diff options
Diffstat (limited to 'CAN-binder/low-can-binding')
40 files changed, 5456 insertions, 0 deletions
diff --git a/CAN-binder/low-can-binding/CMakeLists.txt b/CAN-binder/low-can-binding/CMakeLists.txt new file mode 100644 index 00000000..276097fc --- /dev/null +++ b/CAN-binder/low-can-binding/CMakeLists.txt @@ -0,0 +1,66 @@ +########################################################################### +# Copyright 2015, 2016, 2017 IoT.bzh +# +# author: Fulup Ar Foll <fulup@iot.bzh> +# contrib: 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. +########################################################################### + +# Add target to project dependency list +PROJECT_TARGET_ADD(low-can) + + # Define project Targets + add_library(${TARGET_NAME} MODULE + binding/${TARGET_NAME}-hat.cpp + binding/${TARGET_NAME}-cb.cpp + binding/configuration.cpp + binding/configuration-generated.cpp + can/can-bus.cpp + can/can-message-set.cpp + can/can-message-definition.cpp + can/can-message.cpp + can/can-signals.cpp + can/can-decoder.cpp + diagnostic/diagnostic-message.cpp + diagnostic/diagnostic-manager.cpp + diagnostic/active-diagnostic-request.cpp + utils/signals.cpp + utils/openxc-utils.cpp + utils/timer.cpp + utils/socketcan.cpp + utils/socketcan-raw.cpp + utils/socketcan-bcm.cpp + utils/config-parser.cpp) + + # Binder exposes a unique public entry point + SET_TARGET_PROPERTIES(${TARGET_NAME} PROPERTIES + PREFIX "afs-" + LABELS "BINDING" + LINK_FLAGS ${BINDINGS_LINK_FLAG} + OUTPUT_NAME ${TARGET_NAME} + ) + + # Library dependencies (include updates automatically) + TARGET_LINK_LIBRARIES(${TARGET_NAME} + ini-config + openxc-message-format + uds-c + isotp-c + bitfield-c + ${link_libraries}) + + # installation directory + INSTALL(TARGETS ${TARGET_NAME} + LIBRARY DESTINATION ${BINDINGS_INSTALL_DIR}) + diff --git a/CAN-binder/low-can-binding/binding/configuration-generated.cpp b/CAN-binder/low-can-binding/binding/configuration-generated.cpp new file mode 100644 index 00000000..bce469e5 --- /dev/null +++ b/CAN-binder/low-can-binding/binding/configuration-generated.cpp @@ -0,0 +1,486 @@ +#include "configuration.hpp" +#include "../can/can-decoder.hpp" + +configuration_t::configuration_t() + : can_bus_manager_{utils::config_parser_t{"/etc/dev-mapping.conf"}} + , can_message_set_{ + {std::make_shared<can_message_set_t>(can_message_set_t{0,"example", + { // beginning can_message_definition_ vector + {std::make_shared<can_message_definition_t>(can_message_definition_t{"can0",0x3D9,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true, + { // beginning can_signals vector + {std::make_shared<can_signal_t> (can_signal_t{ + "engine.speed", + 16, + 16, + 0.250000f, + 0.00000, + 0, + 0, + frequency_clock_t(0.00000f), + true, + false, + { + }, + false, + nullptr, + nullptr, + false + })}, + {std::make_shared<can_signal_t> (can_signal_t{ + "fuel.level.low", + 55, + 1, + 1.00000f, + 0.00000, + 0, + 0, + frequency_clock_t(0.00000f), + true, + false, + { + }, + false, + decoder_t::booleanDecoder, + nullptr, + false + })}, + {std::make_shared<can_signal_t> (can_signal_t{ + "fuel.level", + 8, + 8, + 0.392157f, + 0.00000, + 0, + 0, + frequency_clock_t(0.00000f), + true, + false, + { + }, + false, + nullptr, + nullptr, + false + })} + } // end can_signals vector + })} // end can_message_definition entry +, {std::make_shared<can_message_definition_t>(can_message_definition_t{"can0",0x3E9,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true, + { // beginning can_signals vector + {std::make_shared<can_signal_t> (can_signal_t{ + "vehicle.average.speed", + 0, + 15, + 0.0156250f, + 0.00000, + 0, + 0, + frequency_clock_t(0.00000f), + true, + false, + { + }, + false, + nullptr, + nullptr, + false + })} + } // end can_signals vector + })} // end can_message_definition entry +, {std::make_shared<can_message_definition_t>(can_message_definition_t{"can0",0x4D1,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true, + { // beginning can_signals vector + {std::make_shared<can_signal_t> (can_signal_t{ + "engine.oil.temp", + 16, + 8, + 1.00000f, + 0.00000, + 0, + 0, + frequency_clock_t(0.00000f), + true, + false, + { + }, + false, + nullptr, + nullptr, + false + })}, + {std::make_shared<can_signal_t> (can_signal_t{ + "engine.oil.temp.high", + 7, + 1, + 1.00000f, + 0.00000, + 0, + 0, + frequency_clock_t(0.00000f), + true, + false, + { + }, + false, + decoder_t::booleanDecoder, + nullptr, + false + })} + } // end can_signals vector + })} // end can_message_definition entry +, {std::make_shared<can_message_definition_t>(can_message_definition_t{"can0",0x620,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true, + { // beginning can_signals vector + {std::make_shared<can_signal_t> (can_signal_t{ + "doors.boot.open", + 56, + 1, + 1.00000f, + 0.00000, + 0, + 0, + frequency_clock_t(0.00000f), + true, + false, + { + }, + false, + decoder_t::booleanDecoder, + nullptr, + false + })}, + {std::make_shared<can_signal_t> (can_signal_t{ + "doors.front_left.open", + 46, + 1, + 1.00000f, + 0.00000, + 0, + 0, + frequency_clock_t(0.00000f), + true, + false, + { + }, + false, + decoder_t::booleanDecoder, + nullptr, + false + })}, + {std::make_shared<can_signal_t> (can_signal_t{ + "doors.front_right.open", + 47, + 1, + 1.00000f, + 0.00000, + 0, + 0, + frequency_clock_t(0.00000f), + true, + false, + { + }, + false, + decoder_t::booleanDecoder, + nullptr, + false + })}, + {std::make_shared<can_signal_t> (can_signal_t{ + "doors.rear_left.open", + 54, + 1, + 1.00000f, + 0.00000, + 0, + 0, + frequency_clock_t(0.00000f), + true, + false, + { + }, + false, + decoder_t::booleanDecoder, + nullptr, + false + })}, + {std::make_shared<can_signal_t> (can_signal_t{ + "doors.rear_right.open", + 53, + 4, + 1.00000f, + 0.00000, + 0, + 0, + frequency_clock_t(0.00000f), + true, + false, + { + }, + false, + decoder_t::booleanDecoder, + nullptr, + false + })} + } // end can_signals vector + })} // end can_message_definition entry + }, // end can_message_definition vector + { // beginning diagnostic_messages_ vector + {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 4, + "engine.load", + 0, + 0, + UNIT::INVALID, + 5.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 5, + "engine.coolant.temperature", + 0, + 0, + UNIT::INVALID, + 1.