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-rw-r--r--CAN-binder/low-can-binding/can/can-bus.cpp337
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diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp
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--- a/CAN-binder/low-can-binding/can/can-bus.cpp
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-/*
- * 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.
- */
-
-#include <net/if.h>
-#include <sys/socket.h>
-#include <json-c/json.h>
-#include <linux/can/raw.h>
-#include <map>
-#include <cerrno>
-#include <vector>
-#include <string>
-#include <algorithm>
-
-#include "can-bus.hpp"
-
-#include "can-signals.hpp"
-#include "can-decoder.hpp"
-#include "../binding/application.hpp"
-#include "../utils/signals.hpp"
-#include "../utils/openxc-utils.hpp"
-
-/// @brief Class constructor
-///
-/// @param[in] conf_file - handle to the json configuration file.
-can_bus_t::can_bus_t(utils::config_parser_t conf_file)
- : conf_file_{conf_file}
-{}
-
-/// @brief Take a decoded message to determine if its value comply with the wanted
-/// filtering values.
-///
-/// @param[in] vehicle_message - A decoded message to analyze
-/// @param[in] can_subscription - the subscription which will be notified depending
-/// on its filtering values. Filtering values are stored in the event_filtermember.
-///
-/// @return True if the value is compliant with event filter values, false if not...
-bool can_bus_t::apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription)
-{
- bool send = false;
- if(is_valid(vehicle_message))
- {
- float min = std::isnan(can_subscription->get_min()) ? -INFINITY : can_subscription->get_min();
- float max = std::isnan(can_subscription->get_max()) ? INFINITY : can_subscription->get_max();
- double value = get_numerical_from_DynamicField(vehicle_message);
- send = (value < min && value > max) ? false : true;
- }
- return send;
-}
-
-/// @brief Will make the decoding operation on a classic CAN message. It will not
-/// handle CAN commands nor diagnostic messages that have their own method to get
-/// this happens.
-///
-/// It will add to the vehicle_message queue the decoded message and tell the event push
-/// thread to process it.
-///
-/// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
-///
-/// @return How many signals has been decoded.
-void can_bus_t::process_can_signals(const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
-{
- int subscription_id = can_message.get_sub_id();
- openxc_DynamicField decoded_message;
- openxc_VehicleMessage vehicle_message;
-
- // First we have to found which can_signal_t it is
- std::shared_ptr<low_can_subscription_t> sig = s[subscription_id];
-
- if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
- {
- bool send = true;
- decoded_message = decoder_t::translateSignal(*sig->get_can_signal(), can_message, application_t::instance().get_all_can_signals(), &send);
- openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
- vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp());
-
- if(send && apply_filter(vehicle_message, sig))
- {
- std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
- push_new_vehicle_message(subscription_id, vehicle_message);
- DEBUG("%s CAN signals processed.", sig->get_name().c_str());
- }
- }
-}
-
-/// @brief Will make the decoding operation on a diagnostic CAN message.Then it find the subscribed signal
-/// corresponding and will add the vehicle_message to the queue of event to pushed before notifying
-/// the event push thread to process it.
-///
-/// @param[in] manager - the diagnostic manager object that handle diagnostic communication
-/// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
-///
-/// @return How many signals has been decoded.
-void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
-{
- int subscription_id = can_message.get_sub_id();
-
- openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
- if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
- s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
- {
- if (apply_filter(vehicle_message, s[subscription_id]))
- {
- std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
- push_new_vehicle_message(subscription_id, vehicle_message);
- DEBUG("%s CAN signals processed.", s[subscription_id]->get_name().c_str());
- }
- }
-}
-
-/// @brief thread to decoding raw CAN messages.
-///
-/// Depending on the nature of message, if arbitration ID matches ID for a diagnostic response
-/// then decoding a diagnostic message else use classic CAN signals decoding functions.
-///
-/// It will take from the can_message_q_ queue the next can message to process then it search
-/// about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
-/// subscription has been made. Can message will be decoded using translateSignal that will pass it to the
-/// corresponding decoding function if there is one assigned for that signal. If not, it will be the default
-/// noopDecoder function that will operate on it.
-///
-/// TODO: make diagnostic messages parsing optionnal.
-void can_bus_t::can_decode_message()
-{
- utils::signals_manager_t& sm = utils::signals_manager_t::instance();
-
- while(is_decoding_)
- {
- std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
- new_can_message_cv_.wait(can_message_lock);
- while(!can_message_q_.empty())
- {
- const can_message_t can_message = next_can_message();
- can_message_lock.unlock();
-
- {
- std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
- std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
- if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
- {process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), can_message, s);}
- else
- {process_can_signals(can_message, s);}
- }
- can_message_lock.lock();
- }
- new_decoded_can_message_.notify_one();
- can_message_lock.unlock();
- }
-}
-
-/// @brief thread to push events to suscribers. It will read subscribed_signals map to look
-/// which are events that has to be pushed.
