#include "taf_can_interface.h"
#include "taf_can_messages.h"
#include "taf_can_service.h"

Data Structures
struct	_ClientThreadData_t

Macros
#define	LOCK_INIT le_mutex_Lock(le_ifgen_InitMutexRef);
	Locks the mutex. More...

#define	UNLOCK_INIT le_mutex_Unlock(le_ifgen_InitMutexRef);
	Unlocks the mutex. More...

Functions
	LE_MEM_DEFINE_STATIC_POOL (taf_can_ClientThreadData, LE_CDATA_COMPONENT_COUNT, sizeof(_ClientThreadData_t))

static le_result_t	InitClientForThread (bool isBlocking)

static _ClientThreadData_t *	GetClientThreadDataPtr (void)

	__attribute__ ((unused))

static void	ClientThreadDestructor (void *objPtr)

static void	InitCommonData (void)

static le_result_t	DoConnectService (bool isBlocking)

void	taf_can_ConnectService (void)

le_result_t	taf_can_TryConnectService (void)

static void	SessionCloseHandler (le_msg_SessionRef_t sessionRef, void *contextPtr)

void	taf_can_SetServerDisconnectHandler (taf_can_DisconnectHandler_t disconnectHandler, void *contextPtr)

static void	NonExitSessionCloseHandler (le_msg_SessionRef_t sessionRef, void *contextPtr)

void	taf_can_SetNonExitServerDisconnectHandler (taf_can_DisconnectHandler_t disconnectHandler, void *contextPtr)

void	taf_can_DisconnectService (void)

taf_can_CanInterfaceRef_t	taf_can_CreateCanInf (const char *LE_NONNULL infName, taf_can_InfProtocol_t canInfType)

le_result_t	taf_can_SetFilter (taf_can_CanInterfaceRef_t canInfRef, uint32_t frameId)

le_result_t	taf_can_EnableLoopback (taf_can_CanInterfaceRef_t canInfRef)

le_result_t	taf_can_DisableLoopback (taf_can_CanInterfaceRef_t canInfRef)

le_result_t	taf_can_EnableRcvOwnMsg (taf_can_CanInterfaceRef_t canInfRef)

le_result_t	taf_can_DisableRcvOwnMsg (taf_can_CanInterfaceRef_t canInfRef)

bool	taf_can_IsFdSupported (taf_can_CanInterfaceRef_t canInfRef)

le_result_t	taf_can_EnableFdFrame (taf_can_CanInterfaceRef_t canInfRef)

bool	taf_can_GetFdStatus (taf_can_CanInterfaceRef_t canInfRef)

taf_can_CanEventHandlerRef_t	taf_can_AddCanEventHandler (taf_can_CanInterfaceRef_t canInfRef, uint32_t frameId, uint32_t frIdMask, taf_can_CallbackFunc_t handlerPtr, void *contextPtr)

void	taf_can_RemoveCanEventHandler (taf_can_CanEventHandlerRef_t handlerRef)

taf_can_CanFrameRef_t	taf_can_CreateCanFrame (taf_can_CanInterfaceRef_t canInfRef, uint32_t frameId)

le_result_t	taf_can_SetPayload (taf_can_CanFrameRef_t frameRef, const uint8_t *dataPtr, size_t dataSize)

le_result_t	taf_can_SetFrameType (taf_can_CanFrameRef_t frameRef, taf_can_FrameType_t frameType)

le_result_t	taf_can_SendFrame (taf_can_CanFrameRef_t frameRef)

le_result_t	taf_can_DeleteCanInf (taf_can_CanInterfaceRef_t canInfRef)

le_result_t	taf_can_DeleteCanFrame (taf_can_CanFrameRef_t frameRef)

Variables
static le_mem_PoolRef_t	_ClientThreadDataPool

static pthread_key_t	_ThreadDataKey

static bool	CommonDataInitialized = false

le_mutex_Ref_t	le_ifgen_InitMutexRef

Macro Definition Documentation

◆ LOCK_INIT

#define LOCK_INIT le_mutex_Lock(le_ifgen_InitMutexRef);

Locks the mutex.

◆ UNLOCK_INIT

#define UNLOCK_INIT le_mutex_Unlock(le_ifgen_InitMutexRef);

Unlocks the mutex.

Function Documentation

◆ LE_MEM_DEFINE_STATIC_POOL()

LE_MEM_DEFINE_STATIC_POOL	(	taf_can_ClientThreadData	,
		LE_CDATA_COMPONENT_COUNT	,
		sizeof(_ClientThreadData_t)
	)

Static pool for client threads.

◆ InitClientForThread()

static le_result_t InitClientForThread ( bool isBlocking )

static

Initialize thread specific data, and connect to the service for the current thread.

