CHANGELOG

@@ -1,18 +1,3 @@
-v3.1.2
-	Update libicsneo
-	Update copyright
-	Add scan-interval-ms parameter (Jorge Alejandro <jorge.a.alejandro@gmail.com>)
-
-v3.1.1
-	Update libicsneo
-
-v3.1.0
-	Update libicsneo
-	Update copyright
-
-v3.0.0
-	Added Functionality for Ethernet
-
 v2.1.0
 	Update copyright date
 	Update to libicsneo v0.3.0

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.2)
-project(libicsneo-socketcan-daemon VERSION 3.2.0)
+project(libicsneo-socketcan-daemon VERSION 2.1.0)
 
 set(CMAKE_CXX_STANDARD 17)
 

LICENSE

@@ -1,4 +1,4 @@
-Copyright (c) 2016-2025 Intrepid Control Systems, Inc.
+Copyright (c) 2016-2022 Intrepid Control Systems, Inc.
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

README.md

@@ -1,4 +1,4 @@
-Version 3.1.2
+Version 2.1.0
 
 This is the usermode daemon for the Intrepid Control Systems SocketCAN support. This daemon requires that ```intrepid.ko``` is loaded on your system.
 

src/main.cpp

@@ -30,24 +30,19 @@
 #define LOGF(LVL, MSG, ...)        do{if(runningAsDaemon) syslog(LVL, MSG, __VA_ARGS__); \
                                     else fprintf(stderr, MSG, __VA_ARGS__);}while(0)
 
-#define SIOCSADDCANIF			0x3001
+#define SIOCSADDIF                 0x3001
-#define SIOCSADDETHIF			0x3002
+#define SIOCSREMOVEIF              0x3002
-#define SIOCSREMOVECANIF		0x3003
+#define SIOCGSHAREDMEMSIZE         0x3003
-#define SIOCSREMOVEETHIF		0x3004
+#define SIOCSMSGSWRITTEN           0x3004
-#define SIOCGSHAREDMEMSIZE		0x3005
+#define SIOCGMAXIFACES             0x3005
-#define SIOCSMSGSWRITTEN		0x3006
+#define SIOCGVERSION               0x3006
-#define SIOCGMAXIFACES			0x3007
+#define SIOCGCLIENTVEROK           0x3007
-#define SIOCGVERSION			0x3008
-#define SIOCGCLIENTVEROK		0x3009
-#define SIOCSBAUDRATE			0x300A
 
 #define RX_BOX_SIZE                (sharedMemSize / (maxInterfaces * 2))
 #define TX_BOX_SIZE                (sharedMemSize / 4)
 #define GET_RX_BOX(DEVICE_INDEX)   (reinterpret_cast<uint8_t*>(sharedMemory) + (RX_BOX_SIZE * DEVICE_INDEX))
 #define GET_TX_BOX(INDEX)          (reinterpret_cast<uint8_t*>(sharedMemory) + (sharedMemSize / 2) + (INDEX * TX_BOX_SIZE))
 
-#define DEFAULT_SCAN_INTERVAL_MS 1000
-
 bool runningAsDaemon = false;
 int driver = 0; // /dev/intrepid_netdevice
 int driverMajor = 0;
@@ -57,7 +52,6 @@ int maxInterfaces = 0; // From driver
 int sharedMemSize = 0; // From driver
 void* sharedMemory = nullptr;
 std::string serialFilter;
-int scanIntervalMs = DEFAULT_SCAN_INTERVAL_MS;
 
 std::atomic<bool> stopRunning(false);
 
