diff options
| -rw-r--r-- | src/can-utils.cpp | 176 | ||||
| -rw-r--r-- | src/can-utils.hpp | 13 | ||||
| -rw-r--r-- | src/low-can-binding.cpp | 150 |
3 files changed, 236 insertions, 103 deletions
diff --git a/src/can-utils.cpp b/src/can-utils.cpp index e41230b9..3aa2ca88 100644 --- a/src/can-utils.cpp +++ b/src/can-utils.cpp @@ -19,12 +19,13 @@ /******************************************************************************** * -* CanBus method implementation +* can_bus_dev_t method implementation * *********************************************************************************/ + can_bus_dev_t::can_bus_dev_t(afb_binding_interface *itf, const std:string &dev_name) - : interface{itf}, deviceName{dev_name} + : device_name_{dev_name} { } @@ -124,6 +125,16 @@ canfd_frame can_bus_dev_t::read() return canfd_frame; } +/** + * @brief start reading threads and set flag is_running_ + * + */ +void can_bus_dev_t::start_reading() +{ + th_reading_ = std::thread(can_reader, this); + is_running_ = true; +} + /* * Return is_running_ bool */ @@ -132,25 +143,11 @@ bool can_bus_dev_t::is_running() return is_running_; } -can_bus_t::can_bus_t(afb_binding_interface *itf, const std:string &dev_name) - : interface{itf} -{ -} - -void can_bus_t::start_threads() -{ - th_reading_ = std::thread(can_reader, interface, socket, can_message_q_); - is_running_ = true; - - th_decoding_ = std::thread(can_decoder, interface, can_message_q, can_message_q_); - th_pushing_ = std::thread(can_event_push, interface, can_message_q_); -} - -/* - * Get a CanMessage from can_message_q and return it - * then point to the next CanMessage in queue. +/** + * @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. + * @return the next queue element or NULL if queue is empty. */ can_message_t can_bus_dev_t::next_can_message() { @@ -160,26 +157,134 @@ can_message_t can_bus_dev_t::next_can_message() can_message_q_.pop() return &can_msg; } + has_can_message_ = false; } /** - * @return has_can_message_ bool + * @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_dev_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_dev_t::has_can_message() const { return has_can_message_; } -void can_bus_dev_t::push_new_can_message(const can_message_t& can_msg) +/******************************************************************************** +* +* can_bus_t method implementation +* +*********************************************************************************/ + +can_bus_t::can_bus_t(afb_binding_interface *itf, std::ifstream& conf_file) + : interface{itf}, conf_file_{conf_file} { - can_message_q_.push(can_msg); } -/* - * Send a can message from a can_message_t object. +/** + * @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_decoder, this); + th_pushing_ = std::thread(can_event_push, 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 + */ + void init_can_dev() + { + std::vector<std::string> devices_name; + int i, t; + + devices_name = read_conf(conf_file_); + + t = devices_name.size(); + i=0 + + for(const auto& device : devices_name) + { + can_bus_dev_t(device); + i++; + } + + NOTICE(interface_, "Initialized %d/%d can bus device(s)", i, t); + } + +/** + * @brief Read the conf file and extract device name + * + * @params[std::ifstream& conf_file] conf_file JSON configuration + * file located at the rootdir of the binding + * + * @return[std:vector<std::string>] return a vector of device name */ -int can_bus_t::send_can_message(can_message_t &can_msg) + std::vector<std::string> read_conf(std::ifstream& conf_file) + { + std::vector<std::string> ret; + std::string fd_conf_content; + json_object jo, canbus; + int n, i, ok; + + /* Open JSON conf file */ + if (conf_file) + { + conf_file.seekg(0, std::ios::end); + conf_file.resize(conf_file.tellg()); + conf_file.seekg(0, std::ios::beg); + conf_file.read(&fd_conf_content[0], fd_conf_content.size()); + conf_file.close(); + + jo = json_tokener_parse(&fd_conf_content); + + if (jo == NULL || !json_object_object_get_ex(&jo, "canbus", &&canbus)) + ERROR(interface_, "Can't find canbus node in the configuration file. Please review it."); + else if (json_object_get_type(canbus) != json_type_array) + ret.push_back(json_object_get_string(a)); + else + { + n = json_object_array_length(a); + ok = 0; + for (i = 0 ; i < n ; i++) + ret.push_back(json_object_get_string(json_object_array_get_idx(a, i))); + } + return ret; + } + else + { + ERROR(interface_, "Problem