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 10, + "fuel.pressure", + 0, + 0, + UNIT::INVALID, + 1.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 11, + "intake.manifold.pressure", + 0, + 0, + UNIT::INVALID, + 1.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 12, + "engine.speed", + 0, + 0, + UNIT::INVALID, + 5.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 13, + "vehicle.speed", + 0, + 0, + UNIT::INVALID, + 5.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 15, + "intake.air.temperature", + 0, + 0, + UNIT::INVALID, + 1.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 16, + "mass.airflow", + 0, + 0, + UNIT::INVALID, + 5.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 17, + "throttle.position", + 0, + 0, + UNIT::INVALID, + 5.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 31, + "running.time", + 0, + 0, + UNIT::INVALID, + 1.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 45, + "EGR.error", + 0, + 0, + UNIT::INVALID, + 0.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 47, + "fuel.level", + 0, + 0, + UNIT::INVALID, + 1.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 51, + "barometric.pressure", + 0, + 0, + UNIT::INVALID, + 1.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 70, + "ambient.air.temperature", + 0, + 0, + UNIT::INVALID, + 1.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 76, + "commanded.throttle.position", + 0, + 0, + UNIT::INVALID, + 1.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 82, + "ethanol.fuel.percentage", + 0, + 0, + UNIT::INVALID, + 1.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 90, + "accelerator.pedal.position", + 0, + 0, + UNIT::INVALID, + 5.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 91, + "hybrid.battery-pack.remaining.life", + 0, + 0, + UNIT::INVALID, + 5.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 92, + "engine.oil.temperature", + 0, + 0, + UNIT::INVALID, + 1.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 94, + "engine.fuel.rate", + 0, + 0, + UNIT::INVALID, + 1.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 99, + "engine.torque", + 0, + 0, + UNIT::INVALID, + 1.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} + } // end diagnostic_messages_ vector + })} // end can_message_set entry + } // end can_message_set vector +{ + for(auto& cms: can_message_set_) + { + std::vector<std::shared_ptr<can_message_definition_t> >& can_messages_definition = cms->get_can_message_definition(); + for(auto& cmd : can_messages_definition) + { + cmd->set_parent(cms.get()); + std::vector<std::shared_ptr<can_signal_t> >& can_signals = cmd->get_can_signals(); + for(auto& sig: can_signals) + { + sig->set_parent(cmd.get()); + } + } + + std::vector<std::shared_ptr<diagnostic_message_t> >& diagnostic_messages = cms->get_diagnostic_messages(); + for(auto& dm : diagnostic_messages) + { + dm->set_parent(cms.get()); + } + } +} + +const std::string configuration_t::get_diagnostic_bus() const +{ + return "can0"; +} + + diff --git a/CAN-binder/low-can-binding/binding/configuration.cpp b/CAN-binder/low-can-binding/binding/configuration.cpp new file mode 100644 index 00000000..623ba785 --- /dev/null +++ b/CAN-binder/low-can-binding/binding/configuration.cpp @@ -0,0 +1,96 @@ +/* + * 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 "configuration.hpp" + +#include "../utils/signals.hpp" +#include "../utils/openxc-utils.hpp" + +/// @brief Return singleton instance of configuration object. +configuration_t& configuration_t::instance() +{ + static configuration_t config; + return config; +} + +can_bus_t& configuration_t::get_can_bus_manager() +{ + return can_bus_manager_; +} + +diagnostic_manager_t& configuration_t::get_diagnostic_manager() +{ + return diagnostic_manager_; +} + +uint8_t configuration_t::get_active_message_set() const +{ + return active_message_set_; +} + +std::vector<std::shared_ptr<can_message_set_t> > configuration_t::get_can_message_set() +{ + return can_message_set_; +} + +std::vector<std::shared_ptr<can_signal_t> > configuration_t::get_all_can_signals() +{ + return can_message_set_[active_message_set_]->get_all_can_signals(); +} + +std::vector<std::shared_ptr<diagnostic_message_t> >& configuration_t::get_diagnostic_messages() +{ + return can_message_set_[active_message_set_]->get_diagnostic_messages(); +} + +std::vector<std::shared_ptr<can_message_definition_t> >& configuration_t::get_can_message_definition() +{ + return can_message_set_[active_message_set_]->get_can_message_definition(); +} + +uint32_t configuration_t::get_signal_id(diagnostic_message_t& sig) const +{ + return sig.get_pid(); +} + +uint32_t configuration_t::get_signal_id(can_signal_t& sig) const +{ + return sig.get_message()->get_id(); +} + +void configuration_t::set_active_message_set(uint8_t id) +{ + active_message_set_ = id; +} + + +std::shared_ptr<diagnostic_message_t> configuration_t::get_diagnostic_message(std::string message_name) const +{ + struct utils::signals_found found; + found = utils::signals_manager_t::instance().find_signals(build_DynamicField(message_name)); + if(! found.diagnostic_messages.empty()) + return found.diagnostic_messages.front(); + return nullptr; +} + +DiagnosticRequest* configuration_t::get_request_from_diagnostic_message(std::string message_name) const +{ + std::shared_ptr<diagnostic_message_t> diag_msg = get_diagnostic_message(message_name); + if( diag_msg != nullptr && diag_msg->get_supported()) + return new DiagnosticRequest(diag_msg->build_diagnostic_request()); + return nullptr; +} diff --git a/CAN-binder/low-can-binding/binding/configuration.hpp b/CAN-binder/low-can-binding/binding/configuration.hpp new file mode 100644 index 00000000..3ab88ee5 --- /dev/null +++ b/CAN-binder/low-can-binding/binding/configuration.hpp @@ -0,0 +1,109 @@ +/* + * 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 <map> +#include <vector> +#include <string> +#include <memory> + +#include "../can/can-bus.hpp" +#include "../can/can-message-set.hpp" +#include "../can/can-signals.hpp" +#include "../diagnostic/diagnostic-manager.hpp" + +#include "low-can-hat.hpp" + +/// +/// @brief Class representing a configuration attached to the binding. +/// +/// It regroups all needed objects instance from other class +/// that will be used