@@ -69,16 +63,10 @@ struct intrepid_pending_tx_info {
 
 class NetworkInterface {
 public:
-	NetworkInterface(const std::string& desiredName, icsneo::Network::Type device) : type(device), name(desiredName) {
+	NetworkInterface(const std::string& desiredName) : name(desiredName) {
 		char ifname[IFALIASZ + 1] = {0};
 		strncpy(ifname, name.c_str(), IFALIASZ);
-
+		kernelHandle = ioctl(driver, SIOCSADDIF, ifname);
-		if(device == icsneo::Network::Type::CAN) {
-			kernelHandle = ioctl(driver, SIOCSADDCANIF, ifname); // this will call the intrepid_dev_ioctl()
-		} else if(device == icsneo::Network::Type::Ethernet) {
-			kernelHandle = ioctl(driver, SIOCSADDETHIF, ifname); // this will call the intrepid_dev_ioctl()
-		}
-
 		if(openedSuccessfully()) {
 			rxBox = GET_RX_BOX(kernelHandle);
 			rxBoxCurrentPosition = rxBox;
@@ -86,36 +74,12 @@ public:
 	}
 	~NetworkInterface() {
 		if(openedSuccessfully()) {
-			int res = 0;
 			LOGF(LOG_DEBUG, "Removing device %s with handle %d\n", name.c_str(), kernelHandle);
-			if(type == icsneo::Network::Type::CAN) {
+			int res = ioctl(driver, SIOCSREMOVEIF, kernelHandle);
-				res = ioctl(driver, SIOCSREMOVECANIF, kernelHandle);
-			} else if(type == icsneo::Network::Type::Ethernet) {
-				res = ioctl(driver, SIOCSREMOVEETHIF, kernelHandle);
-			}
 			LOGF(LOG_DEBUG, "Removed device %s with handle %d, result %d\n", name.c_str(), kernelHandle, res);
 		} else
 			LOG(LOG_DEBUG, "Removing interface which was not opened successfully\n");
 	}
-
-	bool reportBaudrates(int64_t baudrate, int64_t fd_baudrate) {
-		struct baudrate_info {
-			int handle;
-			int64_t baudrates[2];
-		} info;
-
-		info.handle = kernelHandle;
-		info.baudrates[0] = baudrate;
-		/* set fd baudrate to zero if equal to baudrate
-		 * this will disable fd mode in kernel */
-		info.baudrates[1] = (fd_baudrate==baudrate)?0:fd_baudrate;
-		if (ioctl(driver, SIOCSBAUDRATE, &info) != 0) {
-			LOGF(LOG_INFO, "Unable to set baudrate for device %s\n", name.c_str());
-			return false;
-		}
-
-		return true;
-	}
 	NetworkInterface(const NetworkInterface&) = delete;
 	NetworkInterface& operator =(const NetworkInterface&) = delete;
 
@@ -124,18 +88,14 @@ public:
 	const std::string& getName() const { return name; }
 	uint8_t* getRxBox() { return rxBox; }
 	const uint8_t* getRxBox() const { return rxBox; }
-
+	void addReceivedMessageToQueue(const std::shared_ptr<icsneo::CANMessage>& msg) {
-	template<typename T>
-	void addReceivedMessageToQueue(const std::shared_ptr<icsneo::Frame>& msg) {
 		const auto neomessageGeneric = icsneo::CreateNeoMessage(msg);
-		if(neomessageGeneric.messageType != neomessagetype_t(icsneo::Message::Type::Frame)) {
+		if (neomessageGeneric.messageType != neomessagetype_t(icsneo::Message::Type::Frame)) {
 			LOG(LOG_DEBUG, "could not create a neomessage_can_t\n");
 			return;
 		}
 
-		if(msg->network.getType() == icsneo::Network::Type::CAN || msg->network.getType() == icsneo::Network::Type::Ethernet) {
+		const auto& neomessage = *reinterpret_cast<const neomessage_can_t*>(&neomessageGeneric);
-
-			const auto& neomessage = *reinterpret_cast<const T*>(&neomessageGeneric);
 
 		size_t bytesNeeded = sizeof(neomessage) + neomessage.length;
 		std::lock_guard<std::mutex> lg(rxBoxLock);
@@ -156,10 +116,8 @@ public:
 		rxBoxCurrentPosition = rxBox;
 		rxBoxMessageCount = 0;
 	}
-	}
 
