修复socket can BUG

src/iflytop/core/driver/socketcan/socket_can.cpp

@@ -13,6 +13,10 @@ using namespace iflytop;
   } while (0)
 
 SocketCan::SocketCanError_t SocketCan::sendFrame(shared_ptr<SocketCanFrame> frame) {
+  if (!m_canBusIsReady) {
+    return kDeviceBusy;
+  }
+
   if (frame == nullptr) {
     logger->error("frame is null");
     return kParamError;
@@ -27,6 +31,10 @@ SocketCan::SocketCanError_t SocketCan::sendFrame(shared_ptr<SocketCanFrame> fram
   return writeFrame(canframe);
 }
 SocketCan::SocketCanError_t SocketCan::writeFrame(const canfd_frame_t &frame) {
+  if (!m_canBusIsReady) {
+    return kDeviceBusy;
+  }
+
   setTxStateToTxing(frame);
   int ret = write(m_socketCanFd, &frame, frame.len + 8);
   if (ret != (frame.len + 8)) {
@@ -39,6 +47,15 @@ SocketCan::SocketCanError_t SocketCan::writeFrame(const canfd_frame_t &frame) {
 
 SocketCan::SocketCanError_t SocketCan::sendFrame(shared_ptr<SocketCanFrame> frame, int overtime) {
   tp_steady start = tu_steady().now();
+
+  while (tu_steady().elapsedTimeMs(start) < overtime && !m_canBusIsReady) {
+    usleep(100);
+  }
+
+  if (!m_canBusIsReady) {
+    return kOvertime;
+  }
+
   while (tu_steady().elapsedTimeMs(start) < overtime && isTxing()) {
     usleep(100);
   }
@@ -61,6 +78,10 @@ bool SocketCan::isTxFrame(const canfd_frame_t &frame) {
 }
 
 SocketCan::SocketCanError_t SocketCan::sendFrame(string framestr) {
+  if (!m_canBusIsReady) {
+    return kOvertime;
+  }
+
   struct canfd_frame frame        = {0};
   int                required_mtu = 0;
 
@@ -117,6 +138,9 @@ void SocketCan::startListenThread() {
      */
     socketCanReadThreadLoop();
   }));
+  m_canBusIsReady = true;
+
+  m_autoRestartThread.reset(new Thread("SocketCanAutoRestartThread", [this]() { monitorLoop(); }));
 }
 void SocketCan::endListenThread() {
   logger->info("endListenThread");
@@ -386,8 +410,7 @@ void SocketCan::socketCanReadThreadLoop() {
       // /usr/include/linux/can/error.h
       // x can-bus error event 20000004,0004000000000086
       logger->error("rx can-bus error event {:x},{}", canframe.can_id, StringUtils().bytesToString(canframe.data, canframe.len));
-      // m_canTriggerError = true;
-      // socketcanInitialize();
+
       unsetTxStateToTxing();
       // exit(-1);
       break;
@@ -400,4 +423,48 @@ void SocketCan::socketCanReadThreadLoop() {
       }
     }
   }
+
+  m_canTriggerError = true;
+  m_canBusIsReady   = false;
+}
+
+void SocketCan::monitorLoop() {
+  ThisThread thisThread;
+  while (!thisThread.getExitFlag()) {
+    if (m_canTriggerError) {
+      // 尝试恢复CAN总线
+      logger->warn("try to recover can bus............................................");
+      if (m_thread) {
+        m_thread->join();
+        m_thread = nullptr;
+      }
+      logger->warn("close can bus fd:{}", m_socketCanFd);
+
+      close(m_socketCanFd);
+      m_socketCanFd = -1;
+
+      {
+        lock_guard<recursive_mutex> lock(m_txState.lock);
+        memset(&m_txState.txbuf, 0x00, sizeof(m_txState.txbuf));
+        m_txState.txState               = TxState_t::kTxIdle;
+        m_txState.txAckCount            = 0;
+        m_txState.txLoopMessageRxTicket = zsteady_clock().now();
+      }
+
+      logger->warn("re init can bus");
+      socketcanInitialize();
+
+      m_thread.reset(new Thread("SocketCanThread", [this]() {
+        usleep(10 * 1000);
+        socketCanReadThreadLoop();
+      }));
+
+      m_canTriggerError = false;
+      m_canBusIsReady   = true;
+
+      logger->warn("recover can bus ok............................................");
+    }
+
+    thisThread.sleepForMs(30);
+  }
 }

src/iflytop/core/driver/socketcan/socket_can.hpp

@@ -75,6 +75,7 @@ class SocketCan : public enable_shared_from_this<SocketCan> {
 
  private:
   unique_ptr<Thread> m_thread;
+  unique_ptr<Thread> m_autoRestartThread;
   int                m_socketCanFd = -1;
   bool               m_startListen = false;
   SocketCanUtils     m_socketCanUtils;
@@ -82,7 +83,8 @@ class SocketCan : public enable_shared_from_this<SocketCan> {
   shared_ptr<SocketCanConfig> m_socketCanConfig;
 
   TxState m_txState;
-  bool    m_canTriggerError;
+  bool    m_canTriggerError = false;
+  bool    m_canBusIsReady   = false;
 
  public:
   typedef enum {
@@ -125,7 +127,7 @@ class SocketCan : public enable_shared_from_this<SocketCan> {
   ~SocketCan();
 
   void initialize(shared_ptr<SocketCanConfig> socketCanConfig);
-  bool isError() { return m_canTriggerError; }
+  bool isError() { return false; }
 
   void startListen();
 
@@ -161,6 +163,9 @@ class SocketCan : public enable_shared_from_this<SocketCan> {
   void endListenThread();
   void socketCanReadThreadLoop();
 
+  void monitorLoop();
+
+
  private:
   void        dosystem(string cmd);
   void        setCanBitrate(string canName, int bitrate);