diff options
| -rw-r--r-- | src/can-utils.cpp | 62 | ||||
| -rw-r--r-- | src/can-utils.hpp | 252 |
2 files changed, 175 insertions, 139 deletions
diff --git a/src/can-utils.cpp b/src/can-utils.cpp index 42763b8f..de9e8ce1 100644 --- a/src/can-utils.cpp +++ b/src/can-utils.cpp @@ -246,10 +246,6 @@ canfd_frame can_bus_dev_t::read(const struct afb_binding_interface* interface) return canfd_frame; } -/** - * @brief start reading threads and set flag is_running_ - * - */ 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)); @@ -264,12 +260,6 @@ bool can_bus_dev_t::is_running() return is_running_; } -/** - * @brief Send a can message from a can_message_t object. - * - * params[const can_message_t& can_msg] the can message object to send - * - */ int can_bus_dev_t::send_can_message(can_message_t& can_msg, const struct afb_binding_interface* interface) { ssize_t nbytes; @@ -306,22 +296,13 @@ can_bus_t::can_bus_t(const struct afb_binding_interface *interface, int& conf_fi { } -/** - * @brief start threads relative to the can bus: decoding and pushing - * as the reading is handled by can_bus_dev_t object - */ 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)); } -/** - * @brief Initialize as many as can_bus_dev_t objects with their respective reading thread - * - * params[std::ifstream& conf_file] conf_file ifstream to the JSON configuration - * file located at the rootdir of the binding - */ + int can_bus_t::init_can_dev() { std::vector<std::string> devices_name; @@ -350,11 +331,6 @@ int can_bus_t::init_can_dev() return 1; } -/** - * @brief Read the conf file and extract device name - * - * @return[std:vector<std::string>] return a vector of device name - */ std::vector<std::string> can_bus_t::read_conf() { std::vector<std::string> ret; @@ -393,12 +369,6 @@ std::vector<std::string> can_bus_t::read_conf() return ret; } -/** - * @brief: Get a can_message_t from can_message_q and return it - * then point to the next can_message_t in queue. - * - * @return the next queue element or NULL if queue is empty. - */ can_message_t can_bus_t::next_can_message() { can_message_t can_msg(interface_); @@ -416,34 +386,16 @@ can_message_t can_bus_t::next_can_message() return can_msg; } -/** - * @brief Append a new element to the can message queue and set - * has_can_message_ boolean to true - * - * @params[const can_message_t& can_msg] the can_message_t to append - * - */ void can_bus_t::push_new_can_message(const can_message_t& can_msg) { can_message_q_.push(can_msg); } -/** - * @brief Flag that let you know when can message queue is exhausted - * - * @return[bool] has_can_message_ bool - */ bool can_bus_t::has_can_message() const { return has_can_message_; } -/** - * @brief: Get a VehicleMessage from vehicle_message_q and return it - * then point to the next VehicleMessage in queue. - * - * @return the next queue element or NULL if queue is empty. - */ openxc_VehicleMessage can_bus_t::next_vehicle_message() { openxc_VehicleMessage v_msg; @@ -461,24 +413,12 @@ openxc_VehicleMessage can_bus_t::next_vehicle_message() return v_msg; } -/** - * @brief Append a new element to the vehicle message queue and set - * has_vehicle_message_ boolean to true - * - * @params[const openxc_VehicleMessage& v_msg] the openxc_VehicleMessage to append - * - */ void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg) { vehicle_message_q_.push(v_msg); has_vehicle_message_ = true; } -/** - * @brief Flag that let you know when vehicle message queue is exhausted - * - * @return[bool] has_vehicle_message_ bool - */ bool can_bus_t::has_vehicle_message() const { return has_vehicle_message_; diff --git a/src/can-utils.hpp b/src/can-utils.hpp index 1fac69e9..4252b978 100644 --- a/src/can-utils.hpp +++ b/src/can-utils.hpp @@ -232,137 +232,210 @@ class can_message_t { }; /** + * @class can_bus_t * @brief Object used to handle decoding and manage event queue to be pushed. * - * @params[in] interface_ - afb_binding_interface pointer to the binder. Used to log messages - * @params[in] conf_file_ - configuration file handle used to initialize can_bus_dev_t objects. + * 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_; + int conf_file_; /*!< conf_file_ - configuration file handle used to initialize can_bus_dev_t objects.*/ - std::thread th_decoding_; - std::thread th_pushing_; + std::thread th_decoding_; /*!< thread that'll handle decoding a can frame */ + std::thread th_pushing_; /*!< thread that'll handle pushing decoded can frame to subscribers */ - bool has_can_message_; - std::queue <can_message_t> can_message_q_; + 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 */ - bool has_vehicle_message_; - std::queue <openxc_VehicleMessage> vehicle_message_q_; + 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: - const struct afb_binding_interface *interface_; + const struct afb_binding_interface *interface_; /*!< interface_ - afb_binding_interface pointer to the binder. Used to log messages */ - can_bus_t(const struct afb_binding_interface *itf, int& conf_file); + /** + * @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(const struct afb_binding_interface *interface, int& conf_file); + + /** + * @brief Will initialize can_bus_dev_t objects after reading + * the configuration file passed in the constructor. + */ int init_can_dev(); - std::vector<std::string> read_conf(); + /** + * @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(); + + /** + * @brief Will initialize threads that will decode + * and push subscribed events. + */ void start_threads(); + /** + * @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; }; -/** - * @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 * - * @params[in] std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc. + * @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_; - int can_socket_; - bool is_fdmode_on_; - struct sockaddr_can txAddress_; + 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_; - bool is_running_; + 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(const struct afb_binding_interface* interface); int close(); 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 afb_binding_interface and 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(const struct afb_binding_interface *interface); + /** + * @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, const struct afb_binding_interface* interface); }; /** + * @struct CanSignalState + * * @brief A state encoded (SED) signal's mapping from numerical values to * OpenXC state names. - * - * @param[in] in value - The integer value of the state on the CAN bus. - * @param[in] char* name - The corresponding string name for the state in OpenXC. */ struct CanSignalState { - const int value; - const char* name; + const int value; /*!