Re-arranging objects splitting all objects over

separated files.

Change-Id: Ifbdb2ea08704324e505a48ba3124df6f2af63c6b
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

1 files changed, 322 insertions, 0 deletions

diff --git a/src/can-bus.hpp b/src/can-bus.hpp
new file mode 100644
index 00000000..9100ff80
--- /dev/null
+++ b/src/can-bus.hpp
@@ -0,0 +1,322 @@
+/*
+ * 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 "timer.hpp"
+#include "openxc.pb.h"
+#include "can-signals.hpp"
+#include "can-message.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_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.*/
+		
+		std::thread th_decoding_; /*!< thread that'll handle decoding a can frame */
+		bool is_decoding_; /*!< boolean member controling thread while loop*/
+		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_;
+		std::mutex can_message_mutex_;
+		bool has_can_message_; /*!< boolean members that control whether or not there is can_message into the 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_;
+		std::mutex decoded_can_message_mutex_;
+		bool has_vehicle_message_; /*!< boolean members that control whether or not there is openxc_VehicleMessage into the queue */
+		std::queue <openxc_VehicleMessage> vehicle_message_q_; /*!< queue that'll store openxc_VehicleMessage to pushed */
+
+	public:
+		/**
+		 * @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(int& conf_file);
+		
+		/**
+		 * @brief Will initialize can_bus_dev_t objects after reading 
+		 * the configuration file passed in the constructor.
+		 */
+		int init_can_dev();
+
+		/**
+		 * @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> read_conf();
+		
+		std::condition_variable& get_new_can_message();
+		std::mutex& get_can_message_mutex();
+		std::condition_variable& get_new_decoded_can_message();
+		std::mutex& get_decoded_can_message_mutex();
+
+		/**
+		 * @brief Will initialize threads that will decode
+		 *  and push subscribed events.
+		 */
+		void start_threads();
+
+		/**
+		 * @brief Will stop all threads holded by can_bus_t object
+		 *  which are decoding and pushing threads.
+		 */
+		void stop_threads();
+
+		/**
+		 * @brief Telling if the decoding 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 decoding thread is running, false if not.
+		 */
+		bool is_decoding();
+
+		/**
+		 * @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.
+		 */
+		bool is_pushing();
+
+		/**
+		 * @brief Return first can_message_t on the queue 
+		 *
+		 * @return a can_message_t 
+		 */
+		can_message_t next_can_message();
+		
+		/**
+		 * @brief Push a can_message_t into the queue
+		 *
+		 * @param the const reference can_message_t object to push into the queue
+		 */
+		void push_new_can_message(const can_message_t& can_msg);		
+		
+		/**
+		 * @brief Return a boolean telling if there is any can_message into the queue
+		 *
+		 * @return true if there is at least a can_message_t, false if not.
+		 */
+		bool has_can_message() const;
+		
+		/**
+		 * @brief Return first openxc_VehicleMessage on the queue 
+		 *
+		 * @return a openxc_VehicleMessage containing a decoded can message
+		 */
+		openxc_VehicleMessage next_vehicle_message();
+		
+		/**
+		 * @brief Push a openxc_VehicleMessage into the queue
+		 *
+		 * @param the const reference openxc_VehicleMessage object to push into the queue
+		 */
+		void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
+		
+		/**
+		 * @brief Return a boolean telling if there is any openxc_VehicleMessage into the queue
+		 *
+		 * @return true if there is at least a openxc_VehicleMessage, false if not.
+		 */
+		bool has_vehicle_message() const;
+};
+
+/**
+ * @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:
+		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 */
+		
+		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 */
+
+	public:
+		/**
+		 * @brief Class constructor 
+		 * 
+		 * @param const string representing the device name into the linux /dev tree
+		 */
+		can_bus_dev_t(const std::string& dev_name);
+
+		/**
+		 * @brief Open the can socket and returning it 
+		 *
+		 * @return 
+		 */
+		int open();
+		
+		/**
+		 * @brief Open the can socket and returning it 
+		 *
+		 * @return 
+		 */
+		int close();
+		
+		/**
+		 * @brief Telling if the reading 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 reading thread is running, false if not.
+		 */
+		bool is_running();
+		
+		/**
+ 		* @brief start reading threads and set flag is_running_
+		*
+		* @param can_bus_t reference can_bus_t. it will be passed to the thread 
+		*  to allow using can_bus_t queue.
+ 		*/
+		void start_reading(can_bus_t& can_bus);
+
+		/**
+ 		* @brief Read the can socket and retrieve canfd_frame
+		*
+		* @param const struct afb_binding_interface* interface pointer. Used to be able to log 
+		*  using application framework logger.
+ 		*/
+		canfd_frame read();
+		
+		/**
+		* @brief Send a can message from a can_message_t object.
+		* 
+		* @param const can_message_t& can_msg: the can message object to send 
+		* @param const struct afb_binding_interface* interface pointer. Used to be able to log 
+		*  using application framework logger.
+		*/
+		int send_can_message(can_message_t& can_msg);
+};
+
+/**
+ * @brief Return an array of the metadata for the 2 CAN buses you want to
+ * monitor. The size of this array is fixed at 2.
+ */
+can_bus_dev_t getCanBuses();
+
+/**
+ * @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);
+
+/**
+ * @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);
+
+/**
+ * @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);
+
+/**
+ * @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);
+
+/**
+ * @fn void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus);
+ *
+ * @brief Thread function used to read the can socket.
+ *
+ * @param[in] can_bus_dev_t object to be used to read the can socket
+ * @param[in] can_bus_t object used to fill can_message_q_ queue
+ */
+void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus);
+
+/**
+ * @fn void can_decode_message(can_bus_t& can_bus);
+ *
+ * @brief Thread function used to decode can messages read into the can_message_q_
+ *
+ * @param[in] can_bus_t object used to pop can_message_q_ queue and fill decoded message
+ * into vehicle_message_q_ queue.
+ */
+void can_decode_message(can_bus_t& can_bus);
+
+/**
+ * @fn void can_decode_message(can_bus_t& can_bus);
+ *
+ * @brief Thread function used to push afb_event
+ *
+ * @param[in] can_bus_t object used to pop can_message_q_ queue and fill decoded message
+ * into vehicle_message_q_ queue.
+ */
+void can_event_push(can_bus_t& can_bus);
\ No newline at end of file