From d18957dbcc837d0420a2789da29e8dae976b9f1d Mon Sep 17 00:00:00 2001 From: Pavel Pisa Date: Sat, 27 Jan 2018 17:41:07 +0100 Subject: net/can: simple messages transport implementation for QEMU The CanBusState state structure is created for each emulated CAN channel. Individual clients/emulated CAN interfaces or host interface connection registers to the bus by CanBusClientState structure. The CAN core is prepared to support connection to the real host CAN bus network. The commit with such support for Linux SocketCAN follows. Implementation is as simple as possible. There is no state to be migrated, and messages prioritization and queuing are not considered for now. But it is intended to be extended when need arises. Development repository and more documentation at https://gitlab.fel.cvut.cz/canbus/qemu-canbus The work is based on Jin Yang GSoC 2013 work funded by Google and mentored in frame of RTEMS project GSoC slot donated to QEMU. Rewritten for QEMU-2.0+ versions and architecture cleanup by Pavel Pisa (Czech Technical University in Prague). Signed-off-by: Pavel Pisa Signed-off-by: Paolo Bonzini --- net/can/Makefile.objs | 1 + net/can/can_core.c | 138 ++++++++++++++++++++++++++++++++++++++++++++++++++ net/can/can_host.c | 112 ++++++++++++++++++++++++++++++++++++++++ 3 files changed, 251 insertions(+) create mode 100644 net/can/Makefile.objs create mode 100644 net/can/can_core.c create mode 100644 net/can/can_host.c (limited to 'net/can') diff --git a/net/can/Makefile.objs b/net/can/Makefile.objs new file mode 100644 index 0000000..ef97fdb --- /dev/null +++ b/net/can/Makefile.objs @@ -0,0 +1 @@ +common-obj-y += can_core.o can_host.o diff --git a/net/can/can_core.c b/net/can/can_core.c new file mode 100644 index 0000000..2a83cad --- /dev/null +++ b/net/can/can_core.c @@ -0,0 +1,138 @@ +/* + * CAN common CAN bus emulation support + * + * Copyright (c) 2013-2014 Jin Yang + * Copyright (c) 2014-2018 Pavel Pisa + * + * Initial development supported by Google GSoC 2013 from RTEMS project slot + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL + * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ +#include "qemu/osdep.h" +#include "chardev/char.h" +#include "qemu/sockets.h" +#include "qapi/error.h" +#include "net/can_emu.h" +#include "qom/object_interfaces.h" + +struct CanBusState { + Object object; + + QTAILQ_HEAD(, CanBusClientState) clients; +}; + +static void can_bus_instance_init(Object *object) +{ + CanBusState *bus = (CanBusState *)object; + + QTAILQ_INIT(&bus->clients); +} + +int can_bus_insert_client(CanBusState *bus, CanBusClientState *client) +{ + client->bus = bus; + QTAILQ_INSERT_TAIL(&bus->clients, client, next); + return 0; +} + +int can_bus_remove_client(CanBusClientState *client) +{ + CanBusState *bus = client->bus; + if (bus == NULL) { + return 0; + } + + QTAILQ_REMOVE(&bus->clients, client, next); + client->bus = NULL; + return 1; +} + +ssize_t can_bus_client_send(CanBusClientState *client, + const struct qemu_can_frame *frames, size_t frames_cnt) +{ + int ret = 0; + CanBusState *bus = client->bus; + CanBusClientState *peer; + if (bus == NULL) { + return -1; + } + + QTAILQ_FOREACH(peer, &bus->clients, next) { + if (peer->info->can_receive(peer)) { + if (peer == client) { + /* No loopback support for now */ + continue; + } + if (peer->info->receive(peer, frames, frames_cnt) > 0) { + ret = 1; + } + } + } + + return ret; +} + +int can_bus_filter_match(struct qemu_can_filter *filter, qemu_canid_t can_id) +{ + int m; + if (((can_id | filter->can_mask) & QEMU_CAN_ERR_FLAG)) { + return (filter->can_mask & QEMU_CAN_ERR_FLAG) != 0; + } + m = (can_id & filter->can_mask) == (filter->can_id & filter->can_mask); + return filter->can_id & QEMU_CAN_INV_FILTER ? !m : m; +} + +int can_bus_client_set_filters(CanBusClientState *client, + const struct qemu_can_filter *filters, size_t filters_cnt) +{ + return 0; +} + + +static bool can_bus_can_be_deleted(UserCreatable *uc) +{ + return false; +} + +static void can_bus_class_init(ObjectClass *klass, + void *class_data G_GNUC_UNUSED) +{ + UserCreatableClass *uc_klass = USER_CREATABLE_CLASS(klass); + + uc_klass->can_be_deleted = can_bus_can_be_deleted; +} + +static const TypeInfo can_bus_info = { + .parent = TYPE_OBJECT, + .name = TYPE_CAN_BUS, + .instance_size = sizeof(CanBusState), + .instance_init = can_bus_instance_init, + .class_init = can_bus_class_init, + .interfaces = (InterfaceInfo[]) { + { TYPE_USER_CREATABLE }, + { } + } +}; + +static void can_bus_register_types(void) +{ + type_register_static(&can_bus_info); +} + +type_init(can_bus_register_types); diff --git a/net/can/can_host.c b/net/can/can_host.c new file mode 100644 index 0000000..c3d2652 --- /dev/null +++ b/net/can/can_host.c @@ -0,0 +1,112 @@ +/* + * CAN generic CAN host connection support + * + * Copyright (c) 2013-2014 Jin Yang + * Copyright (c) 2014-2018 Pavel Pisa + * + * Initial development supported by Google GSoC 2013 from RTEMS project slot + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL + * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ +#include "qemu/osdep.h" +#include "chardev/char.h" +#include "qemu/sockets.h" +#include "qapi/error.h" +#include "qom/object_interfaces.h" +#include "net/can_emu.h" +#include "net/can_host.h" + +struct CanBusState { + Object object; + + QTAILQ_HEAD(, CanBusClientState) clients; +}; + +static void can_host_disconnect(CanHostState *ch) +{ + CanHostClass *chc = CAN_HOST_GET_CLASS(ch); + + can_bus_remove_client(&ch->bus_client); + chc->disconnect(ch); +} + +static void can_host_connect(CanHostState *ch, Error **errp) +{ + CanHostClass *chc = CAN_HOST_GET_CLASS(ch); + Error *local_err = NULL; + + chc->connect(ch, &local_err); + if (local_err) { + error_propagate(errp, local_err); + return; + } + + can_bus_insert_client(ch->bus, &ch->bus_client); +} + +static void can_host_unparent(Object *obj) +{ + can_host_disconnect(CAN_HOST(obj)); +} + +static void can_host_complete(UserCreatable *uc, Error **errp) +{ + can_host_connect(CAN_HOST(uc), errp); +} + +static void can_host_instance_init(Object *obj) +{ + CanHostState *ch = CAN_HOST(obj); + + object_property_add_link(obj, "canbus", TYPE_CAN_BUS, + (Object **)&ch->bus, + object_property_allow_set_link, + OBJ_PROP_LINK_UNREF_ON_RELEASE, + &error_abort); +} + +static void can_host_class_init(ObjectClass *klass, + void *class_data G_GNUC_UNUSED) +{ + UserCreatableClass *uc_klass = USER_CREATABLE_CLASS(klass); + + klass->unparent = can_host_unparent; + uc_klass->complete = can_host_complete; +} + +static const TypeInfo can_host_info = { + .parent = TYPE_OBJECT, + .name = TYPE_CAN_HOST, + .instance_size = sizeof(CanHostState), + .class_size = sizeof(CanHostClass), + .abstract = true, + .instance_init = can_host_instance_init, + .class_init = can_host_class_init, + .interfaces = (InterfaceInfo[]) { + { TYPE_USER_CREATABLE }, + { } + } +}; + +static void can_host_register_types(void) +{ + type_register_static(&can_host_info); +} + +type_init(can_host_register_types); -- cgit v1.1 From ea15ea8a7c67b1277d6817fb247b1427e0d293f3 Mon Sep 17 00:00:00 2001 From: Pavel Pisa Date: Sat, 27 Jan 2018 17:59:27 +0100 Subject: net/can: support for connecting to Linux host SocketCAN interface. Connection to the real host CAN bus network through SocketCAN network interface is available only for Linux host system. Mechanism is generic, support for another CAN API and operating systems can be implemented in future. Signed-off-by: Pavel Pisa