Add CMake option to compile with J1939 - agl-service-can-low-level - Low level CAN service made to decode and write on CAN bus.

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author	Romain Forlot <romain.forlot@iot.bzh>	2019-06-26 09:14:42 +0200
committer	Romain Forlot <romain.forlot@iot.bzh>	2019-06-26 17:55:05 +0200
commit	82b45e3de8c92816c8080178224c5bd4be60a091 (patch)
tree	13da4bf66579ae174ecdb2f3f85f8bd248a927ef /low-can-binding/can/can-message.cpp
parent	9f0d5da859bfe7778394f35baf48fbe77f1ed7d9 (diff)

Add CMake option to compile with J1939

Add option USE_FEATURE_J1939 to compile j1939 in file config.cmake This will be set up by default depending on the presence on the building host of the J1939 CAN module headers. Bug-AGL: SPEC-2386 Change-Id: I54d4594ff01d4e509bfa0862f3cb486562024aed Signed-off-by: Arthur Guyader <arthur.guyader@iot.bzh> Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

Diffstat (limited to 'low-can-binding/can/can-message.cpp')

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. */ #pragma once #include <mutex> #include <queue> #include <thread> #include <linux/can.h> #include <condition_variable> #include "openxc.pb.h" #include "utils/timer.hpp" #include "can/can-signals.hpp" #include "can/can-message.hpp" #include "obd2/diagnostic-manager.hpp" #include "low-can-binding.hpp" // TODO actual max is 32 but dropped to 24 for memory considerations #define MAX_ACCEPTANCE_FILTERS 24 // TODO this takes up a ton of memory #define MAX_DYNAMIC_MESSAGE_COUNT 12 #define CAN_ACTIVE_TIMEOUT_S 30 class can_bus_dev_t; class diagnostic_manager_t; /** * @class can_bus_t * @brief Object used to handle decoding and manage event queue to be pushed. * * This object is also used to initialize can_bus_dev_t object after reading * json conf file describing the CAN devices to use. Thus, those object will read * on the device the CAN frame and push them into the can_bus_t can_message_q_ queue. * * That queue will be later used to be decoded and pushed to subscribers. */ class can_bus_t { private: int conf_file_; /*!< conf_file_ - configuration file handle used to initialize can_bus_dev_t objects.*/ void can_decode_message(); std::thread th_decoding_; /*!< thread that'll handle decoding a can frame */ bool is_decoding_; /*!< boolean member controling thread while loop*/ void can_event_push(); std::thread th_pushing_; /*!< thread that'll handle pushing decoded can frame to subscribers */ bool is_pushing_; /*!< boolean member controling thread while loop*/ std::condition_variable new_can_message_cv_; /*!< condition_variable use to wait until there is a new CAN message to read*/ std::mutex can_message_mutex_; /*!< mutex protecting the can_message_q_ queue.*/ std::queue <can_message_t> can_message_q_; /*!< queue that'll store can_message_t to decoded */ std::condition_variable new_decoded_can_message_; /*!< condition_variable use to wait until there is a new vehicle message to read from the queue vehicle_message_q_*/ std::mutex decoded_can_message_mutex_; /*!< mutex protecting the vehicle_message_q_ queue.*/ std::queue <openxc_VehicleMessage> vehicle_message_q_; /*!< queue that'll store openxc_VehicleMessage to pushed */ std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_devices_m_; /*!< Can device map containing all can_bus_dev_t objects initialized during init_can_dev function*/ public: can_bus_t(int conf_file); int init_can_dev(); std::vector<std::string> read_conf(); void start_threads(); void stop_threads(); can_message_t next_can_message(); void push_new_can_message(const can_message_t& can_msg); std::mutex& get_can_message_mutex(); std::condition_variable& get_new_can_message_cv(); openxc_VehicleMessage next_vehicle_message(); void push_new_vehicle_message(const openxc_VehicleMessage& v_msg); std::map<std::string, std::shared_ptr<can_bus_dev_t>> get_can_devices(); }; /** * @class can_bus_dev_t * * @brief Object representing a can device. Handle opening, closing and reading on the * socket. This is the low level object to be use by can_bus_t. */ class can_bus_dev_t { private: int32_t id_; /*!< int32_t id_ - an identifier used through binding that refer to that device*/ std::string device_name_; /*!< std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc. */ int can_socket_; /*!< socket handler for the can device */ bool is_fdmode_on_; /*!< boolean telling if whether or not the can socket use fdmode. */ struct sockaddr_can txAddress_; /*!< internal member using to bind to the socket */ diagnostic_manager_t diagnostic_manager_; /*!< diagnostic_manager_t diagnostic_manager_ - A diagnostic_manager_t object instance * that will handle diagnostic obd2 protocol requests and responses.*/ std::thread th_reading_; /*!< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t */ bool is_running_; /*!< boolean telling whether or not reading is running or not */ void can_reader(can_bus_t& can_bus); public: can_bus_dev_t(const std::string& dev_name); int open(); int close(); void start_reading(can_bus_t& can_bus); void stop_reading(); std::pair<struct canfd_frame&, size_t> read(); int send_can_message(can_message_t& can_msg); }; /** TODO: implement this function as method into can_bus class * @fn void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount); * @brief Pre initialize actions made before CAN bus initialization * * @param[in] can_bus_dev_t bus - A CanBus struct defining the bus's metadata * @param[in] bool writable - configure the controller in a writable mode. If false, it will be * configured as "listen only" and will not allow writes or even CAN ACKs. * @param[in] buses - An array of all CAN buses. * @param[in] int busCount - The length of the buses array. */ void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount); /** TODO: implement this function as method into can_bus class * @fn void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount); * @brief Post-initialize actions made after CAN bus initialization * * @param[in] bus - A CanBus struct defining the bus's metadata * @param[in] writable - configure the controller in a writable mode. If false, it will be * configured as "listen only" and will not allow writes or even CAN ACKs. * @param[in] buses - An array of all CAN buses. * @param[in] busCount - The length of the buses array. */ void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount); /** TODO: implement this function as method into can_bus class * @fn bool isBusActive(can_bus_dev_t* bus); * @brief Check if the device is connected to an active CAN bus, i.e. it's * received a message in the recent past. * * @return true if a message was received on the CAN bus within * CAN_ACTIVE_TIMEOUT_S seconds. */ bool isBusActive(can_bus_dev_t* bus); /** TODO: implement this function as method into can_bus class * * @fn void logBusStatistics(can_bus_dev_t* buses, const int busCount); * @brief Log transfer statistics about all active CAN buses to the debug log. * * @param[in] buses - an array of active CAN buses. * @param[in] busCount - the length of the buses array. */ void logBusStatistics(can_bus_dev_t* buses, const int busCount);


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