Update libicsneo

Signed-off-by: Christian Gabriel <ch_gabriel@web.de>

CHANGELOG

@@ -1,3 +1,32 @@
+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
+	Report transmits down to the kernel for echo
+	Allow filtering devices by serial number
+
+v2.0.3
+	Update copyright date
+	Update to libicsneo v0.2.0
+	Ensure lock is held when accessing open devices
+
+v2.0.2
+	Use libicsneo v0.1.2 to resolve LEDs not indicating device status
+
 v2.0.1
 	Set timeout tv_sec instead of tv_usec for compatibility with older kernels
 

CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.2)
-project(libicsneo-socketcan-daemon VERSION 2.0.1)
+project(libicsneo-socketcan-daemon VERSION 3.2.0)
 
-set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD 17)
 
 include(GNUInstallDirs)
 

LICENSE

@@ -1,4 +1,4 @@
-Copyright (c) 2016-2019 Intrepid Control Systems, Inc.
+Copyright (c) 2016-2025 Intrepid Control Systems, Inc.
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

README.md

@@ -1,18 +1,18 @@
-Version 2.0.1
+Version 3.1.2
 
 This is the usermode daemon for the Intrepid Control Systems SocketCAN support. This daemon requires that ```intrepid.ko``` is loaded on your system.
 
 1. Build and load the kernel module follwowing the instructions in [intrepid-socketcan-kernel-module](https://github.com/intrepidcs/intrepid-socketcan-kernel-module).
 
-2. Install the dependencies needed. These are CMake 3.2+, GCC 4.8+, git, and libusb-1.0-0-dev.
+2. Install the dependencies needed. These are CMake 3.2+, GCC 4.8+, git, libusb-1.0-0-dev, and libpcap.
 
-On Ubuntu or other Debian-based systems, run `sudo apt install git cmake gcc libusb-1.0-0-dev build-essential`.
+On Ubuntu or other Debian-based systems, run `sudo apt install git cmake gcc libusb-1.0-0-dev libpcap-dev build-essential`.
 
 3. Clone this repository recursively by running `git clone --recursive https://github.com/intrepidcs/icsscand.git`
 
 4. Switch into the cloned directory, `cd icsscand`
 
-5. Make a build directory and switch into it, `mkdir -p build && cd build`
+5. Make a build directory and switch into it, `mkdir build && cd build`
 
 6. Invoke CMake, `cmake .. -DCMAKE_BUILD_TYPE=Release`
 
@@ -24,6 +24,6 @@ On Ubuntu or other Debian-based systems, run `sudo apt install git cmake gcc lib
 
 10. CAN interfaces will have been created, but are "down" or, in other words, not enabled for transmit and receive yet. You can see them with `ip link`. They will be labelled `can0`, `can1`, and etc. They will have an alias listed which corresponds to the serial number of the device and network on that device.
 
-11. Enable the CAN interface with `sudo ip link set up can0`, replacing `can0` with whichever interface you'd like to enable
+11. Enable the CAN interface with `sudo ip link set can0 up`, replacing `can0` with whichever interface you'd like to enable
 
 12. You can now use any SocketCAN application with this interface. A good package for testing is the `can-utils` package. You can get this package with `sudo apt install can-utils`. A good testing tool which comes with this package is `candump`. Running `candump can0` will print a line for every incoming frame.

src/main.cpp

@@ -20,6 +20,8 @@
 
 #include <icsneo/icsneocpp.h>
 #include <icsneo/communication/message/neomessage.h>
+#include <icsneo/communication/message/message.h>
+#include <icsneo/communication/network.h>
 #include <icsneo/communication/message/callback/canmessagecallback.h>
 #include <generated/buildinfo.h>
 
@@ -28,19 +30,24 @@
 #define LOGF(LVL, MSG, ...)		do{if(runningAsDaemon) syslog(LVL, MSG, __VA_ARGS__); \
 					else fprintf(stderr, MSG, __VA_ARGS__);}while(0)
 
-#define SIOCSADDIF                 0x3001
-#define SIOCSREMOVEIF              0x3002
-#define SIOCGSHAREDMEMSIZE         0x3003
-#define SIOCSMSGSWRITTEN           0x3004
-#define SIOCGMAXIFACES             0x3005
-#define SIOCGVERSION               0x3006
-#define SIOCGCLIENTVEROK           0x3007
+#define SIOCSADDCANIF			0x3001
+#define SIOCSADDETHIF			0x3002
+#define SIOCSREMOVECANIF		0x3003
+#define SIOCSREMOVEETHIF		0x3004
+#define SIOCGSHAREDMEMSIZE		0x3005
+#define SIOCSMSGSWRITTEN		0x3006
+#define SIOCGMAXIFACES			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;
@@ -49,6 +56,8 @@ int driverPatch = 0;
 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);
 
