diff options
| -rw-r--r-- | src/can-signals.cpp | 4 | ||||
| -rw-r--r-- | src/can-signals.hpp | 8 | ||||
| -rw-r--r-- | src/can-utils.cpp | 321 | ||||
| -rw-r--r-- | src/can-utils.hpp | 37 | ||||
| -rw-r--r-- | src/can_decode_message.cpp | 51 | ||||
| -rw-r--r-- | src/can_decode_message.hpp | 9 | ||||
| -rw-r--r-- | src/can_event_push.cpp | 32 | ||||
| -rw-r--r-- | src/can_event_push.hpp | 8 | ||||
| -rw-r--r-- | src/can_reader.cpp | 14 | ||||
| -rw-r--r-- | src/can_reader.hpp | 6 | ||||
| -rw-r--r-- | src/low-can-binding.cpp | 51 | ||||
| -rw-r--r-- | src/low-can-binding.hpp | 6 |
12 files changed, 343 insertions, 204 deletions
diff --git a/src/can-signals.cpp b/src/can-signals.cpp index 2cf4b038..0a6a829c 100644 --- a/src/can-signals.cpp +++ b/src/can-signals.cpp @@ -17,6 +17,10 @@ #include "can-signals.hpp" +#include <fnmatch.h> + +#include "low-can-binding.hpp" + /** * @brief Dumb SIGNALS array. It is composed by CanMessageSet * SIGNALS[MESSAGE_SET_ID][CanSignal] diff --git a/src/can-signals.hpp b/src/can-signals.hpp index d4ada1de..af110d0d 100644 --- a/src/can-signals.hpp +++ b/src/can-signals.hpp @@ -19,14 +19,18 @@ #include <map> #include <queue> -#include <string> #include <vector> -#include <fnmatch.h> +#include <string> +#include <thread> +#include <linux/can.h> +#include "timer.hpp" +#include "openxc.pb.h" #include "can-utils.hpp" extern "C" { + #include <afb/afb-binding.h> #include <afb/afb-event-itf.h> } diff --git a/src/can-utils.cpp b/src/can-utils.cpp index ba4060ea..5a845b31 100644 --- a/src/can-utils.cpp +++ b/src/can-utils.cpp @@ -17,6 +17,24 @@ #include "can-utils.hpp" +#include <map> +#include <vector> +#include <cstdio> +#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 <systemd/sd-event.h> + +extern "C" +{ + #include <afb/afb-binding.h> +} + /******************************************************************************** * * CanMessage method implementation @@ -140,6 +158,154 @@ canfd_frame can_message_t::convert_to_canfd_frame() /******************************************************************************** * +* can_bus_t method implementation +* +*********************************************************************************/ + +can_bus_t::can_bus_t(int& conf_file) + : conf_file_{conf_file} +{ +} + +void can_bus_t::start_threads() +{ + th_decoding_ = std::thread(can_decode_message, std::ref(*this)); + th_pushing_ = std::thread(can_event_push, std::ref(*this)); +} + + +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_bus_dev_t can_bus_device_handler(device); + can_bus_device_handler.open(); + can_bus_device_handler.start_reading(std::ref(*this)); + 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 into configuration file. Did you specify canbus JSON object ?"); + return 1; +} + +std::vector<std::string> can_bus_t::read_conf() +{ + std::vector<std::string> ret; + json_object *jo, *canbus; + int n, i; + + 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); + + 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) + ret.push_back(json_object_get_string(canbus)); + 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; +} + +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 %d, length %d", can_msg.get_id(), can_msg.get_length()); + return can_msg; + } + + NOTICE(binder_interface, "next_can_message: End of can message queue"); + has_can_message_ = false; + return can_msg; +} + +void can_bus_t::push_new_can_message(const can_message_t& can_msg) +{ + can_message_q_.push(can_msg); +} + +bool can_bus_t::has_can_message() const +{ + return has_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; + } + + NOTICE(binder_interface, "next_vehicle_message: End of vehicle message queue"); + has_vehicle_message_ = false; + return v_msg; +} + +void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg) +{ + vehicle_message_q_.push(v_msg); + has_vehicle_message_ = true; +} + +bool can_bus_t::has_vehicle_message() const +{ + return has_vehicle_message_; +} + +/******************************************************************************** +* +* This is the sd_event_add_io callback function declaration. +* Its implementation can be found into low-can-binding.cpp. +* +*********************************************************************************/ + +int can_frame_received(sd_event_source *s, int fd, uint32_t revents, void *userdata); + +/******************************************************************************** +* * can_bus_dev_t method implementation * *********************************************************************************/ @@ -149,6 +315,22 @@ can_bus_dev_t::can_bus_dev_t(const std::string &dev_name) { } +int can_bus_dev_t::event_loop_connection() +{ + sd_event_source *source; + int rc; + + /* adds to the event loop */ + rc = sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &source, can_socket_, EPOLLIN, can_frame_received, this); + if (rc < 0) { + close(); + ERROR(binder_interface, "Can't coonect CAN device %s to the event loop", device_name_); + } else { + NOTICE(binder_interface, "Connected to %s", device_name_); + } + return rc; +} + int can_bus_dev_t::open() { const int canfd_on = 1; @@ -249,7 +431,6 @@ canfd_frame can_bus_dev_t::read() void can_bus_dev_t::start_reading(can_bus_t& can_bus) { th_reading_ = std::thread(can_reader, std::ref(*this), std::ref(can_bus)); - is_running_ = true; } @@ -285,142 +466,4 @@ int can_bus_dev_t::send_can_message(can_message_t& can_msg) open(); } return 0; -} -/******************************************************************************** -* -* can_bus_t method implementation -* -*********************************************************************************/ - -can_bus_t::can_bus_t(int& conf_file) - : conf_file_{conf_file} -{ -} - -void can_bus_t::start_threads() -{ - th_decoding_ = std::thread(can_decode_message, std::ref(*this)); - th_pushing_ = std::thread(can_event_push, std::ref(*this)); -} - - -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_bus_dev_t can_bus_device_handler(device); - can_bus_device_handler.open(); - can_bus_device_handler.start_reading(std::ref(*this)); - 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."); - return 1; -} - -std::vector<std::string> can_bus_t::read_conf() -{ - std::vector<std::string> ret; - json_object *jo, *canbus; - int n, i; - - 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); - - 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) - ret.push_back(json_object_get_string(canbus)); - 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; -} - -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 %d, length %d", can_msg.get_id(), can_msg.get_length()); - return can_msg; - } - - NOTICE(binder_interface, "next_can_message: End of can message queue"); - has_can_message_ = false; - return can_msg; -} - -void can_bus_t::push_new_can_message(const can_message_t& can_msg) -{ - can_message_q_.push(can_msg); -} - -bool can_bus_t::has_can_message() const -{ - return has_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; - } - - NOTICE(binder_interface, "next_vehicle_message: End of vehicle message queue"); - has_vehicle_message_ = false; - return v_msg; -} - -void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg) -{ - vehicle_message_q_.push(v_msg); - has_vehicle_message_ = true; -} - -bool can_bus_t::has_vehicle_message() const -{ - return has_vehicle_message_; }
\ No newline at end of file diff --git a/src/can-utils.hpp b/src/can-utils.hpp index 218452d9..e4a3d340 100644 --- a/src/can-utils.hpp +++ b/src/can-utils.hpp @@ -17,30 +17,14 @@ #pragma once -#include <map> #include <queue> -#include <vector> -#include <cstdio> -#include <string> -#include <fcntl.h> -#include <unistd.h> -#include <net/if.h> #include <thread> -#include <sys/ioctl.h> #include <linux/can.h> -#include <sys/socket.h> -#include <json-c/json.h> -#include <linux/can/raw.h> #include "timer.hpp" #include "openxc.pb.h" #include "low-can-binding.hpp" -extern "C" -{ - #include <afb/afb-binding.h> -} - // 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 @@ -342,12 +326,33 @@ class can_bus_dev_t { can_bus_dev_t(const std::string& dev_name); /** + * @brief Connect to the application framework event loop and adding + * a watch on the socket that will wakeup reading thread that will + * read the socket and fill can_bus_t object queue. + * + * @return 0 if success, anything else if not. + */ + int event_loop_connection(); + + /** * @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 + * + * @return true if read is running, false if not. + */ bool is_running(); /** diff --git a/src/can_decode_message.cpp b/src/can_decode_message.cpp index 8fadbdb6..8d81f8b8 100644 --- a/src/can_decode_message.cpp +++ b/src/can_decode_message.cpp @@ -18,6 +18,13 @@ #include "can_decode_message.hpp" +#include "can-utils.hpp" +#include "openxc-utils.hpp" +#include "can-signals.hpp" +#include "can-decoder.hpp" + +#include "can_reader.hpp" + void can_decode_message(can_bus_t &can_bus) { can_message_t can_message; @@ -31,28 +38,34 @@ void can_decode_message(can_bus_t &can_bus) while(can_bus.has_can_message()) { - can_message = can_bus.next_can_message(); - - /* First we have to found which CanSignal is */ - search_key = build_DynamicField((double)can_message.get_id()); - signals = find_can_signals(search_key); - - /* Decoding the message ! Don't kill the messenger ! */ - for(const auto& sig : signals) - { - std::map<std::string, struct afb_event> subscribed_signals = get_subscribed_signals(); - const auto& it_event = subscribed_signals.find(sig.genericName); + std::unique_lock<std::mutex> can_message_lock(can_message_mutex); + new_can_message.wait(can_message_lock); + can_message = can_bus.next_can_message(); + can_message_mutex.unlock(); + + std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex); + /* First we have to found which CanSignal is */ + search_key = build_DynamicField((double)can_message.get_id()); + signals = find_can_signals(search_key); - if(it_event != subscribed_signals.end() && - afb_event_is_valid(it_event->second)) - { - ret = decoder.decodeSignal(sig, can_message, getSignals(), &send); + /* Decoding the message ! Don't kill the messenger ! */ + for(const auto& sig : signals) + { + std::map<std::string, struct afb_event> subscribed_signals = get_subscribed_signals(); + const auto& it_event = subscribed_signals.find(sig.genericName); + + if(it_event != subscribed_signals.end() && + afb_event_is_valid(it_event->second)) + { + ret = decoder.decodeSignal(sig, can_message, getSignals(), &send); - openxc_SimpleMessage s_message = build_SimpleMessage(sig.genericName, ret); + openxc_SimpleMessage s_message = build_SimpleMessage(sig.genericName, ret); - vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message); - can_bus.push_new_vehicle_message(vehicle_message); + vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message); + can_bus.push_new_vehicle_message(vehicle_message); + } } - } + decoded_can_message_mutex.unlock(); + new_decoded_can_message.notify_one(); } } diff --git a/src/can_decode_message.hpp b/src/can_decode_message.hpp index 118dac04..73ea2ef3 100644 --- a/src/can_decode_message.hpp +++ b/src/can_decode_message.hpp @@ -18,9 +18,8 @@ #pragma once -#include "can-utils.hpp" -#include "openxc-utils.hpp" -#include "can-signals.hpp" -#include "can-decoder.hpp" +#include <mutex> +#include <condition_variable> -void can_decode_message(can_bus_t &can_bus);
\ No newline at end of file +extern std::condition_variable new_decoded_can_message; +extern std::mutex decoded_can_message_mutex;
\ No newline at end of file diff --git a/src/can_event_push.cpp b/src/can_event_push.cpp index 2842c630..bfe8c803 100644 --- a/src/can_event_push.cpp +++ b/src/can_event_push.cpp @@ -18,6 +18,12 @@ #include "can_event_push.hpp" +#include "can-utils.hpp" +#include "can-signals.hpp" +#include "openxc-utils.hpp" + +#include "can_decode_message.hpp" + void can_event_push(can_bus_t& can_bus) { openxc_VehicleMessage v_message; @@ -26,15 +32,23 @@ void can_event_push(can_bus_t& can_bus) while(can_bus.has_vehicle_message()) { - v_message = can_bus.next_vehicle_message(); + std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex); + new_decoded_can_message.wait(decoded_can_message_lock); + v_message = can_bus.next_vehicle_message(); + decoded_can_message_mutex.unlock(); + s_message = get_simple_message(v_message); - std::map<std::string, struct afb_event> subscribed_signals = get_subscribed_signals(); - const auto& it_event = subscribed_signals.find(s_message.name); - if(it_event != subscribed_signals.end() && afb_event_is_valid(it_event->second)) - { - jo = json_object_new_object(); - jsonify_simple(s_message, jo); - afb_event_push(it_event->second, jo); - } + + std::lock_guard<std::mutex> push_signal_lock(subscribed_signals_mutex); + std::map<std::string, struct afb_event> subscribed_signals = get_subscribed_signals(); + const auto& it_event = subscribed_signals.find(s_message.name); + if(it_event != subscribed_signals.end() && afb_event_is_valid(it_event->second)) + { + jo = json_object_new_object(); + jsonify_simple(s_message, jo); + afb_event_push(it_event->second, jo); + } + subscribed_signals_mutex.unlock(); + update_subscrided_signals.notify_one(); } }
\ No newline at end of file diff --git a/src/can_event_push.hpp b/src/can_event_push.hpp index 0e614f1e..00401448 100644 --- a/src/can_event_push.hpp +++ b/src/can_event_push.hpp @@ -18,8 +18,8 @@ #pragma once -#include "can-utils.hpp" -#include "can-signals.hpp" -#include "openxc-utils.hpp" +#include <mutex> +#include <condition_variable> -void can_event_push(can_bus_t& can_bus);