< int value - The integer value of the state on the CAN bus.*/ + const char* name; /*!< char* name - The corresponding string name for the state in OpenXC. */ }; typedef struct CanSignalState CanSignalState; /** - * @brief A CAN signal to decode from the bus and output over USB. + * @struct CanSignal * - * @param[in] message - The message this signal is a part of. - * @param[in] genericName - The name of the signal to be output over USB. - * @param[in] bitPosition - The starting bit of the signal in its CAN message (assuming - * non-inverted bit numbering, i.e. the most significant bit of - * each byte is 0) - * @param[in] bitSize - The width of the bit field in the CAN message. - * @param[in] factor - The final value will be multiplied by this factor. Use 1 if you - * don't need a factor. - * @param[in] offset - The final value will be added to this offset. Use 0 if you - * don't need an offset. - * @param[in] minValue - The minimum value for the processed signal. - * @param[in] maxValue - The maximum value for the processed signal. - * @param[in] frequencyClock - A FrequencyClock struct to control the maximum frequency to - * process and send this signal. To process every value, set the - * clock's frequency to 0. - * @param[in] sendSame - If true, will re-send even if the value hasn't changed. - * @param[in] forceSendChanged - If true, regardless of the frequency, it will send the - * value if it has changed. - * @param[in] states - An array of CanSignalState describing the mapping - * between numerical and string values for valid states. - * @param[in] stateCount - The length of the states array. - * @param[in] writable - True if the signal is allowed to be written from the USB host - * back to CAN. Defaults to false. - * @param[in] decoder - An optional function to decode a signal from the bus to a human - * readable value. If NULL, the default numerical decoder is used. - * @param[in] encoder - An optional function to encode a signal value to be written to - * CAN into a byte array. If NULL, the default numerical encoder - * is used. - * @param[in] received - True if this signal has ever been received. - * @param[in] lastValue - The last received value of the signal. If 'received' is false, - * this value is undefined. + * @brief A CAN signal to decode from the bus and output over USB. */ struct CanSignal { - struct CanMessageDefinition* message; - const char* genericName; - uint8_t bitPosition; - uint8_t bitSize; - float factor; - float offset; - float minValue; - float maxValue; - FrequencyClock frequencyClock; - bool sendSame; - bool forceSendChanged; - const CanSignalState* states; - uint8_t stateCount; - bool writable; - SignalDecoder decoder; - SignalEncoder encoder; - bool received; - float lastValue; + struct CanMessageDefinition* message; /*!< message - The message this signal is a part of. */ + const char* genericName; /*!< genericName - The name of the signal to be output over USB.*/ + uint8_t bitPosition; /*!< bitPosition - The starting bit of the signal in its CAN message (assuming + * non-inverted bit numbering, i.e. the most significant bit of + * each byte is 0) */ + uint8_t bitSize; /*!< bitSize - The width of the bit field in the CAN message. */ + float factor; /*!< factor - The final value will be multiplied by this factor. Use 1 if you + * don't need a factor. */ + float offset; /*!< offset - The final value will be added to this offset. Use 0 if you + * don't need an offset. */ + float minValue; /*!< minValue - The minimum value for the processed signal.*/ + float maxValue; /*!< maxValue - The maximum value for the processed signal. */ + FrequencyClock frequencyClock; /*!< frequencyClock - A FrequencyClock struct to control the maximum frequency to + * process and send this signal. To process every value, set the + * clock's frequency to 0. */ + bool sendSame; /*!< sendSame - If true, will re-send even if the value hasn't changed.*/ + bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send the + * value if it has changed. */ + const CanSignalState* states; /*!< states - An array of CanSignalState describing the mapping + * between numerical and string values for valid states. */ + uint8_t stateCount; /*!< stateCount - The length of the states array. */ + bool writable; /*!< writable - True if the signal is allowed to be written from the USB host + * back to CAN. Defaults to false.*/ + SignalDecoder decoder; /*!< decoder - An optional function to decode a signal from the bus to a human + * readable value. If NULL, the default numerical decoder is used. */ + SignalEncoder encoder; /*!< encoder - An optional function to encode a signal value to be written to + * CAN into a byte array. If NULL, the default numerical encoder + * is used. */ + bool received; /*!< received - True if this signal has ever been received.*/ + float lastValue; /*!< lastValue - The last received value of the signal. If 'received' is false, + * this value is undefined. */ }; typedef struct CanSignal CanSignal; @@ -490,8 +563,31 @@ bool isBusActive(can_bus_dev_t* bus); void logBusStatistics(can_bus_dev_t* buses, const int busCount); /** - * @brief Function representing thread activated by can bus objects + * @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);
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