Signed-off-by: Paolo Bonzini --- net/can/Makefile.objs | 1 + net/can/can_socketcan.c | 286 ++++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 287 insertions(+) create mode 100644 net/can/can_socketcan.c (limited to 'net/can') diff --git a/net/can/Makefile.objs b/net/can/Makefile.objs index ef97fdb..9f35dc5 100644 --- a/net/can/Makefile.objs +++ b/net/can/Makefile.objs @@ -1 +1,2 @@ common-obj-y += can_core.o can_host.o +common-obj-$(CONFIG_LINUX) += can_socketcan.o diff --git a/net/can/can_socketcan.c b/net/can/can_socketcan.c new file mode 100644 index 0000000..39865e2 --- /dev/null +++ b/net/can/can_socketcan.c @@ -0,0 +1,286 @@ +/* + * CAN c support to connect to the Linux host SocketCAN interfaces + * + * Copyright (c) 2013-2014 Jin Yang + * Copyright (c) 2014-2018 Pavel Pisa + * + * Initial development supported by Google GSoC 2013 from RTEMS project slot + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL + * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ +#include "qemu/osdep.h" +#include "qemu/log.h" +#include "qapi/error.h" +#include "chardev/char.h" +#include "qemu/sockets.h" +#include "qemu/error-report.h" +#include "net/can_emu.h" +#include "net/can_host.h" + +#include +#include +#include +#include + +#ifndef DEBUG_CAN +#define DEBUG_CAN 0 +#endif /*DEBUG_CAN*/ + +#define TYPE_CAN_HOST_SOCKETCAN "can-host-socketcan" +#define CAN_HOST_SOCKETCAN(obj) \ + OBJECT_CHECK(CanHostSocketCAN, (obj), TYPE_CAN_HOST_SOCKETCAN) + +#define CAN_READ_BUF_LEN 5 +typedef struct CanHostSocketCAN { + CanHostState parent; + char *ifname; + + qemu_can_filter *rfilter; + int rfilter_num; + can_err_mask_t err_mask; + + qemu_can_frame buf[CAN_READ_BUF_LEN]; + int bufcnt; + int bufptr; + + int fd; +} CanHostSocketCAN; + +/* Check that QEMU and Linux kernel flags encoding and structure matches */ +QEMU_BUILD_BUG_ON(QEMU_CAN_EFF_FLAG != CAN_EFF_FLAG); +QEMU_BUILD_BUG_ON(QEMU_CAN_RTR_FLAG != CAN_RTR_FLAG); +QEMU_BUILD_BUG_ON(QEMU_CAN_ERR_FLAG != CAN_ERR_FLAG); +QEMU_BUILD_BUG_ON(QEMU_CAN_INV_FILTER != CAN_INV_FILTER); +QEMU_BUILD_BUG_ON(offsetof(qemu_can_frame, data) + != offsetof(struct can_frame, data)); + +static void can_host_socketcan_display_msg(struct qemu_can_frame *msg) +{ + int i; + + qemu_log_lock(); + qemu_log("[cansocketcan]: %03X [%01d] %s %s", + msg->can_id & QEMU_CAN_EFF_MASK, + msg->can_dlc, + msg->can_id & QEMU_CAN_EFF_FLAG ? "EFF" : "SFF", + msg->can_id & QEMU_CAN_RTR_FLAG ? "RTR" : "DAT"); + + for (i = 0; i < msg->can_dlc; i++) { + qemu_log(" %02X", msg->data[i]); + } + qemu_log("\n"); + qemu_log_flush(); + qemu_log_unlock(); +} + +static void can_host_socketcan_read(void *opaque) +{ + CanHostSocketCAN *c = opaque; + CanHostState *ch = CAN_HOST(c); + + /* CAN_READ_BUF_LEN for multiple messages syscall is possible for future */ + c->bufcnt = read(c->fd, c->buf, sizeof(qemu_can_frame)); + if (c->bufcnt < 0) { + warn_report("CAN bus host read failed (%s)", strerror(errno)); + return; + } + + can_bus_client_send(&ch->bus_client, c->buf, 1); + + if (DEBUG_CAN) { + can_host_socketcan_display_msg(c->buf); + } +} + +static int can_host_socketcan_can_receive(CanBusClientState *client) +{ + return 1; +} + +static ssize_t can_host_socketcan_receive(CanBusClientState *client, + const qemu_can_frame *frames, size_t frames_cnt) +{ + CanHostState *ch = container_of(client, CanHostState, bus_client); + CanHostSocketCAN *c = CAN_HOST_SOCKETCAN(ch); + + size_t len = sizeof(qemu_can_frame); + int res; + + if (c->fd < 0) { + return -1; + } + + res = write(c->fd, frames, len); + + if (!res) { + warn_report("[cansocketcan]: write message to host returns zero"); + return -1; + } + + if (res != len) { + if (res < 0) { + warn_report("[cansocketcan]: write to host failed (%s)", + strerror(errno)); + } else { + warn_report("[cansocketcan]: write to host truncated"); + } + return -1; + } + + return 1; +} + +static void can_host_socketcan_disconnect(CanHostState *ch) +{ + CanHostSocketCAN *c = CAN_HOST_SOCKETCAN(ch); + + if (c->fd >= 0) { + qemu_set_fd_handler(c->fd, NULL, NULL, c); + close(c->fd); + c->fd = -1; + } + + g_free(c->rfilter); + c->rfilter = NULL; + c->rfilter_num = 0; +} + +static CanBusClientInfo can_host_socketcan_bus_client_info = { + .can_receive = can_host_socketcan_can_receive, + .receive = can_host_socketcan_receive, +}; + +static void can_host_socketcan_connect(CanHostState *ch, Error **errp) +{ + CanHostSocketCAN *c = CAN_HOST_SOCKETCAN(ch); + int s; /* can raw socket */ + struct sockaddr_can addr; + struct ifreq ifr; + + /* open socket */ + s = qemu_socket(PF_CAN, SOCK_RAW, CAN_RAW); + if (s < 0) { + error_setg_errno(errp, errno, "failed to create CAN_RAW socket"); + return; + } + + addr.can_family = AF_CAN; + memset(&ifr.ifr_name, 0, sizeof(ifr.ifr_name)); + strcpy(ifr.ifr_name, c->ifname); + if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) { + error_setg_errno(errp, errno, + "SocketCAN host interface %s not available", c->ifname); + goto fail; + } + addr.can_ifindex = ifr.ifr_ifindex; + + c->err_mask = 0xffffffff; /* Receive error frame. */ + setsockopt(s, SOL_CAN_RAW, CAN_RAW_ERR_FILTER, + &c->err_mask, sizeof(c->err_mask)); + + c->rfilter_num = 1; + c->rfilter = g_new(struct qemu_can_filter, c->rfilter_num); + + /* Receive all data frame. If |= CAN_INV_FILTER no data. */ + c->rfilter[0].can_id = 0; + c->rfilter[0].can_mask = 0; + c->rfilter[0].can_mask &= ~CAN_ERR_FLAG; + + setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, c->rfilter, + c->rfilter_num * sizeof(struct qemu_can_filter)); + + if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) { + error_setg_errno(errp, errno, "failed to bind to host interface %s", + c->ifname); + goto fail; + } + + c->fd = s; + ch->bus_client.info = &can_host_socketcan_bus_client_info; + qemu_set_fd_handler(c->fd, can_host_socketcan_read, NULL, c); + return; + +fail: + close(s); + g_free(c->rfilter); + c->rfilter = NULL; + c->rfilter_num = 0; +} + +static char *can_host_socketcan_get_if(Object *obj, Error **errp) +{ + CanHostSocketCAN *c = CAN_HOST_SOCKETCAN(obj); + + return g_strdup(c->ifname); +} + +static void can_host_socketcan_set_if(Object *obj, const char *value, Error **errp) +{ + CanHostSocketCAN *c = CAN_HOST_SOCKETCAN(obj); + struct ifreq ifr; + + if (strlen(value) >= sizeof(ifr.ifr_name)) { + error_setg(errp, "CAN interface name longer than %zd characters", + sizeof(ifr.ifr_name) - 1); + return; + } + + if (c->fd != -1) { + error_setg(errp, "CAN interface already connected"); + return; + } + + g_free(c->ifname); + c->ifname = g_strdup(value); +} + +static void can_host_socketcan_instance_init(Object *obj) +{ + CanHostSocketCAN *c = CAN_HOST_SOCKETCAN(obj); + + c->fd = -1; +} + +static void can_host_socketcan_class_init(ObjectClass *klass, + void *class_data G_GNUC_UNUSED) +{ + CanHostClass *chc = CAN_HOST_CLASS(klass); + + object_class_property_add_str(klass, "if", + can_host_socketcan_get_if, + can_host_socketcan_set_if, + &error_abort); + chc->connect = can_host_socketcan_connect; + chc->disconnect = can_host_socketcan_disconnect; +} + +static const TypeInfo can_host_socketcan_info = { + .parent = TYPE_CAN_HOST, + .name = TYPE_CAN_HOST_SOCKETCAN, + .instance_size = sizeof(CanHostSocketCAN), + .instance_init = can_host_socketcan_instance_init, + .class_init = can_host_socketcan_class_init, +}; + +static void can_host_register_types(void) +{ + type_register_static(&can_host_socketcan_info); +} + +type_init(can_host_register_types); -- cgit v1.1