\ No newline at end of file +std::condition_variable update_subscrided_signals; +std::mutex subscribed_signals_mutex;
\ No newline at end of file diff --git a/src/can_reader.cpp b/src/can_reader.cpp index b836570a..f984c70a 100644 --- a/src/can_reader.cpp +++ b/src/can_reader.cpp @@ -18,13 +18,23 @@ #include "can_reader.hpp" +#include "low-can-binding.hpp" +#include "can-utils.hpp" + void can_reader(can_bus_dev_t &can_bus_dev, can_bus_t& can_bus) { can_message_t can_message; while(can_bus_dev.is_running()) { - can_message.convert_from_canfd_frame(can_bus_dev.read()); - can_bus.push_new_can_message(can_message); + std::unique_lock<std::mutex> can_frame_lock(can_frame_mutex); + new_can_frame.wait(can_frame_lock); + can_message.convert_from_canfd_frame(can_bus_dev.read()); + can_frame_mutex.unlock(); + + std::lock_guard<std::mutex> can_message_lock(can_message_mutex); + can_bus.push_new_can_message(can_message); + can_message_mutex.unlock(); + new_can_message.notify_one(); } }
\ No newline at end of file diff --git a/src/can_reader.hpp b/src/can_reader.hpp index 714a94de..3d73103a 100644 --- a/src/can_reader.hpp +++ b/src/can_reader.hpp @@ -18,6 +18,8 @@ #pragma once -#include "can-utils.hpp" +#include <mutex> +#include <condition_variable> -void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus);
\ No newline at end of file +extern std::condition_variable new_can_message; +extern std::mutex can_message_mutex;
\ No newline at end of file diff --git a/src/low-can-binding.cpp b/src/low-can-binding.cpp index 9e344018..233f002a 100644 --- a/src/low-can-binding.cpp +++ b/src/low-can-binding.cpp @@ -16,11 +16,18 @@ * limitations under the License. */ +#include "low-can-binding.hpp" + +#include <queue> +#include <vector> +#include <thread> +#include <fcntl.h> +#include <linux/can.h> #include <json-c/json.h> #include <systemd/sd-event.h> -#include "low-can-binding.hpp" - +#include "timer.hpp" +#include "openxc.pb.h" #include "can-utils.hpp" #include "can-signals.hpp" #include "openxc-utils.hpp" @@ -36,12 +43,41 @@ extern "C" */ const struct afb_binding_interface *binder_interface; +/* + * CAN bus handler pointer. This is the object that will be use to + * initialize each CAN devices specified into the configuration file + * + * It is used by the reading thread also because of its can_message_q_ queue + * that store CAN messages read from the socket. + */ +can_bus_t *can_bus_handler; + /******************************************************************************** * * Event management * *********************************************************************************/ +int can_frame_received(sd_event_source *s, int fd, uint32_t revents, void *userdata) +{ + can_bus_dev_t *can_bus_dev = (can_bus_dev_t*)userdata; + std::lock_guard<std::mutex> can_frame_lock(can_frame_mutex); + /* Notify reading thread that there is something to read */ + if ((revents & EPOLLIN) != 0) { + new_can_frame.notify_one(); + } + + /* check if error or hangup */ + if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0) + { + sd_event_source_unref(s); + can_bus_dev->close(); + can_bus_dev->open(); + can_bus_dev->start_reading(*can_bus_handler); + } + + return 0; +} /******************************************************************************** * * Subscription and unsubscription @@ -220,14 +256,17 @@ extern "C" int fd_conf; fd_conf = afb_daemon_rootdir_open_locale(binder_interface->daemon, "can_bus.json", O_RDONLY, NULL); + /* Initialize the CAN bus handler */ + can_bus_t cbh(fd_conf); + can_bus_handler = &cbh; + /* Open CAN socket */ - can_bus_t can_bus_handler(fd_conf); - if(can_bus_handler.init_can_dev() == 0) + if(can_bus_handler->init_can_dev() == 0) { - can_bus_handler.start_threads(); + can_bus_handler->start_threads(); return 0; } - + ERROR(binder_interface, "There was something wrong with CAN device Initialization. Check your config file maybe"); return 1; } }; diff --git a/src/low-can-binding.hpp b/src/low-can-binding.hpp index 0f2b9505..11df1f46 100644 --- a/src/low-can-binding.hpp +++ b/src/low-can-binding.hpp @@ -18,6 +18,12 @@ #pragma once +#include <mutex> +#include <condition_variable> + extern "C" struct afb_binding_interface; extern const struct afb_binding_interface *binder_interface; + +extern std::condition_variable new_can_frame; +extern std::mutex can_frame_mutex;
\ No newline at end of file |