString(text *string) *CanFrame { |
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submatch := pattern.FindStringSubmatch(*text) |
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if len(submatch) == length { |
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canid, err := strconv.ParseUint(submatch[2], 16, 0) |
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if err != nil { |
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return nil |
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} |
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go func() { |
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defer close(canevents) |
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defer socket.Close() |
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payload := make([]uint8, 8) |
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for idx, octet := range submatch[3:] { |
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val, err := strconv.ParseUint(octet, 16, 0) |
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if err != nil { |
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fmt.Println(err) |
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continue |
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} |
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for { //TODO implement stop
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if id, data, serr := socket.Recv(); serr == nil { |
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canevents <- &CanFrame{ |
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date: time.Now().String(), |
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canid: id, |
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payload: data, |
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} |
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} |
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} |
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}() |
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payload[idx] = uint8(val) |
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} |
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return canevents, nil |
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return &CanFrame{ |
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date: submatch[1], |
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canid: uint16(canid), |
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payload: payload, |
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} |
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} |
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return nil, errors.New("can't bind can socket") |
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return nil |
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} |
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@ -1,15 +0,0 @@ |
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//go:build windows
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// +build windows
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package main |
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func StartCan(canbus string) (<-chan *CanFrame, error) { |
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return nil, &NotImplError{} |
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} |
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type NotImplError struct { |
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} |
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func (e *NotImplError) Error() string { |
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return "Not implemented for windows platform" |
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} |
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@ -1,71 +0,0 @@ |
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package main |
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import ( |
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"bufio" |
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"fmt" |
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"os" |
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"regexp" |
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"strconv" |
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) |
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// (2022-07-08 16:54:15.587099) can0 100 [8] 00 00 00 00 00 00 64 00
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const expr = "\\((.*)\\)\\s+can\\d+\\s+(\\d+)\\s+\\[\\d\\]\\s+([A-F0-9]+)\\s+([A-F0-9]+)\\s+([A-F0-9]+)\\s+([A-F0-9]+)\\s+([A-F0-9]+)\\s+([A-F0-9]+)\\s+([A-F0-9]+)\\s+([A-F0-9]+)" |
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const length = 11 |
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var pattern = regexp.MustCompile(expr) |
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func Readfile(filename *string) <-chan *CanFrame { |
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c := make(chan *CanFrame) |
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go func() { |
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defer close(c) |
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file, err := os.Open(*filename) |
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if err != nil { |
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fmt.Println(err) |
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return |
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} |
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defer file.Close() |
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scanner := bufio.NewScanner(file) |
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for scanner.Scan() { |
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text := scanner.Text() |
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c <- fromString(&text) |
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} |
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if err := scanner.Err(); err != nil { |
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fmt.Println(err) |
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} |
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}() |
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return c |
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} |
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func fromString(text *string) *CanFrame { |
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submatch := pattern.FindStringSubmatch(*text) |
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if len(submatch) == length { |
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canid, err := strconv.ParseUint(submatch[2], 16, 0) |
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if err != nil { |
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return nil |
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} |
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payload := make([]uint8, 8) |
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for idx, octet := range submatch[3:] { |
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val, err := strconv.ParseUint(octet, 16, 0) |
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if err != nil { |
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fmt.Println(err) |
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continue |
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} |
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payload[idx] = uint8(val) |
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} |
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return &CanFrame{ |
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date: submatch[1], |
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canid: uint32(canid), |
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payload: payload, |
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} |
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} |
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return nil |
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} |
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@ -1,175 +0,0 @@ |
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package main |
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const ( |
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CAN_ID_100 = 0x100 |
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CAN_ID_101 = 0x101 |
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CAN_ID_102 = 0x102 |
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CAN_ID_108 = 0x108 |
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CAN_ID_109 = 0x109 |
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DISABLED VehicleChargingEnabled = iota |
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ENABLED |
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PARKING ShiftLeverPosition = iota |
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OTHER |
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NORMAL SystemFault = iota |
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FAULT |
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CONTACTOR_CLOSED ContactorVehicleStatus = iota |
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CONTACTOR_OPEN |
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NO_REQUEST StopRequest = iota |
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STOP_REQUEST |