 private:
-	icsneo::Network::Type type;
 	std::string name;
 	int kernelHandle = -1;
 	std::mutex rxBoxLock;
@@ -222,7 +180,7 @@ std::string sanitizeInterfaceName(std::string str) {
 
 void header() {
 	std::cout << "The libicsneo SocketCAN Usermode Daemon\n";
-	std::cout << "Copyright Intrepid Control Systems, Inc. 2025\n\n";
+	std::cout << "Copyright Intrepid Control Systems, Inc. 2019\n\n";
 	std::cout << "Daemon v";
 	std::cout << (int)ICSNEO_SOCKETCAN_BUILD_MAJOR << '.' << (int)ICSNEO_SOCKETCAN_BUILD_MINOR << '.' << (int)ICSNEO_SOCKETCAN_BUILD_PATCH;
 	if(ICSNEO_SOCKETCAN_BUILD_METADATA[0] != '\0')
@@ -239,14 +197,13 @@ void header() {
 
 void usage(std::string executableName) {
 	std::cerr << "The libicsneo SocketCAN Usermode Daemon\n";
-	std::cerr << "Copyright 2019-2025 Intrepid Control Systems, Inc.\n\n";
+	std::cerr << "Copyright 2019-2022 Intrepid Control Systems, Inc.\n\n";
 	std::cerr << "Usage: " << executableName << " [option]\n\n";
 	std::cerr << "Options:\n";
-	std::cerr << "\t-d,     --daemon\t\t\tRun as a daemon in the background\n";
+	std::cerr << "\t-d,     --daemon\t\tRun as a daemon in the background\n";
-	std::cerr << "\t-h, -?, --help, --usage\t\t\tShow this help page\n";
+	std::cerr << "\t-h, -?, --help, --usage\t\tShow this help page\n";
-	std::cerr << "\t        --devices\t\t\tList supported devices\n";
+	std::cerr << "\t        --devices\t\tList supported devices\n";
-	std::cerr << "\t        --filter <serial>\t\tOnly connect to devices with serial\n\t\t\t\t\t\tnumbers starting with this filter\n";
+	std::cerr << "\t        --filter <serial>\tOnly connect to devices with serial\n\t\t\t\t\tnumbers starting with this filter\n";
-	std::cerr << "\t        --scan-interval-ms <interval>\tDevice scan interval in ms\n\t\t\t\t\t\tIf 0, only a single scan is performed\n";
 }
 
 void terminateSignal(int signal) {
@@ -289,28 +246,27 @@ void searchForDevices() {
 			continue;
 		}
 		
-		// Get the supported networks
+		// Get the supported CAN networks
 		auto supportedNetworks = newDevice.device->getSupportedRXNetworks();
 		supportedNetworks.erase(std::remove_if(supportedNetworks.begin(), supportedNetworks.end(), [](const icsneo::Network& net) -> bool {
-			return net.getType() != icsneo::Network::Type::CAN && net.getType() != icsneo::Network::Type::Ethernet;
+			return net.getType() != icsneo::Network::Type::CAN;// Only want CAN networks
 		}), supportedNetworks.end());
 		if(supportedNetworks.empty()) {
 			if(firstTimeFailedToOpen) {
-				LOGF(LOG_INFO, "%s has no supported networks\n", newDevice.device->describe().c_str());
+				LOGF(LOG_INFO, "%s has no supported CAN networks\n", newDevice.device->describe().c_str());
 				failedToOpen.push_back(serial);
 			}
 			continue;
 		}
 
