systemd-conf-canbus: Add link configuration - meta-agl

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author	Scott Murray <scott.murray@konsulko.com>	2022-12-20 14:20:33 -0500
committer	Scott Murray <scott.murray@konsulko.com>	2022-12-30 00:11:43 +0000
commit	88b17ad07b6401b725eb0b84764dd6c04d4a6c1e (patch)
tree	c8a56766b7b083ed03319190d6572d225b2e7ddc /meta-agl-bsp/openembedded-layer/recipes-devtools/lua
parent	7406bdefc607a91dc8946d75450a1e92921d42a8 (diff)

systemd-conf-canbus: Add link configuration

Add a .link file to set the transmit queue length to 1000 for physical CAN devices. This matches the default used for vcan devices, and in testing fixes the transmit buffer overflows when running the simulator script against an interface. Bug-AGL: SPEC-4652 Change-Id: Icb190cdcbda9b09e337789d3a88e39f7288f34eb Signed-off-by: Scott Murray <scott.murray@konsulko.com> Reviewed-on: https://gerrit.automotivelinux.org/gerrit/c/AGL/meta-agl/+/28291 Tested-by: Jenkins Job builder account ci-image-build: Jenkins Job builder account ci-image-boot-test: Jenkins Job builder account

Diffstat (limited to 'meta-agl-bsp/openembedded-layer/recipes-devtools/lua')