Returns

LE_OK if the client connected successfully to the service.
LE_UNAVAILABLE if the server is not currently offering the service to which the client is bound.
LE_NOT_PERMITTED if the client interface is not bound to any service (doesn't have a binding).
LE_COMM_ERROR if the Service Directory cannot be reached.

◆ GetClientThreadDataPtr()

static _ClientThreadData_t* GetClientThreadDataPtr ( void )

static

Get a pointer to the client thread data for the current thread.

If the current thread does not have client data, then NULL is returned

◆ attribute()

__attribute__ ( (unused) )

Return the sessionRef for the current thread.

If the current thread does not have a session ref, then this is a fatal error.

◆ ClientThreadDestructor()

static void ClientThreadDestructor ( void * objPtr )

static

Destructor function for client thread objects.

◆ InitCommonData()

static void InitCommonData ( void )

static

Init data that is common across all threads.

◆ DoConnectService()

static le_result_t DoConnectService ( bool isBlocking )

static

Connect to the service, using either blocking or non-blocking calls.

This function implements the details of the public ConnectService functions.

Returns

LE_OK if the client connected successfully to the service.
LE_UNAVAILABLE if the server is not currently offering the service to which the client is bound.
LE_NOT_PERMITTED if the client interface is not bound to any service (doesn't have a binding).
LE_COMM_ERROR if the Service Directory cannot be reached.

◆ taf_can_ConnectService()

void taf_can_ConnectService ( void )

Connect the current client thread to the service providing this API. Block until the service is available.

For each thread that wants to use this API, either ConnectService or TryConnectService must be called before any other functions in this API. Normally, ConnectService is automatically called for the main thread, but not for any other thread. For details, see apiFilesC_client.

This function is created automatically.

◆ taf_can_TryConnectService()

le_result_t taf_can_TryConnectService ( void )

Try to connect the current client thread to the service providing this API. Return with an error if the service is not available.

For each thread that wants to use this API, either ConnectService or TryConnectService must be called before any other functions in this API. Normally, ConnectService is automatically called for the main thread, but not for any other thread. For details, see apiFilesC_client.

This function is created automatically.

Returns

LE_OK if the client connected successfully to the service.
LE_UNAVAILABLE if the server is not currently offering the service to which the client is bound.
LE_NOT_PERMITTED if the client interface is not bound to any service (doesn't have a binding).
LE_COMM_ERROR if the Service Directory cannot be reached.

◆ SessionCloseHandler()

static void SessionCloseHandler	(	le_msg_SessionRef_t	sessionRef,
		void *	contextPtr
	)

static

◆ taf_can_SetServerDisconnectHandler()

void taf_can_SetServerDisconnectHandler	(	taf_can_DisconnectHandler_t	disconnectHandler,
		void *	contextPtr
	)

Set handler called when server disconnection is detected.

When a server connection is lost, call this handler then exit with LE_FATAL. If a program wants to continue without exiting, it should call longjmp() from inside the handler.

◆ NonExitSessionCloseHandler()

static void NonExitSessionCloseHandler	(	le_msg_SessionRef_t	sessionRef,
		void *	contextPtr
	)

static

◆ taf_can_SetNonExitServerDisconnectHandler()

void taf_can_SetNonExitServerDisconnectHandler	(	taf_can_DisconnectHandler_t	disconnectHandler,
		void *	contextPtr
	)

Set handler called when server disconnection is detected without exiting.

When a server connection is lost, call this handler without exit.

Warning: When using the API, it needs the application developer to handle some cases like re-connecting and recycling the resources. For most of cases, it is safe to use SetServerDisconnectHandler.

◆ taf_can_DisconnectService()

void taf_can_DisconnectService ( void )

Disconnect the current client thread from the service providing this API.

Normally, this function doesn't need to be called. After this function is called, there's no longer a connection to the service, and the functions in this API can't be used. For details, see apiFilesC_client.

This function is created automatically.

◆ taf_can_CreateCanInf()

taf_can_CanInterfaceRef_t taf_can_CreateCanInf	(	const char *LE_NONNULL	infName,
		taf_can_InfProtocol_t	canInfType
	)

Creates a CAN interface.

Returns

Reference to the created CAN interface.
Null when attempt failed.

Note: The process exits if an invalid or existing tag is passed.

Parameters

[in]	infName	CAN interface name, e.g., can0, can1, etc.
[in]	canInfType	CAN interface type.

◆ taf_can_SetFilter()

le_result_t taf_can_SetFilter	(	taf_can_CanInterfaceRef_t	canInfRef,
		uint32_t	frameId
	)

Sets a filter to receive CAN frame for the given frame ID.