@@ -60,10 +69,16 @@ struct intrepid_pending_tx_info {
 
 class NetworkInterface {
 public:
-	NetworkInterface(const std::string& desiredName) : name(desiredName) {
+	NetworkInterface(const std::string& desiredName, icsneo::Network::Type device) : type(device), 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;
@@ -71,12 +86,36 @@ public:
 	}
 	~NetworkInterface() {
 		if(openedSuccessfully()) {
+			int res = 0;
 			LOGF(LOG_DEBUG, "Removing device %s with handle %d\n", name.c_str(), kernelHandle);
-			int res = ioctl(driver, SIOCSREMOVEIF, kernelHandle);
+			if(type == icsneo::Network::Type::CAN) {
+				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;
 
@@ -85,8 +124,19 @@ 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::Message>& msg) {
-		auto neomessage = icsneo::CreateNeoMessage(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)) {
+			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 T*>(&neomessageGeneric);
+
 			size_t bytesNeeded = sizeof(neomessage) + neomessage.length;
 			std::lock_guard<std::mutex> lg(rxBoxLock);
 			if(ssize_t((rxBoxCurrentPosition - rxBox) + bytesNeeded) > RX_BOX_SIZE) {
@@ -106,8 +156,10 @@ public:
 			rxBoxCurrentPosition = rxBox;
 			rxBoxMessageCount = 0;
 		}
+	}
 
 private:
+	icsneo::Network::Type type;
 	std::string name;
 	int kernelHandle = -1;
 	std::mutex rxBoxLock;
@@ -170,7 +222,7 @@ std::string sanitizeInterfaceName(std::string str) {
 
 void header() {
 	std::cout << "The libicsneo SocketCAN Usermode Daemon\n";
-	std::cout << "Copyright Intrepid Control Systems, Inc. 2019\n\n";
+	std::cout << "Copyright Intrepid Control Systems, Inc. 2025\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')
@@ -187,12 +239,14 @@ void header() {
 
 void usage(std::string executableName) {
 	std::cerr << "The libicsneo SocketCAN Usermode Daemon\n";
-	std::cerr << "Copyright Intrepid Control Systems, Inc. 2019\n\n";
+	std::cerr << "Copyright 2019-2025 Intrepid Control Systems, Inc.\n\n";
 	std::cerr << "Usage: " << executableName << " [option]\n\n";
 	std::cerr << "Options:\n";
-	std::cerr << "\t-d,     --daemon\t\tRun as a daemon in the background\n";
-	std::cerr << "\t-h, -?, --help, --usage\t\tShow this help page\n";
-	std::cerr << "\t        --devices\t\tList supported devices\n";
+	std::cerr << "\t-d,     --daemon\t\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        --devices\t\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        --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) {
@@ -215,43 +269,48 @@ void searchForDevices() {
 		if(alreadyOpen)
 			continue;
 
+		const std::string serial = dev->getSerial();
+
+		// If we have a serial filter, make sure our serial starts with the given filter
+		if(!serialFilter.empty() && serial.rfind(serialFilter, 0) != 0)
+			continue;
+
 		// Now open the device
 		OpenDevice newDevice(dev);
-		const std::string serial = newDevice.device->getSerial();
 		Lazy<bool> firstTimeFailedToOpen([&serial]() {
 			return std::find(failedToOpen.begin(), failedToOpen.end(), serial) == failedToOpen.end();
 		});
 		if(!newDevice.device->open() || !newDevice.device->goOnline()) {
 			if(firstTimeFailedToOpen) {
-				icsneo::APIError err;
-				icsneo::GetLastError(err);
-				LOGF(LOG_INFO, "%s failed to connect. Will keep trying...\n%s\n", newDevice.device->describe().c_str(), err.describe().c_str());
+				const std::string err = icsneo::GetLastError().describe();
+				LOGF(LOG_INFO, "%s failed to connect. Will keep trying...\n%s\n", newDevice.device->describe().c_str(), err.c_str());
 				failedToOpen.push_back(serial);
 			}
 			continue;
 		}
 
-		// Get the supported CAN networks
+		// Get the supported 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;// Only want CAN networks
+			return net.getType() != icsneo::Network::Type::CAN && net.getType() != icsneo::Network::Type::Ethernet;
 		}), supportedNetworks.end());
 		if(supportedNetworks.empty()) {
 			if(firstTimeFailedToOpen) {
-				LOGF(LOG_INFO, "%s has no supported CAN networks\n", newDevice.device->describe().c_str());
+				LOGF(LOG_INFO, "%s has no supported networks\n", newDevice.device->describe().c_str());
 				failedToOpen.push_back(serial);
 			}
 			continue;
 		}
 