along the binding life. It gets a global vision +/// on which signals are implemented for that binding. +/// Here, it is only the definition of the class with predefined accessors +/// methods used in the binding. +/// +/// It will be the reference point to needed objects. +/// +class configuration_t +{ + private: + can_bus_t can_bus_manager_; ///< instanciate the CAN bus manager. It's the one in charge of initialize the CAN bus devices. + diagnostic_manager_t diagnostic_manager_; ///< Diagnostic manager use to manage diagnostic message communication. + uint8_t active_message_set_ = 0; ///< Which is the active message set ? Default to 0. + + std::vector<std::shared_ptr<can_message_set_t> > can_message_set_; ///< Vector holding all message set from JSON signals description file + //std::vector<std::vector<can_message_definition_t>> can_message_definition_; ///< Vector of vector holding all can message definition from JSON signals description file. This describe a CAN message. First vector map to message set + //std::vector<std::vector<can_signal_t>> can_signals_; ///< Vector of vector holding all can signasl from JSON signals description file. A CAN signal is a part of a CAN message. First vector map to message set + //std::vector<std::vector<std::shared_ptr<diagnostic_message_t> > > diagnostic_messages_; ///< Vector of vector holding all diagnostics messages from JSON signals description file. First vector map to message set + + configuration_t(); ///< Private constructor with implementation generated by the AGL generator. + + public: + static configuration_t& instance(); + + can_bus_t& get_can_bus_manager(); + + const std::string get_diagnostic_bus() const; + + diagnostic_manager_t& get_diagnostic_manager() ; + + uint8_t get_active_message_set() const; + + std::vector<std::shared_ptr<can_message_set_t> > get_can_message_set(); + + std::vector<std::shared_ptr<can_signal_t> > get_all_can_signals(); + + std::vector<std::shared_ptr<diagnostic_message_t> >& get_diagnostic_messages(); + + const std::vector<std::string>& get_signals_prefix() const; + + std::vector<std::shared_ptr<can_message_definition_t> >& get_can_message_definition(); + + uint32_t get_signal_id(diagnostic_message_t& sig) const; + + uint32_t get_signal_id(can_signal_t& sig) const; + + void set_active_message_set(uint8_t id); + + std::shared_ptr<diagnostic_message_t> get_diagnostic_message(std::string message_name) const; + DiagnosticRequest* get_request_from_diagnostic_message(std::string message_name) const; +/* + /// TODO: implement this function as method into can_bus class + /// @brief Pre initialize actions made before 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. + void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount); + /// TODO: implement this function as method into can_bus class + /// @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. + void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount); + /// TODO: implement this function as method into can_bus class + /// @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. + void logBusStatistics(can_bus_dev_t* buses, const int busCount); + /// TODO: implement this function as method into can_bus class + /// @brief Log transfer statistics about all active CAN buses to the debug log. + /// @param[in] buses An array of active CAN buses. + bool isBusActive(can_bus_dev_t* bus); + */ +}; + diff --git a/CAN-binder/low-can-binding/binding/low-can-cb.cpp b/CAN-binder/low-can-binding/binding/low-can-cb.cpp new file mode 100644 index 00000000..4faae852 --- /dev/null +++ b/CAN-binder/low-can-binding/binding/low-can-cb.cpp @@ -0,0 +1,306 @@ +/* + * Copyright (C) 2015, 2016 "IoT.bzh" + * Author "Romain Forlot" <romain.forlot@iot.bzh> + * Author "Loic Collignon" <loic.collignon@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 "low-can-hat.hpp" + +#include <map> +#include <queue> +#include <mutex> +#include <vector> +#include <thread> +#include <json-c/json.h> +#include <systemd/sd-event.h> + +#include "openxc.pb.h" +#include "configuration.hpp" +#include "../can/can-bus.hpp" +#include "../can/can-signals.hpp" +#include "../can/can-message.hpp" +#include "../utils/timer.hpp" +#include "../utils/signals.hpp" +#include "../diagnostic/diagnostic-message.hpp" +#include "../utils/openxc-utils.hpp" + +extern "C" +{ + #include <afb/afb-service-itf.h> +}; + +void on_no_clients(std::string message) +{ + DiagnosticRequest* diag_req = configuration_t::instance().get_request_from_diagnostic_message(message); + if(diag_req != nullptr) + { + active_diagnostic_request_t* adr = configuration_t::instance().get_diagnostic_manager().find_recurring_request(diag_req); + if( adr != nullptr) + configuration_t::instance().get_diagnostic_manager().cleanup_request(adr, true); + } +} + +static void push_n_notify(const can_message_t cm) +{ + can_bus_t& cbm = configuration_t::instance().get_can_bus_manager(); + std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex()); + { cbm.push_new_can_message(cm); } + cbm.get_new_can_message_cv().notify_one(); +} + +int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata) +{ + can_message_t cm; + can_signal_t* sig; + diagnostic_manager_t& diag_m = configuration_t::instance().get_diagnostic_manager(); + + if(userdata != nullptr) + { + sig = (can_signal_t*)userdata; + utils::socketcan_bcm_t s = sig->get_socket(); + s >> cm; + } + else + { + utils::socketcan_bcm_t s = diag_m.get_socket(); + s >> cm; + } + + push_n_notify(cm); + + /* check if error or hangup */ + if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0) + { + sd_event_source_unref(s); + if(userdata != nullptr) + { + sig->get_socket().close(); + sig->create_rx_filter(); + NOTICE(binder_interface, "%s: Recreated RX_SETUP BCM job for signal: %s", __FUNCTION__, sig->get_name().c_str()); + } + else + { + diag_m.get_socket().close(); + diag_m.cleanup_active_requests(true); + ERROR(binder_interface, "%s: Error on diagnostic manager socket, cancelling active requests.", __FUNCTION__); + } + return -1; + } + + return 0; +} + + +///****************************************************************************** +/// +/// Subscription and unsubscription +/// +///*******************************************************************************/ + +static int