Returns

LE_OK – Filter successfully set.
LE_OUT_OF_RANGE – Frame ID greater than 29 bits.
LE_FAULT – Failed.

Note: The process exits if an invalid reference is passed.

Parameters

[in]	canInfRef	Reference of the created CAN interface.
[in]	frameId	Frame ID.

◆ taf_can_EnableLoopback()

le_result_t taf_can_EnableLoopback ( taf_can_CanInterfaceRef_t canInfRef )

Enables loopback message sending from the given CAN interface (can0/can1/..).

Returns

LE_OK – Local loopback successfully enabled.
LE_FAULT – Failed.

Note: The process exits if an invalid reference is passed.

Parameters

[in] canInfRef Reference of the created CAN interface.

◆ taf_can_DisableLoopback()

le_result_t taf_can_DisableLoopback ( taf_can_CanInterfaceRef_t canInfRef )

Disables loopback message sending from the given CAN interface (can0/can1/..).

Returns

LE_OK – Local loopback successfully disabled.
LE_FAULT – Failed.

Note: The process exits if an invalid reference is passed.

Parameters

[in] canInfRef Reference of the created CAN interface.

◆ taf_can_EnableRcvOwnMsg()

le_result_t taf_can_EnableRcvOwnMsg ( taf_can_CanInterfaceRef_t canInfRef )

Enables receiving messages sent from the same CanInterface reference.

Returns

LE_OK – Reception of the application's own sent messages successfully enabled.
LE_FAULT – Failed.

Note: The process exits if an invalid reference is passed.

Parameters

[in] canInfRef Reference of the created CAN interface.

◆ taf_can_DisableRcvOwnMsg()

le_result_t taf_can_DisableRcvOwnMsg ( taf_can_CanInterfaceRef_t canInfRef )

Disables receiving messages sent from the same CanInterface reference.

Returns

LE_OK – Reception of the application's own sent messages successfully disabled.
LE_FAULT – Failed.

Note: The process exits if an invalid reference is passed.

Parameters

[in] canInfRef Reference of the created CAN interface.

◆ taf_can_IsFdSupported()

bool taf_can_IsFdSupported ( taf_can_CanInterfaceRef_t canInfRef )

Checks whether the device supports FD frame or not.

Returns

True – FD frame supported.
False – FD frame not supported.

Note: The process exits if an invalid reference is passed.

Parameters

[in] canInfRef Reference of the created CAN interface.

◆ taf_can_EnableFdFrame()

le_result_t taf_can_EnableFdFrame ( taf_can_CanInterfaceRef_t canInfRef )

Enables CAN FD frame, if the device supports FD frame.

Returns

LE_OK – CAN FD frame successfully enabled.
LE_UNSUPPORTED – CAN FD frame not supported.
LE_FAULT – Failed.

Note: The process exits if an invalid reference is passed.

Parameters

[in] canInfRef Reference of the created CAN interface.

◆ taf_can_GetFdStatus()

bool taf_can_GetFdStatus ( taf_can_CanInterfaceRef_t canInfRef )

Checks whether the CAN FD frame is enabled or not.

Returns

True – CAN FD frame is enabled.
False – CAN FD frame is not enabled.

Note: The process exits if an invalid reference is passed.

Parameters

[in] canInfRef Reference of the created CAN interface.

◆ taf_can_AddCanEventHandler()

taf_can_CanEventHandlerRef_t taf_can_AddCanEventHandler	(	taf_can_CanInterfaceRef_t	canInfRef,
		uint32_t	frameId,
		uint32_t	frIdMask,
		taf_can_CallbackFunc_t	handlerPtr,
		void *	contextPtr
	)

Add handler function for EVENT 'taf_can_CanEvent'

CAN event.

Parameters

[in]	canInfRef	Reference of the created CAN interface.
[in]	frameId	Frame ID.
[in]	frIdMask	Frame ID mask for message filtering.
[in]	handlerPtr
[in]	contextPtr

◆ taf_can_RemoveCanEventHandler()

void taf_can_RemoveCanEventHandler ( taf_can_CanEventHandlerRef_t handlerRef )

Remove handler function for EVENT 'taf_can_CanEvent'

Parameters

[in] handlerRef

◆ taf_can_CreateCanFrame()

taf_can_CanFrameRef_t taf_can_CreateCanFrame	(	taf_can_CanInterfaceRef_t	canInfRef,
		uint32_t	frameId
	)

Creates a CAN frame.

Returns

Reference to the created CAN frame.
Null when attempt failed.

Note: The process exits if an invalid reference or existing tag is passed.