-void can_bus_t::can_event_push()
-{
- openxc_SimpleMessage s_message;
- json_object* jo;
- utils::signals_manager_t& sm = utils::signals_manager_t::instance();
-
- while(is_pushing_)
- {
- std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
- new_decoded_can_message_.wait(decoded_can_message_lock);
- while(!vehicle_message_q_.empty())
- {
- std::pair<int, openxc_VehicleMessage> v_message = next_vehicle_message();
- decoded_can_message_lock.unlock();
- {
- std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
- std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
- s_message = get_simple_message(v_message.second);
- if(s.find(v_message.first) != s.end() && afb_event_is_valid(s[v_message.first]->get_event()))
- {
- jo = json_object_new_object();
- jsonify_simple(s_message, jo);
- if(afb_event_push(s[v_message.first]->get_event(), jo) == 0)
- {
- if(v_message.second.has_diagnostic_response)
- {on_no_clients(s[v_message.first], v_message.second.diagnostic_response.pid, s);}
- else
- {on_no_clients(s[v_message.first], s);}
- }
- }
- }
- decoded_can_message_lock.lock();
- }
- decoded_can_message_lock.unlock();
- }
-}
-
-/// @brief Will initialize threads that will decode
-/// and push subscribed events.
-void can_bus_t::start_threads()
-{
- is_decoding_ = true;
- th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
- th_decoding_.detach();
-
- is_pushing_ = true;
- th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
- th_pushing_.detach();
-}
-
-/// @brief Will stop all threads holded by can_bus_t object
-/// which are decoding and pushing then will wait that's
-/// they'll finish their job.
-void can_bus_t::stop_threads()
-{
- is_decoding_ = false;
- is_pushing_ = false;
-}
-
-/// @brief return new_can_message_cv_ member
-///
-/// @return return new_can_message_cv_ member
-std::condition_variable& can_bus_t::get_new_can_message_cv()
-{
- return new_can_message_cv_;
-}
-
-/// @brief return can_message_mutex_ member
-///
-/// @return return can_message_mutex_ member
-std::mutex& can_bus_t::get_can_message_mutex()
-{
- return can_message_mutex_;
-}
-
-/// @brief Return first can_message_t on the queue
-///
-/// @return a can_message_t
-const 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("Here is the next can message : id %X, length %X, data %02X%02X%02X%02X%02X%02X%02X%02X", can_msg.get_id(), can_msg.get_length(),
- can_msg.get_data()[0], can_msg.get_data()[1], can_msg.get_data()[2], can_msg.get_data()[3], can_msg.get_data()[4], can_msg.get_data()[5], can_msg.get_data()[6], can_msg.get_data()[7]);
- return can_msg;
- }
-
- return can_msg;
-}
-
-/// @brief Push a can_message_t into the queue
-///
-/// @param[in] can_msg - the const reference can_message_t object to push into the queue
-void can_bus_t::push_new_can_message(const can_message_t& can_msg)
-{
- can_message_q_.push(can_msg);
-}
-
-/// @brief Return first openxc_VehicleMessage on the queue
-///
-/// @return a openxc_VehicleMessage containing a decoded can message
-std::pair<int, openxc_VehicleMessage> can_bus_t::next_vehicle_message()
-{
- std::pair<int, openxc_VehicleMessage> v_msg;
-
- if(! vehicle_message_q_.empty())
- {
- v_msg = vehicle_message_q_.front();
- vehicle_message_q_.pop();
- DEBUG("next vehicle message poped");
- return v_msg;
- }
-
- return v_msg;
-}
-
-/// @brief Push a openxc_VehicleMessage into the queue
-///
-/// @param[in] v_msg - const reference openxc_VehicleMessage object to push into the queue
-void can_bus_t::push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg)
-{
- vehicle_message_q_.push(std::make_pair(subscription_id, v_msg));
-}
-
-/// @brief Fills the CAN device map member with value from device
-/// mapping configuration file read at initialization.
-void can_bus_t::set_can_devices()
-{
- can_devices_ = conf_file_.get_devices_name();
-
- if(can_devices_.empty())
- {
- ERROR("No mapping found in config file: '%s'. Check it that it have a CANbus-mapping section.",
- conf_file_.filepath().c_str());
- }
-}
-
-
-/// @brief Return the CAN device index from the map
-/// map are sorted so index depend upon alphabetical sorting.
-int can_bus_t::get_can_device_index(const std::string& bus_name) const
-{
- int i = 0;
- for(const auto& d: can_devices_)
- {
- if(d.first == bus_name)
- break;
- i++;
- }
- return i;
-}
-
-/// @brief Return CAN device name from a logical CAN device name gotten from
-/// the signals.json description file which comes from a CAN databases file in
-/// general.
-const std::string can_bus_t::get_can_device_name(const std::string& id_name) const
-{
- std::string ret;
- for(const auto& d: can_devices_)
- {
- if(d.first == id_name)
- {
- ret = d.second;
- break;
- }
- }
- return ret;
-}