make_subscription_unsubscription(struct afb_req request, const std::string& sig_name, std::map<std::string, struct afb_event>& s, bool subscribe) +{ + /* Make the subscription or unsubscription to the event */ + if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[sig_name])) < 0) + { + ERROR(binder_interface, "%s: Operation goes wrong for signal: %s", __FUNCTION__, sig_name.c_str()); + return 0; + } + return 1; +} + +static int create_event_handle(const std::string& sig_name, std::map<std::string, struct afb_event>& s) +{ + s[sig_name] = afb_daemon_make_event(binder_interface->daemon, sig_name.c_str()); + if (!afb_event_is_valid(s[sig_name])) + { + ERROR(binder_interface, "%s: Can't create an event for %s, something goes wrong.", __FUNCTION__, sig_name.c_str()); + return 0; + } + return 1; +} + +/// @brief Will determine if it is needed or not to create the event handle and checks it to be sure that +/// we got a valid afb_event to get subscribe or unsubscribe. Then launch the subscription or unsubscription +/// against the application framework using that event handle. +static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, const std::string& sig) +{ + int ret; + + utils::signals_manager_t& sm = utils::signals_manager_t::instance(); + + std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); + std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals(); + if (s.find(sig) != s.end()) + { + if (!afb_event_is_valid(s[sig]) && !subscribe) + { + NOTICE(binder_interface, "%s: Event isn't valid, no need to unsubscribed.", __FUNCTION__); + ret = -1; + } + else + { + // Event it isn't valid annymore, recreate it + ret = create_event_handle(sig, s); + } + } + else + { + /* Event doesn't exist , so let's create it */ + struct afb_event empty_event = {nullptr, nullptr}; + s[sig] = empty_event; + ret = create_event_handle(sig, s); + } + + // Check whether or not the event handler has been correctly created and + // make the subscription/unsubscription operation is so. + if (ret <= 0) + return ret; + return make_subscription_unsubscription(request, sig, s, subscribe); +} + +/// +/// @brief subscribe to all signals in the vector signals +/// +/// @param[in] afb_req request : contain original request use to subscribe or unsubscribe +/// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription +/// @param[in] signals - struct containing vectors with can_signal_t and diagnostic_messages to subscribe +/// +/// @return Number of correctly subscribed signal +/// +static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals) +{ + int ret, rets = 0; + + //TODO: Implement way to dynamically call the right function no matter + // how much signals types we have. + configuration_t& conf = configuration_t::instance(); + + for(const auto& sig : signals.diagnostic_messages) + { + diagnostic_manager_t& diag_m = conf.get_diagnostic_manager(); + DiagnosticRequest* diag_req = conf.get_request_from_diagnostic_message(sig->get_name()); + + // If the requested diagnostic message isn't supported by the car then unsubcribe it + // no matter what we want, worse case will be a fail unsubscription but at least we don't + // poll a PID for nothing. + if(sig->get_supported() && subscribe) + { + float frequency = sig->get_frequency(); + diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), (float)frequency); + //TODO: Adding callback requesting ignition status: diag_req, sig.c_str(), false, diagnostic_message_t::decode_obd2_response, diagnostic_message_t::check_ignition_status, frequency); + } + else + { + diag_m.cleanup_request( + diag_m.find_recurring_request(diag_req), true); + WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, sig->get_name().c_str()); + return -1; + } + + ret = subscribe_unsubscribe_signal(request, subscribe, sig->get_name()); + if(ret <= 0) + return ret; + rets++; + DEBUG(binder_interface, "%s: Signal: %s subscribed", __FUNCTION__, sig->get_name().c_str()); + } + + for(const auto& sig: signals.can_signals) + { + if(sig->create_rx_filter() <= 0 && + subscribe_unsubscribe_signal(request, subscribe, sig->get_name()) <=0) + { + return -1; + } + struct sd_event_source* e_source; + sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &e_source, sig->get_socket().socket(), EPOLLIN, read_message, sig.get()); + rets++; + DEBUG(binder_interface, "%s: signal: %s subscribed", __FUNCTION__, sig->get_name().c_str()); + } + return rets; +} + +static int process_args(struct afb_req request, const std::vector<std::string>& args, bool subscribe) +{ + struct utils::signals_found sf; + int ok = 0, total = 0; + + for(const auto& sig: args) + { + openxc_DynamicField search_key = build_DynamicField(sig); + sf = utils::signals_manager_t::instance().find_signals(search_key); + total = (int)sf.can_signals.size() + (int)sf.diagnostic_messages.size(); + + if (sf.can_signals.empty() && sf.diagnostic_messages.empty()) + NOTICE(binder_interface, "%s: No signal(s) found for %s.", __FUNCTION__, sig.c_str()); + else + ok = subscribe_unsubscribe_signals(request, subscribe, sf); + } + NOTICE(binder_interface, "%s: Subscribed/unsubscribe correctly to %d/%d signal(s).", __FUNCTION__, ok, total); + return ok; +} + +static const std::vector<std::string> parse_args_from_request(struct afb_req request) +{ + int i, n; + std::vector<std::string> ret; + struct json_object *args, *a, *x; + + /* retrieve signals to subscribe */ + args = afb_req_json(request); + if (args == NULL || !json_object_object_get_ex(args, "event", &a)) + { + ret.push_back("*"); + } + else if (json_object_get_type(a) != json_type_array) + { + ret.push_back(json_object_get_string(a)); + } + else + { + n = json_object_array_length(a); + for (i = 0 ; i < n ; i++) + { + x = json_object_array_get_idx(a, i); + ret.push_back(json_object_get_string(x)); + } + } + + return ret; +} + +void subscribe(struct afb_req request) +{ + bool subscribe = true; + + const std::vector<std::string> args = parse_args_from_request(request); + + if (process_args(request, args, subscribe) > 0) + afb_req_success(request, NULL, NULL); + else + afb_req_fail(request, "error", NULL); +} + +void unsubscribe(struct afb_req request) +{ + std::vector<std::string> args; + bool subscribe = false; + + args = parse_args_from_request(request); + + if (process_args(request, args, subscribe) > 0) + afb_req_success(request, NULL, NULL); + else + afb_req_fail(request, "error", NULL); +}