-		// Create a network interface for each network
+		// Create a network interface for each CAN network
 		for(const auto& net : supportedNetworks) {
 			std::stringstream ss;
 			ss << sanitizeInterfaceName(icsneo::Network::GetNetIDString(net.getNetID())) << "_" << serial;
 			std::string interfaceName(ss.str());
 			if(firstTimeFailedToOpen)
 				LOGF(LOG_INFO, "Creating network interface %s\n", interfaceName.c_str());
-
+			newDevice.interfaces[net.getNetID()] = std::make_shared<NetworkInterface>(interfaceName);
-			newDevice.interfaces[net.getNetID()] = std::make_shared<NetworkInterface>(interfaceName, net.getType());
 			LOGF(LOG_INFO, "Created network interface %s\n", interfaceName.c_str());
 		}
 		bool failedToCreateNetworkInterfaces = false;
@@ -327,21 +283,10 @@ void searchForDevices() {
 			}
 			continue;
 		}
-		if (driverMinor > 0) {
-			for(const auto& net : supportedNetworks) {
-				if (net.getType() != icsneo::Network::Type::CAN)
-					continue;
-				newDevice.interfaces[net.getNetID()]->reportBaudrates(
-					newDevice.device->settings->getBaudrateFor(net.getNetID()),
-					newDevice.device->settings->getFDBaudrateFor(net.getNetID())
-				);
-			}
-		}
 
 		// Create rx listener
-		newDevice.device->addMessageCallback(std::make_shared<icsneo::MessageCallback>([serial](std::shared_ptr<icsneo::Message> message) {
+		newDevice.device->addMessageCallback(icsneo::CANMessageCallback([serial](std::shared_ptr<icsneo::Message> message) {
-			const auto frame = std::static_pointer_cast<icsneo::Frame>(message);
+			auto canMessage = std::static_pointer_cast<icsneo::CANMessage>(message);
-			const auto messageType = frame->network.getType();
 			const OpenDevice* openDevice = nullptr;
 			std::lock_guard<std::mutex> lg(openDevicesMutex);
 			for(const auto& dev : openDevices) {
@@ -350,17 +295,13 @@ void searchForDevices() {
 					break;
 				}
 			}
-			if(frame->type != icsneo::Message::Type::Frame) {
+			if(!openDevice) {
-				LOG(LOG_ERR, "Dropping message: received invalid message type, expected RawMessage\n");
+				LOG(LOG_ERR, "Dropping message, no open device\n");
 				return;
 			}
 
-			if(messageType == icsneo::Network::Type::CAN) {
+			// todo might throw
-				openDevice->interfaces.at(frame->network.getNetID())->addReceivedMessageToQueue<neomessage_can_t>(frame);
+			openDevice->interfaces.at(canMessage->network.getNetID())->addReceivedMessageToQueue(canMessage);
-			} else if(messageType == icsneo::Network::Type::Ethernet) {
-				openDevice->interfaces.at(frame->network.getNetID())->addReceivedMessageToQueue<neomessage_eth_t>(frame);
-			} else
-				LOG(LOG_ERR, "Dropping message, only CAN and Ethernet are currently supported\n");
 		}));
 
 		LOGF(LOG_INFO, "%s connected\n", newDevice.device->describe().c_str());
@@ -412,10 +353,7 @@ void searchForDevices() {
 void deviceSearchThread() {
 	while(!stopRunning) {
 		searchForDevices();
-		if(scanIntervalMs == 0) {
+		std::this_thread::sleep_for(std::chrono::milliseconds(1000));
-			break;
-		}
-		std::this_thread::sleep_for(std::chrono::milliseconds(scanIntervalMs));
 	}
 }
 