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VEHICLE_WELDING_DETECTION_SUPPORTED SuppVehicleWeldingDetection = iota |
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VEHICLE_WELDING_DETECTION_NOT_SUPPORTED |
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STANDBY StationState = iota |
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CHARGING |
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CONNECTOR_LOCKED ConnectorLock = iota |
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CONNECTOR_UNLOCKED |
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BATTERY_COMPATIBLE BatteryCompatible = iota |
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BATTERY_INCOMPATIBLE |
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OPERATING StopControl = iota |
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SHUTDOWN_STOP |
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) |
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type VehicleChargingEnabled uint8 |
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type ShiftLeverPosition uint8 |
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type SystemFault uint8 |
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type ContactorVehicleStatus uint8 |
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type StopRequest uint8 |
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type SuppVehicleWeldingDetection uint8 |
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type StationState uint8 |
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type ConnectorLock uint8 |
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type BatteryCompatible uint8 |
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type StopControl uint8 |
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type CanFrame struct { |
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canid uint32 |
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payload []uint8 |
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date string |
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} |
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func (v VehicleChargingEnabled) String() string { |
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switch v { |
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case DISABLED: |
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return "disabled" |
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case ENABLED: |
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return "enabled" |
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default: |
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panic("VehicleChargingEnabled not implemented") |
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} |
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} |
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func (s ShiftLeverPosition) String() string { |
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switch s { |
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case PARKING: |
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return "parking" |
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case OTHER: |
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return "other" |
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default: |
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panic("ShiftLeverPosition not implemented") |
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} |
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} |
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func (s SystemFault) String() string { |
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switch s { |
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case NORMAL: |
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return "normal" |
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case FAULT: |
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return "fault" |
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default: |
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panic("SystemFault not implemented") |
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} |
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} |
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func (c ContactorVehicleStatus) String() string { |
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switch c { |
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case CONTACTOR_CLOSED: |
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return "contactor closed" |
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case CONTACTOR_OPEN: |
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return "contactor open" |
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default: |
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panic("ContactorVehicleStatus not implemented") |
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} |
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} |
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func (s StopRequest) String() string { |
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switch s { |
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case NO_REQUEST: |
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return "no request" |
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case STOP_REQUEST: |
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return "stop request" |
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default: |
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panic("StopRequest not implemented") |
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} |
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} |
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func (s SuppVehicleWeldingDetection) String() string { |
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switch s { |
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case VEHICLE_WELDING_DETECTION_NOT_SUPPORTED: |
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return "not supported" |
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case VEHICLE_WELDING_DETECTION_SUPPORTED: |
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return "supported" |
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default: |
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panic("SuppVehicleWeldingDetection not implemented") |
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} |
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} |
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func (s StationState) String() string { |
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switch s { |
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case CHARGING: |
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return "charging" |
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case STANDBY: |
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return "standby" |
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default: |
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panic("StationState not implemented") |
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} |
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} |
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func (c ConnectorLock) String() string { |
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switch c { |
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case CONNECTOR_LOCKED: |
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return "locked" |
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case CONNECTOR_UNLOCKED: |
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return "unlocked" |
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default: |
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panic("ConnectorLock not implemented") |
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} |
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} |
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func (b BatteryCompatible) String() string { |
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switch b { |
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case BATTERY_COMPATIBLE: |
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return "compatible" |
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case BATTERY_INCOMPATIBLE: |
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return "incompatible" |
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default: |
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panic("BatteryCompatible not implemented") |
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} |
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} |
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func (s StopControl) String() string { |
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switch s { |
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case OPERATING: |
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return "operating" |
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case SHUTDOWN_STOP: |
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return "shutdown or stop charging" |
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default: |
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panic("StopControl not implemented") |
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} |
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} |
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