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/binding/low-can-hat.cpp b/CAN-binder/low-can-binding/binding/low-can-hat.cpp new file mode 100644 index 00000000..918625f6 --- /dev/null +++ b/CAN-binder/low-can-binding/binding/low-can-hat.cpp @@ -0,0 +1,83 @@ +/* + * Copyright (C) 2015, 2016 "IoT.bzh" + * Author "Romain Forlot" <romain.forlot@iot.bzh> + * Author "Loic Collignon" <loic.collignon@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 "low-can-hat.hpp" + +#include <map> +#include <queue> +#include <mutex> +#include <vector> +#include <json-c/json.h> + +#include "configuration.hpp" +#include "../can/can-bus.hpp" + +extern "C" +{ + #include <afb/afb-service-itf.h> +}; + +// Interface between the daemon and the binding +const struct afb_binding_interface *binder_interface; + +extern "C" +{ + static const struct afb_verb_desc_v1 verbs[]= + { + { .name= "subscribe", .session= AFB_SESSION_NONE, .callback= subscribe, .info= "subscribe to notification of CAN bus messages." }, + { .name= "unsubscribe", .session= AFB_SESSION_NONE, .callback= unsubscribe, .info= "unsubscribe a previous subscription." } + }; + + static const struct afb_binding binding_desc { + AFB_BINDING_VERSION_1, + { + "Low level CAN bus service", + "low-can", + verbs + } + }; + + const struct afb_binding *afbBindingV1Register (const struct afb_binding_interface *itf) + { + binder_interface = itf; + + return &binding_desc; + } + + /// @brief Initialize the binding. + /// + /// @param[in] service Structure which represent the Application Framework Binder. + /// + /// @return Exit code, zero if success. + int afbBindingV1ServiceInit(struct afb_service service) + { + can_bus_t& can_bus_manager = configuration_t::instance().get_can_bus_manager(); + + can_bus_manager.set_can_devices(); + can_bus_manager.start_threads(); + + /// Initialize Diagnostic manager that will handle obd2 requests. + /// We pass by default the first CAN bus device to its Initialization. + /// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus. + if(configuration_t::instance().get_diagnostic_manager().initialize()) + return 0; + + ERROR(binder_interface, "%s: There was something wrong with CAN device Initialization.", __FUNCTION__); + return 1; + } +}; diff --git a/CAN-binder/low-can-binding/binding/low-can-hat.hpp b/CAN-binder/low-can-binding/binding/low-can-hat.hpp new file mode 100644 index 00000000..b3384d77 --- /dev/null +++ b/CAN-binder/low-can-binding/binding/low-can-hat.hpp @@ -0,0 +1,38 @@ +/* + * Copyright (C) 2015, 2016 "IoT.bzh" + * Author "Romain Forlot" <romain.forlot@iot.bzh> + * Author "Loic Collignon" <loic.collignon@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 <cstddef> +#include <string> +#include <systemd/sd-event.h> + +extern "C" +{ + #include <afb/afb-binding.h> +}; + +extern "C" struct afb_binding_interface; + +extern const struct afb_binding_interface *binder_interface; + +void on_no_clients(std::string message); +int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata); + +void subscribe(struct afb_req request); +void unsubscribe(struct afb_req request);
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp new file mode 100644 index 00000000..c2968054 --- /dev/null +++ b/CAN-binder/low-can-binding/can/can-bus.cpp @@ -0,0 +1,329 @@ +/* + * 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/configuration.hpp" +#include "../utils/signals.hpp" +#include "../utils/openxc-utils.hpp" + +extern "C" +{ + #include <afb/afb-binding.h> +} + +/// @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 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. +int can_bus_t::process_can_signals(const can_message_t& can_message) +{ + int processed_signals = 0; + struct utils::signals_found signals; + openxc_DynamicField search_key, decoded_message; + openxc_VehicleMessage vehicle_message; + configuration_t& conf = configuration_t::instance(); + utils::signals_manager_t& sm = utils::signals_manager_t::instance(); + + // First we have to found which can_signal_t it is + search_key = build_DynamicField((double)can_message.get_id()); + signals = sm.find_signals(search_key); + + // Decoding the message ! Don't kill the messenger ! + for(const auto& sig : signals.can_signals) + { + std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); + std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals(); + + if( s.find(sig->get_name()) != s.end() && afb_event_is_valid(s[sig->get_name()])) + { + bool send = true; + decoded_message = decoder_t::translateSignal(*sig, can_message, conf.get_all_can_signals(), &send); + + if(send) + { + openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message); + vehicle_message = build_VehicleMessage(s_message); + + std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); + push_new_vehicle_message(vehicle_message); + } + processed_signals++; + } + } + + DEBUG(binder_interface, "%s: %d/%d CAN signals processed.", __FUNCTION__, processed_signals, (int)signals.can_signals.size()); + return processed_signals; +} + +/// @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. +int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message) +{ + int processed_signals = 0; + + utils::signals_manager_t& sm = utils::signals_manager_t::instance(); + + std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); + std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals(); + + 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(vehicle_message.simple_message.name) != s.end() && afb_event_is_valid(s[vehicle_message.simple_message.name]))) + { + std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); + push_new_vehicle_message(vehicle_message); + processed_signals++; + } + + return processed_signals; +} + +/// @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() +{ + can_message_t can_message; + + 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()) + { + can_message = next_can_message(); + + if(configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message)) + process_diagnostic_signals(configuration_t::instance().get_diagnostic_manager(), can_message); + else + process_can_signals(can_message); + } + } + new_decoded_can_message_.notify_one(); + } +} + +/// @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_VehicleMessage v_message; + 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()) + { + v_message = next_vehicle_message(); + + s_message = get_simple_message(v_message); + { + std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); + std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals(); + if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)])) + { + jo = json_object_new_object(); + jsonify_simple(s_message, jo); + if(afb_event_push(s[std::string(s_message.name)], jo) == 0) + on_no_clients(std::string(s_message.name)); + } + } + } + } +} + +/// @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); + if(!th_decoding_.joinable()) + is_decoding_ = false; + + is_pushing_ = true; + th_pushing_ = std::thread(&can_bus_t::can_event_push, this); + if(!th_pushing_.joinable()) + is_pushing_ = false; +} + +/// @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 +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, "%s: Here is the next can message : id %X, length %X, data %02X%02X%02X%02X%02X%02X%02X%02X", __FUNCTION__, 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 +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, "%s: next vehicle message poped", __FUNCTION__); + 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(const openxc_VehicleMessage& v_msg) +{ + vehicle_message_q_.push(v_msg); +} + +/// @brief Return the shared pointer on the can_bus_dev_t initialized +/// with device_name "bus" +/// +/// @param[in] bus - CAN bus device name to retrieve. +/// +/// @return A shared pointer on an object can_bus_dev_t +void can_bus_t::set_can_devices() +{ + can_devices_ = conf_file_.get_devices_name(); + + if(can_devices_.empty()) + { + ERROR(binder_interface, "%s: No mapping found in config file: '%s'. Check it that it have a CANbus-mapping section.", + __FUNCTION__, conf_file_.filepath().c_str()); + } +} + +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; +} + +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; +}
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/can/can-bus.hpp b/CAN-binder/low-can-binding/can/can-bus.hpp new file mode 100644 index 00000000..1efd2049 --- /dev/null +++ b/CAN-binder/low-can-binding/can/can-bus.hpp @@ -0,0 +1,91 @@ +/* + * Copyright (C) 2015, 2016, 2017 "IoT.bzh" + * Author "Romain Forlot" <romain.forlot@iot.bzh> + * Author "Loïc Collignon" <loic.collignon@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 "openxc.pb.h" +#include "can-message.hpp" +#include "../utils/config-parser.hpp" +#include "../binding/low-can-hat.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 diagnostic_manager_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: + utils::config_parser_t conf_file_; ///< configuration file handle used to initialize can_bus_dev_t objects. + + int process_can_signals(const can_message_t& can_message); + int process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message); + + void can_decode_message(); + std::thread th_decoding_; ///< thread that'll handle decoding a can frame + bool is_decoding_ = false; ///< boolean member controling thread while loop + + void can_event_push(); + std::thread th_pushing_; ///< thread that'll handle pushing decoded can frame to subscribers + bool is_pushing_ = false; ///< boolean member controling thread while loop + + std::condition_variable new_can_message_cv_; ///< condition_variable use to wait until there is a new CAN message to read + std::mutex can_message_mutex_; ///< mutex protecting the can_message_q_ 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_; ///< condition_variable use to wait until there is a new vehicle message to read from the queue vehicle_message_q_ + std::mutex decoded_can_message_mutex_; ///< mutex protecting the vehicle_message_q_ queue. + std::queue <openxc_VehicleMessage> vehicle_message_q_; ///< queue that'll store openxc_VehicleMessage to pushed + + std::vector<std::pair<std::string, std::string> > can_devices_; +public: + can_bus_t(utils::config_parser_t conf_file); + can_bus_t(can_bus_t&&); + + void set_can_devices(); + int get_can_device_index(const std::string& bus_name) const; + const std::string get_can_device_name(const std::string& id_name) const; + + void start_threads(); + void stop_threads(); + + can_message_t next_can_message(); + void push_new_can_message(const can_message_t& can_msg); + std::mutex& get_can_message_mutex(); + std::condition_variable& get_new_can_message_cv(); + + openxc_VehicleMessage next_vehicle_message(); + void push_new_vehicle_message(const openxc_VehicleMessage& v_msg); +}; diff --git a/CAN-binder/low-can-binding/can/can-command.hpp b/CAN-binder/low-can-binding/can/can-command.hpp new file mode 100644 index 00000000..4cf20cb5 --- /dev/null +++ b/CAN-binder/low-can-binding/can/can-command.hpp @@ -0,0 +1,55 @@ +/* + * 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 "openxc.pb.h" +#include "can-signals.hpp" + +/// +/// @brief The type signature for a function to handle a custom OpenXC command. +/// +/// @param[in] name - the name of the received command. +/// @param[in] value - the value of the received command, in a DynamicField. The actual type +/// may be a number, string or bool. +/// @param[in] event - an optional event from the received command, in a DynamicField. The +/// actual type may be a number, string or bool. +/// @param[in] signals - The list of all signals. +/// @param[in] signalCount - The length of the signals array. +/// +typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value, + openxc_DynamicField* event, can_signal_t* signals, int signalCount); + +/// @struct CanCommand +/// @brief The structure to represent a supported custom OpenXC command. +/// +/// For completely customized CAN commands without a 1-1 mapping between an +/// OpenXC message from the host and a CAN signal, you can define the name of the +/// command and a custom function to handle it in the VI. An example is +/// the "turn_signal_status" command in OpenXC, which has a value of "left" or +/// "right". The vehicle may have separate CAN signals for the left and right +/// turn signals, so you will need to implement a custom command handler to send +/// the correct signals. +/// +/// Command handlers are also useful if you want to trigger multiple CAN messages +/// or signals from a signal OpenXC message. +/// +typedef struct { + const char* generic_name; /*!