/*
* 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>
}
/********************************************************************************
*
* can_bus_t method implementation
*
*********************************************************************************/
/**
* @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}
{
}
/**
* @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.
*/
void can_bus_t::can_decode_message()
{
can_message_t can_message;
std::vector <can_signal_t*> signals;
openxc_VehicleMessage vehicle_message;
openxc_DynamicField search_key, decoded_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();
/* First we have to found which can_signal_t it is */
search_key = build_DynamicField((double)can_message.get_id());
signals.clear();
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_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, 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();
}
}
}
}
/**
* @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.
*/
int can_bus_t::init_can_dev()
{
std::vector<std::string> devices_name;
int i;
size_t t;
devices_name = read_conf();
if (! devices_name.empty())
{
t = devices_name.size();
i=0;
for(const auto& device : devices_name)
{
can_devices_.push_back(std::make_shared<can_bus_dev_t>(device, i));
if (can_devices_[i]->open() == 0)
{
DEBUG(binder_interface, "Start reading thread");
NOTICE(binder_interface, "%s device opened and reading", device.c_str());
can_devices_[i]->start_reading(*this);
}
else
ERROR(binder_interface, "Can't open device %s", device.c_str());
i++;
}
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))
{/**
* @brief Telling if the pushing thread is running
* This is the boolean value on which the while loop
* take its condition. Set it to false will stop the
* according thread.
*
* @return true if pushing thread is running, false if not.
*/
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::vector<std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const
{
return can_devices_;
}