-		// Create a network interface for each CAN network
+		// Create a network interface for each 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;
@@ -268,26 +327,40 @@ 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(icsneo::CANMessageCallback([serial](std::shared_ptr<icsneo::Message> message) {
-			if(message->transmitted)
-				return;
-			auto canMessage = std::static_pointer_cast<icsneo::CANMessage>(message);
+		newDevice.device->addMessageCallback(std::make_shared<icsneo::MessageCallback>([serial](std::shared_ptr<icsneo::Message> message) {
+			const auto frame = std::static_pointer_cast<icsneo::Frame>(message);
+			const auto messageType = frame->network.getType();
 			const OpenDevice* openDevice = nullptr;
+			std::lock_guard<std::mutex> lg(openDevicesMutex);
 			for(const auto& dev : openDevices) {
 				if(dev.device->getSerial() == serial) {
 					openDevice = &dev;
 					break;
 				}
 			}
-			if(!openDevice) {
-				LOG(LOG_ERR, "Dropping message, no open device\n");
+			if(frame->type != icsneo::Message::Type::Frame) {
+				LOG(LOG_ERR, "Dropping message: received invalid message type, expected RawMessage\n");
 				return;
 			}
 
-			// todo might throw
-			openDevice->interfaces.at(canMessage->network.getNetID())->addReceivedMessageToQueue(canMessage);
+			if(messageType == icsneo::Network::Type::CAN) {
+				openDevice->interfaces.at(frame->network.getNetID())->addReceivedMessageToQueue<neomessage_can_t>(frame);
+			} 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());
@@ -320,7 +393,7 @@ void searchForDevices() {
 		openDevices.end()
 	);
 
-	for(const auto& err : icsneo::GetErrors()) {
+	for(const auto& err : icsneo::GetEvents()) {
 		bool forErrorDevice = false;
 		for(const auto& dev : failedToOpen) {
 			if(err.isForDevice(dev)) {
@@ -339,18 +412,16 @@ void searchForDevices() {
 void deviceSearchThread() {
 	while(!stopRunning) {
 		searchForDevices();
-		std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+		if(scanIntervalMs == 0) {
+			break;
+		}
+		std::this_thread::sleep_for(std::chrono::milliseconds(scanIntervalMs));
 	}
 }
 
 int main(int argc, char** argv) {
-	if(argc > 2) {
-		usage(argv[0]);
-		return EX_USAGE;
-	}
-
-	if(argc == 2) {
-		const std::string arg = argv[1];
+	for(int i = 1; i != argc; i++) {
+		const std::string arg = argv[i];
 		if(arg == "-d" || arg == "--daemon") {
 			runningAsDaemon = true;
 		} else if(arg == "-h" || arg == "--help" || arg == "-?" || arg == "--usage") {
@@ -362,6 +433,24 @@ int main(int argc, char** argv) {
 			for(auto& dev : icsneo::GetSupportedDevices())
 				std::cout << '\t' << dev << std::endl;
 			return EXIT_SUCCESS;
+		} 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;
@@ -405,7 +494,7 @@ int main(int argc, char** argv) {
 		return EXIT_FAILURE;
 	}
 	std::cout << "Driver v" << driverMajor << '.' << driverMinor << '.' << driverPatch << "\n\n";
-	if(driverMajor > 2) {
+	if(driverMajor > 3) {
 		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;
 	}
@@ -473,22 +562,57 @@ 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);
 				while(info.count--) {
-					neomessage_t* msg = reinterpret_cast<neomessage_t*>(currentPosition);
-					currentPosition += sizeof(neomessage_t);
+					neomessage_frame_t* msg = reinterpret_cast<neomessage_frame_t*>(currentPosition);
+					currentPosition += sizeof(neomessage_frame_t);
 					msg->data = currentPosition;
 					currentPosition += msg->length;
+
+					if(msg->type != neonettype_t(icsneo::Network::Type::CAN) && msg->type != neonettype_t(icsneo::Network::Type::Ethernet)) {
+						LOG(LOG_ERR, "Message dropped, kernel sent a non-CAN/Ethernet message\n");
+						continue;
+					}
+
 					bool sent = false;
+					std::lock_guard<std::mutex> lg(openDevicesMutex);
 					for(auto& dev : openDevices) {
 						for(auto& netifPair : dev.interfaces) {
 							if(netifPair.second->getKernelHandle() != msg->netid)
 								continue;
 							msg->netid = static_cast<uint16_t>(netifPair.first);
-							auto tx = icsneo::CreateMessageFromNeoMessage(msg);
-							if(!dev.device->transmit(tx))
+							auto txMsg = icsneo::CreateMessageFromNeoMessage(reinterpret_cast<neomessage_t*>(msg));
+							auto tx = std::dynamic_pointer_cast<icsneo::Frame>(txMsg);
+							if(!tx || !dev.device->transmit(tx))
 								break;
 							sent = true;
 							break;

third-party/libicsneo

@@ -1 +1 @@
-Subproject commit 0b4ffdbaad66904926623a6ed3800effd1d9ff42
+Subproject commit deabc2cff438819c3a18a6325ba6fce080d3882c