@@ -436,21 +374,6 @@ int main(int argc, char** argv) {
 		} else if(arg == "--filter" && i + 1 <= argc) {
 			serialFilter = argv[++i];
 			transform(serialFilter.begin(), serialFilter.end(), serialFilter.begin(), ::toupper);
-		} else if(arg == "--scan-interval-ms" && i + 1 <= argc) {
-			try {
-				scanIntervalMs = std::stoi(argv[++i]);
-			} catch (const std::invalid_argument& e) {
-				std::cerr << "Invalid input for scan-interval-ms\n";
-				return EX_USAGE;
-			} catch (const std::out_of_range& e) {
-				std::cerr << "Out of range input for scan-interval-ms\n";
-				return EX_USAGE;
-			}
-
-			if(scanIntervalMs < 0) {
-				std::cerr << "Invalid input for scan-interval-ms\n";
-				return EX_USAGE;
-			}
 		} else {
 			usage(argv[0]);
 			return EX_USAGE;
@@ -494,7 +417,7 @@ int main(int argc, char** argv) {
 		return EXIT_FAILURE;
 	}
 	std::cout << "Driver v" << driverMajor << '.' << driverMinor << '.' << driverPatch << "\n\n";
-	if(driverMajor > 3) {
+	if(driverMajor > 2) {
 		LOG(LOG_ERR, "This version of the usermode daemon is too old to work with this driver\nPlease ensure that both the usermode daemon and kernel driver are up to date\n");
 		return EXIT_FAILURE;
 	}
@@ -554,7 +477,7 @@ int main(int argc, char** argv) {
 			// Call read() to find out which box they're in and how many
 			struct intrepid_pending_tx_info info;
 			ssize_t r = read(driver, &info, sizeof(info));
-			if(r == -1) {
+			if (r == -1) {
 				LOGF(LOG_ERR, "Error waiting for tx messages: %s\n", strerror(errno));
 				stopRunning = true;
 				break;
@@ -562,33 +485,6 @@ int main(int argc, char** argv) {
 				LOGF(LOG_ERR, "Unexpected number of bytes read, expected %d got %d\n", (int)sizeof(info), (int)r);
 				stopRunning = true;
 				break;
-			} else if (info.tx_box_index < 0) {
-				// Baudrate changed in kernel
-				int dev_idx = -(info.tx_box_index + 1);
-				LOGF(LOG_INFO, "Baudrate change, device %d, baudrate %d fd_baudrate %ld\n",
-					dev_idx, info.count, info.bytes);
-				/* fd baudrate is zero if fd mode is disabled in kernel
-				 * set fd baudrate equal to baudrate */
-				if (info.bytes == 0) {
-					info.bytes = info.count;
-				}
-				for(auto& dev : openDevices) {
-					for(auto& netifPair : dev.interfaces) {
-						auto netid = netifPair.first;
-						if(netifPair.second->getKernelHandle() != dev_idx)
-							continue;
-						if (! dev.device->settings->setBaudrateFor(netid, info.count) ) {
-							LOGF(LOG_ERR, "Unable to set baudrate for device %s\n",
-								netifPair.second->getName().c_str());
-						} else if (! dev.device->settings->setFDBaudrateFor(netid, info.bytes)) {
-							LOGF(LOG_ERR, "Unable to set fd baudrate for device %s\n",
-								netifPair.second->getName().c_str());
-						} else if (! dev.device->settings->apply()) {
-							LOGF(LOG_ERR, "Unable to apply settings for device %s\n",
-								netifPair.second->getName().c_str());
-						}
-					}
-				}
 			} else {
 				// Send!
 				uint8_t* currentPosition = GET_TX_BOX(info.tx_box_index);
@@ -598,8 +494,8 @@ int main(int argc, char** argv) {
 					msg->data = currentPosition;
 					currentPosition += msg->length;
 
-					if(msg->type != neonettype_t(icsneo::Network::Type::CAN) && msg->type != neonettype_t(icsneo::Network::Type::Ethernet)) {
+					if(msg->type != neonettype_t(icsneo::Network::Type::CAN)) {
-						LOG(LOG_ERR, "Message dropped, kernel sent a non-CAN/Ethernet message\n");
+						LOG(LOG_ERR, "Message dropped, kernel sent a non-CAN message\n");
 						continue;
 					}
 

third-party/libicsneo

@@ -1 +1 @@
-Subproject commit deabc2cff438819c3a18a6325ba6fce080d3882c
+Subproject commit 0ff12300f34be54ec7d3380a4ab6693a7d7c3fb1