< generic_name - The name of the command.*/ + CommandHandler handler; /*!< handler - An function to process the received command's data and perform some + * action.*/ +} CanCommand; diff --git a/CAN-binder/low-can-binding/can/can-decoder.cpp b/CAN-binder/low-can-binding/can/can-decoder.cpp new file mode 100644 index 00000000..aa1f57ed --- /dev/null +++ b/CAN-binder/low-can-binding/can/can-decoder.cpp @@ -0,0 +1,244 @@ +/* + * 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 "can-decoder.hpp" + +#include "canutil/read.h" +#include "../utils/openxc-utils.hpp" +#include "can-message-definition.hpp" +#include "../binding/low-can-hat.hpp" + +/// @brief Parse the signal's bitfield from the given data and return the raw +/// value. +/// +/// @param[in] signal - The signal to parse from the data. +/// @param[in] message - can_message_t to parse +/// +/// @return Returns the raw value of the signal parsed as a bitfield from the given byte +/// array. +/// +float decoder_t::parseSignalBitfield(can_signal_t& signal, const can_message_t& message) +{ + return bitfield_parse_float(message.get_data(), CAN_MESSAGE_SIZE, + signal.get_bit_position(), signal.get_bit_size(), signal.get_factor(), + signal.get_offset()); +} + +/// @brief Wrap a raw CAN signal value in a DynamicField without modification. +/// +/// This is an implementation of the SignalDecoder type signature, and can be +/// used directly in the can_signal_t.decoder field. +/// +/// @param[in] signal - The details of the signal that contains the state mapping. +/// @param[in] signals - The list of all signals +/// @param[in] value - The numerical value that will be wrapped in a DynamicField. +/// @param[out] send - An output argument that will be set to false if the value should +/// not be sent for any reason. +/// +/// @return Returns a DynamicField with the original, unmodified raw CAN signal value as +/// its numeric value. The 'send' argument will not be modified as this decoder +/// always succeeds. +/// +openxc_DynamicField decoder_t::noopDecoder(can_signal_t& signal, + const std::vector<std::shared_ptr<can_signal_t> > signals, float value, bool* send) +{ + openxc_DynamicField decoded_value = build_DynamicField(value); + + return decoded_value; +} +/// @brief Coerces a numerical value to a boolean. +/// +/// This is an implementation of the SignalDecoder type signature, and can be +/// used directly in the can_signal_t.decoder field. +/// +/// @param[in] signal - The details of the signal that contains the state mapping. +/// @param[in] signals - The list of all signals +/// @param[in] value - The numerical value that will be converted to a boolean. +/// @param[out] send - An output argument that will be set to false if the value should +/// not be sent for any reason. +/// +/// @return Returns a DynamicField with a boolean value of false if the raw signal value +/// is 0.0, otherwise true. The 'send' argument will not be modified as this +/// decoder always succeeds. +/// +openxc_DynamicField decoder_t::booleanDecoder(can_signal_t& signal, + const std::vector<std::shared_ptr<can_signal_t> > signals, float value, bool* send) +{ + openxc_DynamicField decoded_value = build_DynamicField(value == 0.0 ? false : true); + + return decoded_value; +} +/// @brief Update the metadata for a signal and the newly received value. +/// +/// This is an implementation of the SignalDecoder type signature, and can be +/// used directly in the can_signal_t.decoder field. +/// +/// This function always flips 'send' to false. +/// +/// @param[in] signal - The details of the signal that contains the state mapping. +/// @param[in] signals - The list of all signals. +/// @param[in] value - The numerical value that will be converted to a boolean. +/// @param[out] send - This output argument will always be set to false, so the caller will +/// know not to publish this value to the pipeline. +/// +/// @return Return value is undefined. +/// +openxc_DynamicField decoder_t::ignoreDecoder(can_signal_t& signal, + const std::vector<std::shared_ptr<can_signal_t> > signals, float value, bool* send) +{ + if(send) + *send = false; + + openxc_DynamicField decoded_value; + + return decoded_value; +} + +/// @brief Find and return the corresponding string state for a CAN signal's +/// raw integer value. +/// +/// This is an implementation of the SignalDecoder type signature, and can be +/// used directly in the can_signal_t.decoder field. +/// +/// @param[in] signal - The details of the signal that contains the state mapping. +/// @param[in] signals - The list of all signals. +/// @param[in] value - The numerical value that should map to a state. +/// @param[out] send - An output argument that will be set to false if the value should +/// not be sent for any reason. +/// +/// @return Returns a DynamicField with a string value if a matching state is found in +/// the signal. If an equivalent isn't found, send is sent to false and the +/// return value is undefined. +/// +openxc_DynamicField decoder_t::stateDecoder(can_signal_t& signal, + const std::vector<std::shared_ptr<can_signal_t> > signals, float value, bool* send) +{ + const std::string signal_state = signal.get_states((uint8_t)value); + openxc_DynamicField decoded_value = build_DynamicField(signal_state); + if(signal_state.size() <= 0) + { + *send = false; + ERROR(binder_interface, "%s: No state found with index: %d", __FUNCTION__, (int)value); + } + return decoded_value; +} + + +/// @brief Parse a signal from a CAN message, apply any required transforations +/// to get a human readable value and public the result to the pipeline. +/// +/// If the can_signal_t has a non-NULL 'decoder' field, the raw CAN signal value +/// will be passed to the decoder before publishing. +/// +/// @param[in] signal - The details of the signal to decode and forward. +/// @param[in] message - The received CAN message that should contain this signal. +/// @param[in] signals - an array of all active signals. +/// @param[out] send - An output parameter that will be flipped to false if the value could +/// not be decoded. +/// +/// The decoder returns an