Parameters

[in]	canInfRef	Reference of the created CAN interface.
[in]	frameId	frame ID.

◆ taf_can_SetPayload()

le_result_t taf_can_SetPayload	(	taf_can_CanFrameRef_t	frameRef,
		const uint8_t *	dataPtr,
		size_t	dataSize
	)

Sets the data payload.

Returns

LE_OK – Data payload successfully set.
LE_FAULT – Failed.

Note: The process exits if an invalid reference is passed.

Parameters

[in]	frameRef	Reference of the created CAN frame.
[in]	dataPtr	Data payload.
[in]	dataSize

◆ taf_can_SetFrameType()

le_result_t taf_can_SetFrameType	(	taf_can_CanFrameRef_t	frameRef,
		taf_can_FrameType_t	frameType
	)

Sets the frame type to send.

Returns

LE_OK – Frame type successfully set.
LE_FAULT – Failed.

Note: The process exits if an invalid reference is passed.

Parameters

[in]	frameRef	Reference of the created CAN frame.
[in]	frameType	CAN frame type.

◆ taf_can_SendFrame()

le_result_t taf_can_SendFrame ( taf_can_CanFrameRef_t frameRef )

Sends a CAN frame.

Returns

LE_OK – CAN frame successfully sent.
LE_FAULT – Failed.

Note: The process exits if an invalid reference is passed.

Parameters

[in] frameRef Reference of the created CAN frame to send.

◆ taf_can_DeleteCanInf()

le_result_t taf_can_DeleteCanInf ( taf_can_CanInterfaceRef_t canInfRef )

Deletes a created CAN interface.

Returns

LE_OK – Created CAN interface successfully deleted.
LE_FAULT – Failed.

Note: The process exits if an invalid reference is passed.

Parameters

[in] canInfRef Reference of the created CAN interface to delete.

◆ taf_can_DeleteCanFrame()

le_result_t taf_can_DeleteCanFrame ( taf_can_CanFrameRef_t frameRef )

Deletes a created CAN frame.

Returns

LE_OK – Created CAN frame successfully deleted.
LE_FAULT – Failed.

Note: The process exits if an invalid reference is passed.

Parameters

[in] frameRef Reference of the created CAN frame to delete.

Variable Documentation

◆ _ClientThreadDataPool

le_mem_PoolRef_t _ClientThreadDataPool

static

The memory pool for client thread objects

◆ _ThreadDataKey

pthread_key_t _ThreadDataKey

static

Key under which the pointer to the Thread Object (_ClientThreadData_t) will be kept in thread-local storage. This allows a thread to quickly get a pointer to its own Thread Object.

◆ CommonDataInitialized

bool CommonDataInitialized = false

static

This global flag is shared by all client threads, and is used to indicate whether the common data has been initialized.

Warning: Use InitMutex, defined below, to protect accesses to this data.

◆ le_ifgen_InitMutexRef

le_mutex_Ref_t le_ifgen_InitMutexRef

Mutex and associated macros for use with the above CommonDataInitialized.

Data Structures

Macros

Functions

Variables

Macro Definition Documentation

◆ LOCK_INIT

◆ UNLOCK_INIT

Function Documentation

◆ LE_MEM_DEFINE_STATIC_POOL()

◆ InitClientForThread()

◆ GetClientThreadDataPtr()

◆ __attribute__()

◆ ClientThreadDestructor()

◆ InitCommonData()

◆ DoConnectService()

◆ taf_can_ConnectService()

◆ taf_can_TryConnectService()

◆ SessionCloseHandler()

◆ taf_can_SetServerDisconnectHandler()

◆ NonExitSessionCloseHandler()

◆ taf_can_SetNonExitServerDisconnectHandler()

◆ taf_can_DisconnectService()

◆ taf_can_CreateCanInf()

◆ taf_can_SetFilter()

◆ taf_can_EnableLoopback()

◆ taf_can_DisableLoopback()

◆ taf_can_EnableRcvOwnMsg()

◆ taf_can_DisableRcvOwnMsg()

◆ taf_can_IsFdSupported()

◆ taf_can_EnableFdFrame()

◆ taf_can_GetFdStatus()

◆ taf_can_AddCanEventHandler()

◆ taf_can_RemoveCanEventHandler()

◆ taf_can_CreateCanFrame()

◆ taf_can_SetPayload()

◆ taf_can_SetFrameType()

◆ taf_can_SendFrame()

◆ taf_can_DeleteCanInf()

◆ taf_can_DeleteCanFrame()

Variable Documentation

◆ _ClientThreadDataPool

◆ _ThreadDataKey

◆ CommonDataInitialized

◆ le_ifgen_InitMutexRef

◆ attribute()