0 files changed, 0 insertions, 0 deletions

/* * Copyright (C) 2015, 2016 "IoT.bzh" * Author "Romain Forlot" <romain.forlot@iot.bzh> * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. */ #include <map> #include <cerrno> #include <vector> #include <string> #include <fcntl.h> #include <unistd.h> #include <net/if.h> #include <sys/ioctl.h> #include <sys/socket.h> #include <json-c/json.h> #include <linux/can/raw.h> #include "can-bus.hpp" #include "can-decoder.hpp" #include "../configuration.hpp" #include "../utils/signals.hpp" #include "../utils/openxc-utils.hpp" extern "C" { #include <afb/afb-binding.h> } /** * @brief Class constructor * * @param struct afb_binding_interface *interface between daemon and binding * @param int file handle to the json configuration file. */ can_bus_t::can_bus_t(int conf_file) : conf_file_{conf_file} { } std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::can_devices_; /** * @brief Will make the decoding operation on a classic CAN message. It will not * handle CAN commands nor diagnostic messages that have their own method to get * this happens. * * It will add to the vehicle_message queue the decoded message and tell the event push * thread to process it. * * @param[in] can_message - a single CAN message from the CAN socket read, to be decode. * * @return How many signals has been decoded. */ int can_bus_t::process_can_signals(can_message_t& can_message) { int processed_signals = 0; std::vector <can_signal_t*> signals; openxc_DynamicField search_key, decoded_message; openxc_VehicleMessage vehicle_message; /* First we have to found which can_signal_t it is */ search_key = build_DynamicField((double)can_message.get_id()); configuration_t::instance().find_can_signals(search_key, signals); /* Decoding the message ! Don't kill the messenger ! */ for(auto& sig : signals) { std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex()); std::map<std::string, struct afb_event>& s = get_subscribed_signals(); /* DEBUG message to make easier debugger STL containers... DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[sig.generic_name])); DEBUG(binder_interface, "Operator[] key string: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[std::string(sig.generic_name)])); DEBUG(binder_interface, "Nb elt matched char: %d", (int)s.count(sig.generic_name)); DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.generic_name)));*/ if( s.find(sig->get_name()) != s.end() && afb_event_is_valid(s[sig->get_name()])) { decoded_message = decoder_t::translateSignal(*sig, can_message, configuration_t::instance().get_can_signals()); openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_generic_name(), decoded_message); vehicle_message = build_VehicleMessage(s_message); std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); push_new_vehicle_message(vehicle_message); new_decoded_can_message_.notify_one(); processed_signals++; } } DEBUG(binder_interface, "process_can_signals: %d/%d CAN signals processed.", processed_signals, (int)signals.size()); return processed_signals; } /** * @brief Will make the decoding operation on a diagnostic CAN message.It will add to * the vehicle_message queue the decoded message and tell the event push thread to process it. * * @param[in] manager - the diagnostic manager object that handle diagnostic communication * @param[in] can_message - a single CAN message from the CAN socket read, to be decode. * * @return How many signals has been decoded. */ int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message) { int processed_signals = 0; std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex()); std::map<std::string, struct afb_event>& s = get_subscribed_signals(); openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message); if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) && (s.find(vehicle_message.simple_message.name) != s.end() && afb_event_is_valid(s[vehicle_message.simple_message.name]))) { std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); push_new_vehicle_message(vehicle_message); new_decoded_can_message_.notify_one(); processed_signals++; } return processed_signals; } /** * @brief thread to decoding raw CAN messages. * * @desc It will take from the can_message_q_ queue the next can message to process then it will search * about signal subscribed if there is a valid afb_event for it. We only decode signal for which a * subscription has been made. Can message will be decoded using translateSignal that will pass it to the * corresponding decoding function if there is one assigned for that signal. If not, it will be the default * noopDecoder function that will operate on it. * * Depending on the nature of message, if id match a diagnostic request corresponding id for a response * then decoding a diagnostic message else use classic CAN signals decoding functions. * * TODO: make diagnostic messages parsing optionnal. */ void can_bus_t::can_decode_message() { can_message_t can_message; while(is_decoding_) { std::unique_lock<std::mutex> can_message_lock(can_message_mutex_); new_can_message_cv_.wait(can_message_lock); can_message = next_can_message(); if(configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message)) process_diagnostic_signals(configuration_t::instance().get_diagnostic_manager(), can_message); else process_can_signals(can_message); } } /** * @brief thread to push events to suscribers. It will read subscribed_signals map to look * which are events that has to be pushed. */ void can_bus_t::can_event_push() { openxc_VehicleMessage v_message; openxc_SimpleMessage s_message; json_object* jo; while(is_pushing_) { std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); new_decoded_can_message_.wait(decoded_can_message_lock); v_message = next_vehicle_message(); s_message = get_simple_message(v_message); { std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex()); std::map<std::string, struct afb_event>& s = get_subscribed_signals(); if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)])) { jo = json_object_new_object(); jsonify_simple(s_message, jo); afb_event_push(s[std::string(s_message.name)], jo); } } } } /** * @brief Will initialize threads that will decode * and push subscribed events. */ void can_bus_t::start_threads() { is_decoding_ = true; th_decoding_ = std::thread(&can_bus_t::can_decode_message, this); if(!th_decoding_.joinable()) is_decoding_ = false; is_pushing_ = true; th_pushing_ = std::thread(&can_bus_t::can_event_push, this); if(!th_pushing_.joinable()) is_pushing_ = false; } /** * @brief Will stop all threads holded by can_bus_t object * which are decoding and pushing then will wait that's * they'll finish their job. */ void can_bus_t::stop_threads() { is_decoding_ = false; is_pushing_ = false; } /** * @brief Will initialize can_bus_dev_t objects after reading * the configuration file passed in the constructor. All CAN buses * Initialized here will be added to a vector holding them for * inventory and later access. * * That will initialize CAN socket reading too using a new thread. */ int can_bus_t::init_can_dev() { std::vector<std::string> devices_name; int i = 0; size_t t; devices_name = read_conf(); if (! devices_name.empty()) { t = devices_name.size(); for(const auto& device : devices_name) { can_bus_t::can_devices_[device] = std::make_shared<can_bus_dev_t>(device, i); if (can_bus_t::can_devices_[device]->open() == 0) { DEBUG(binder_interface, "Start reading thread"); NOTICE(binder_interface, "%s device opened and reading", device.c_str()); can_bus_t::can_devices_[device]->start_reading(*this); i++; } else ERROR(binder_interface, "Can't open device %s", device.c_str()); } NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t); return 0; } ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read from configuration file. Did you specify canbus JSON object ?"); return 1; } /** * @brief read the conf_file_ and will parse json objects * in it searching for canbus objects devices name. * * @return Vector of can bus device name string. */ std::vector<std::string> can_bus_t::read_conf() { std::vector<std::string> ret; json_object *jo, *canbus; int n, i; const char* taxi; FILE *fd = fdopen(conf_file_, "r"); if (fd) { std::string fd_conf_content; std::fseek(fd, 0, SEEK_END); fd_conf_content.resize(std::ftell(fd)); std::rewind(fd); std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd); std::fclose(fd); DEBUG(binder_interface, "Configuration file content : %s", fd_conf_content.c_str()); jo = json_tokener_parse(fd_conf_content.c_str()); if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus)) { ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it."); ret.clear(); } else if (json_object_get_type(canbus) != json_type_array) { taxi = json_object_get_string(canbus); DEBUG(binder_interface, "Can bus found: %s", taxi); ret.push_back(std::string(taxi)); } else { n = json_object_array_length(canbus); for (i = 0 ; i < n ; i++) ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i))); } return ret; } ERROR(binder_interface, "Problem at reading the conf file"); ret.clear(); return ret; } /** * @brief return new_can_message_cv_ member * * @return return new_can_message_cv_ member */ std::condition_variable& can_bus_t::get_new_can_message_cv() { return new_can_message_cv_; } /** * @brief return can_message_mutex_ member * * @return return can_message_mutex_ member */ std::mutex& can_bus_t::get_can_message_mutex() { return can_message_mutex_; } /** * @brief Return first can_message_t on the queue * * @return a can_message_t */ can_message_t can_bus_t::next_can_message() { can_message_t can_msg; if(!can_message_q_.empty()) { can_msg = can_message_q_.front(); can_message_q_.pop(); DEBUG(binder_interface, "next_can_message: Here is the next can message : id %X, length %X, data %02X%02X%02X%02X%02X%02X%02X%02X", can_msg.get_id(), can_msg.get_length(), can_msg.get_data()[0], can_msg.get_data()[1], can_msg.get_data()[2], can_msg.get_data()[3], can_msg.get_data()[4], can_msg.get_data()[5], can_msg.get_data()[6], can_msg.get_data()[7]); return can_msg; } return can_msg; } /** * @brief Push a can_message_t into the queue * * @param the const reference can_message_t object to push into the queue */ void can_bus_t::push_new_can_message(const can_message_t& can_msg) { can_message_q_.push(can_msg); } /** * @brief Return first openxc_VehicleMessage on the queue * * @return a openxc_VehicleMessage containing a decoded can message */ openxc_VehicleMessage can_bus_t::next_vehicle_message() { openxc_VehicleMessage v_msg; if(! vehicle_message_q_.empty()) { v_msg = vehicle_message_q_.front(); vehicle_message_q_.pop(); DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped"); return v_msg; } return v_msg; } /** * @brief Push a openxc_VehicleMessage into the queue * * @param the const reference openxc_VehicleMessage object to push into the queue */ void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg) { vehicle_message_q_.push(v_msg); } /** * @brief Return a map with the can_bus_dev_t initialized * * @return map can_bus_dev_m_ map */ const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const { return can_bus_t::can_devices_; } /** * @brief Return the shared pointer on the can_bus_dev_t initialized * with device_name "bus" * * @param[in] bus - CAN bus device name to retrieve. * * @return A shared pointer on an object can_bus_dev_t */ std::shared_ptr<can_bus_dev_t> can_bus_t::get_can_device(std::string bus) { return can_bus_t::can_devices_[bus]; }


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