at reading the conf file"); + return 0; + } +} + +/** + * @brief Send a can message from a can_message_t object. + * TODO: specify which can_dev to use as we can use many + * + * params[const can_message_t& can_msg] the can message object to send + * + */ +int can_bus_t::send_can_message(const can_message_t &can_msg) { int nbytes; canfd_frame *f; @@ -206,11 +311,11 @@ int can_bus_t::send_can_message(can_message_t &can_msg) return 0; } -/* - * Get a VehicleMessage from vehicle_message_q and return it +/** + * @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. + * @return the next queue element or NULL if queue is empty. */ openxc_VehicleMessage* can_bus_t::next_vehicle_message() { @@ -224,14 +329,23 @@ openxc_VehicleMessage* can_bus_t::next_vehicle_message() has_vehicle_message_ = false; } +/** + * @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; } -/* - * Return has_can_message_ bool +/** + * @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 { diff --git a/src/can-utils.hpp b/src/can-utils.hpp index da5f81ca..8b64cb3b 100644 --- a/src/can-utils.hpp +++ b/src/can-utils.hpp @@ -18,7 +18,7 @@ #pragma once #include <string> -#include "timer.h" +#include "timer.hpp" #include "openxc.pb.h" // TODO actual max is 32 but dropped to 24 for memory considerations @@ -74,8 +74,6 @@ class can_bus_dev_t { private: std::string device_name_; int can_socket_; - - int can_socket_; bool is_fdmode_on_; struct sockaddr_can txAddress_; @@ -92,6 +90,7 @@ class can_bus_dev_t { can_message_t* next_can_message(); void push_new_can_message(const can_message_t& can_msg); + bool has_can_message() const; } @@ -105,9 +104,7 @@ class can_bus_dev_t { class can_bus_t { private: afb_binding_interface *interface_; - - std::vector<can_bus_dev_t> devices; - + std::thread th_decoding_; std::thread th_pushing_; @@ -116,11 +113,15 @@ class can_bus_t { public: void start_threads(); + + void init_can_dev(std::ifstream& conf_file); + std::vector<std::string> read_conf() int send_can_message(can_message_t can_msg); openxc_VehicleMessage& next_vehicle_message(); void push_new_vehicle_message(const openxc_VehicleMessage& v_msg); + bool has_vehicle_message() const; }; /* A compact representation of a single CAN message, meant to be used in in/out diff --git a/src/low-can-binding.cpp b/src/low-can-binding.cpp index b895adcc..7899797b 100644 --- a/src/low-can-binding.cpp +++ b/src/low-can-binding.cpp @@ -40,7 +40,9 @@ #include <afb/afb-binding.h> #include <afb/afb-service-itf.h> -#include "obd2.hpp" +//#include "obd2.hpp" +#include "can-utils.hpp" +#include "can-signals.hpp" /* * Interface between the daemon and the binding @@ -56,21 +58,22 @@ static const struct afb_binding_interface *interface; /* * TBF TBF TBF * called on an event on the CAN bus - */ -static int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata) + static int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata) { openxc_CanMessage can_message; can_message = openxc_CanMessage_init_default; /* read available data */ + /* if ((revents & EPOLLIN) != 0) { read_can(&can_message); send_event(); } - +*/ /* check if error or hangup */ +/* if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0) { sd_event_source_unref(s); @@ -80,7 +83,7 @@ static int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata return 0; } - +*/ /* * USELESS SINCE THREADS SEPARATION * @@ -120,45 +123,68 @@ static int connect_to_event_loop(CanBus &CanBus_handler) * *********************************************************************************/ -static int subscribe_unsubscribe_signal(struct afb_req request, int subscribe, std::map<CanSignal, struct afb_event>::iterator *s_sig) +static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, std::vector<CanSignal>::const_iterator& sig_i) { - if (!afb_event_is_valid(s_sig->second)) { - if (!subscribe) - return 1; - sig->event = afb_daemon_make_event(afbitf->daemon, s_sig->first->genericName); - if (!afb_event_is_valid(s_sig->second)) { - return 0; - } - } - - if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s_sig->second)) < 0) { - return 0; + int ret; + + const auto& ss_i = subscribed_signals.find(sig_i); + if (ss_i != subscribed_signals.end()) + { + if(!afb_event_is_valid(ss_i->second)) + { + if(!subscribe) + { + NOTICE(interface, "Event isn't valid, it can't be unsubscribed."); + ret = 1; + } + else + { + ss_i->second = afb_daemon_make_event(afbitf->daemon, ss_i->first.genericName); + if (!afb_event_is_valid(ss_i->second)) + { + ERROR(interface, "Can't create an event, something goes wrong."); + ret = 0; + } + } + } + } + else + { + subscribed_signals[sig_i] = afb_daemon_make_event(afbitf->daemon, sig_i.genericName); + if (!afb_event_is_valid(ss_i->second)) + { + ERROR(interface, "Can't create an event, something goes wrong."); + ret = 0; + } + } + + if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, subscribed_signals[sig_i])) < 0) + { + ERROR(interface, "Operation goes wrong for signal: %s", sig_i.genericName); + ret = 0; } - - return 1; + else + ret = 1; + + return ret; } -static int subscribe_unsubscribe_signals(struct afb_req request, int subscribe, std:vector<CanSignal> *signals) +static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const std:vector<CanSignal>& signals) { std::vector<CanSignal>::iterator signal_i; std::map <CanSignal, struct afb_event>::iterator s_signal_i; - - for(signal_i=signals.begin(); signal_i != signals.end(); signal_i++) + int ret; + + // TODO: lock the subscribed_signals when insert/remove + for(const auto& signal_i : signals) { - s_signal_i = subscribed_signals.find(signal_i); - if(s_signal_i != subscribed_signals.end()) - subscribe_unsubscribe_signal(request, subscribe, s_signal_i); - else - { - std::map <CanSignal, struct afb_event>::iterator it = subscribed_signals.begin(); - it = subscribed_signals.insert(it, std::pair<CanSignal, struct afb_event>(signal_i, NULL); - subscribe_unsubscribe_signal(request, subscribe, it); - } - return 0; + ret = subscribe_unsubscribe_signal(request, subscribe, signal_i); + if(ret == 0) + return ret; } } -static int subscribe_unsubscribe_all(struct afb_req request, int subscribe) +static int subscribe_unsubscribe_all(struct afb_req request, bool subscribe) { int i, n, e; @@ -169,25 +195,32 @@ static int subscribe_unsubscribe_all(struct afb_req request, int subscribe) return e == 0; } -static int subscribe_unsubscribe_name(struct afb_req request, int subscribe, const char *name) +static int subscribe_unsubscribe_name(struct afb_req request, bool subscribe, const char *name) { - std::vector <CanSignal> *sig; - - if (0 == strcmp(name, "*")) - return subscribe_unsubscribe_all(request, subscribe); - - if(obd2_handler_c.is_obd2_signal(name)) + std::vector<CanSignal> sig; + int ret = 0; + if (!strcmp(name, "*")) + ret = subscribe_unsubscribe_all(request, subscribe); else - find_can_signals(name, sig); - if (sig == NULL) { - return 0; - } - - return subscribe_unsubscribe_sig(request, subscribe, sig); + { + //if(obd2_handler_c.is_obd2_signal(name)) + if(false) + { + // TODO + } + else + { + sig = find_can_signals(name); + if (sig.empty()) + ret = 0; + } + ret = subscribe_unsubscribe_signals(request, subscribe, sig); + } + return ret; } -static void subscribe_unsubscribe(struct afb_req request, int subscribe) +static void subscribe_unsubscribe(struct afb_req request, bool subscribe) { int ok, i, n; struct json_object *args, *a, *x; @@ -218,12 +251,12 @@ static void subscribe_unsubscribe(struct afb_req request, int subscribe) static void subscribe(struct afb_req request) { - subscribe_unsubscribe(request, 1); + subscribe_unsubscribe(request, true); } static void unsubscribe(struct afb_req request) { - subscribe_unsubscribe(request, 0); + subscribe_unsubscribe(request, false); } static const struct afb_verb_desc_v1 verbs[]= { @@ -258,25 +291,10 @@ const struct afb_binding *afbBindingV1Register (const struct afb_binding_interfa int afbBindingV1ServiceInit(struct afb_service service) { std::ifstream fd_conf; - std::string fd_conf_content; - json_object jo_canbus; - - /* Open JSON conf file */ - jo_canbus = json_object_new_object(); - fd_conf = afb_daemon_rootdir_open_locale(interface->daemon, "canbus.json", O_RDONLY, NULL); - if (fd_conf) - { - fd_conf.seekg(0, std::ios::end); - fd_conf_content.resize(fd_conf.tellg()); - fd_conf.seekg(0, std::ios::beg); - fd_conf.read(&fd_conf_content[0], fd_conf_content.size()); - fd_conf.close(); - } - - jo_canbus = json_tokener_parse(&fd_conf_content); + fd_conf = afb_daemon_rootdir_open_locale(interface->daemon, "can_bus.json", O_RDONLY, NULL); /* Open CAN socket */ - can_bus_t CanBus_handler(interface, json_object_get_string(json_object_object_get(jo_canbus, "deviceName")); + can_bus_t can_bus_handler(interface, )); CanBus_handler.open(); CanBus_handler.start_threads(); } |