openxc_DynamicField, which may contain a number, +/// string or boolean. +/// +openxc_DynamicField decoder_t::translateSignal(can_signal_t& signal, const can_message_t& message, + const std::vector<std::shared_ptr<can_signal_t> > signals, bool* send) +{ + float value = decoder_t::parseSignalBitfield(signal, message); + DEBUG(binder_interface, "%s: Decoded message from parseSignalBitfield: %f", __FUNCTION__, value); + + // Must call the decoders every time, regardless of if we are going to + // decide to send the signal or not. + openxc_DynamicField decoded_value = decoder_t::decodeSignal(signal, + value, signals, send); + + signal.set_received(true); + + // Don't send if they is no changes + if ((signal.get_last_value() == value && !signal.get_send_same()) || !send ) + { + *send = false; + } + signal.set_last_value(value); + signal.set_timestamp(message.get_timestamp()); + signal.get_message()->set_last_value(message); + return decoded_value; +} + +/// @brief Parse a signal from a CAN message and apply any required +/// transforations to get a human readable value. +/// +/// If the can_signal_t has a non-NULL 'decoder' field, the raw CAN signal value +/// will be passed to the decoder before returning. +/// +/// @param[in] signal - The details of the signal to decode and forward. +/// @param[in] value - The numerical value that will be converted to a boolean. +/// @param[in] signals - an array of all active signals. +/// @param[out] send - An output parameter that will be flipped to false if the value could +/// not be decoded. +/// +/// @return The decoder returns an openxc_DynamicField, which may contain a number, +/// string or boolean. If 'send' is false, the return value is undefined. +/// +openxc_DynamicField decoder_t::decodeSignal( can_signal_t& signal, + float value, const std::vector<std::shared_ptr<can_signal_t> > signals, bool* send) +{ + SignalDecoder decoder = signal.get_decoder() == nullptr ? + noopDecoder : signal.get_decoder(); + openxc_DynamicField decoded_value = decoder(signal, signals, + value, send); + return decoded_value; +} + +/// @brief Decode a transformed, human readable value from an raw CAN signal +/// already parsed from a CAN message. +/// +/// This is the same as decodeSignal but you must parse the bitfield value of the signal from the CAN +/// message yourself. This is useful if you need that raw value for something +/// else. +/// +/// @param[in] signal - The details of the signal to decode and forward. +/// @param[in] message - Raw CAN message to decode +/// @param[in] signals - an array of all active signals. +/// @param[out] send - An output parameter that will be flipped to false if the value could +/// not be decoded. +/// +openxc_DynamicField decoder_t::decodeSignal( can_signal_t& signal, + const can_message_t& message, const std::vector<std::shared_ptr<can_signal_t> > signals, bool* send) +{ + float value = parseSignalBitfield(signal, message); + return decodeSignal(signal, value, signals, send); +} + + +/// +/// @brief Decode the payload of an OBD-II PID. +/// +/// This function matches the type signature for a DiagnosticResponseDecoder, so +/// it can be used as the decoder for a DiagnosticRequest. It returns the decoded +/// value of the PID, using the standard formulas (see +/// http://en.wikipedia.org/wiki/OBD-II_PIDs#Mode_01). +/// +/// @param[in] response - the received DiagnosticResponse (the data is in response.payload, +/// a byte array). This is most often used when the byte order is +/// signiticant, i.e. with many OBD-II PID formulas. +/// @param[in] parsed_payload - the entire payload of the response parsed as an int. +/// +/// @return Float decoded value. +/// +float decoder_t::decode_obd2_response(const DiagnosticResponse* response, float parsed_payload) +{ + return diagnostic_decode_obd2_pid(response); +}
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/can/can-decoder.hpp b/CAN-binder/low-can-binding/can/can-decoder.hpp new file mode 100644 index 00000000..238bfeae --- /dev/null +++ b/CAN-binder/low-can-binding/can/can-decoder.hpp @@ -0,0 +1,49 @@ +/* + * 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 "can-signals.hpp" +#include "can-message.hpp" +#include "openxc.pb.h" + +class decoder_t +{ +public: + static float parseSignalBitfield(can_signal_t& signal, const can_message_t& message); + + static openxc_DynamicField stateDecoder(can_signal_t& signal, const std::vector<std::shared_ptr<can_signal_t> > signals, + float value, bool* send); + static openxc_DynamicField booleanDecoder(can_signal_t& signal, const std::vector<std::shared_ptr<can_signal_t> > signals, + float value, bool* send); + static openxc_DynamicField ignoreDecoder(can_signal_t& signal, const std::vector<std::shared_ptr<can_signal_t> > signals, + float value, bool* send); + static openxc_DynamicField noopDecoder(can_signal_t& signal, const std::vector<std::shared_ptr<can_signal_t> > signals, + float value, bool* send); + + static openxc_DynamicField translateSignal(can_signal_t& signal, const can_message_t& message, + const std::vector<std::shared_ptr<can_signal_t> > signals, bool* send); + + static openxc_DynamicField decodeSignal(can_signal_t& signal, const can_message_t& message, + const std::vector<std::shared_ptr<can_signal_t> > signals, bool* send); + + static openxc_DynamicField decodeSignal(can_signal_t& signal, float value, + const std::vector<std::shared_ptr<can_signal_t> > signals, bool* send); + + static float decode_obd2_response(const DiagnosticResponse* response, float parsed_payload); + +};
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/can/can-message-definition.cpp b/CAN-binder/low-can-binding/can/can-message-definition.cpp new file mode 100644 index 00000000..ec6292af --- /dev/null +++ b/CAN-binder/low-can-binding/can/can-message-definition.cpp @@ -0,0 +1,92 @@ +/* + * 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 "can-message-definition.hpp" + +can_message_definition_t::can_message_definition_t(const std::string bus) + : parent_{nullptr}, bus_{bus}, last_value_{CAN_MESSAGE_SIZE} +{} + +can_message_definition_t::can_message_definition_t( + const std::string bus, + uint32_t id, + frequency_clock_t frequency_clock, + bool force_send_changed) + : parent_{nullptr}, + bus_{bus}, + id_{id}, + frequency_clock_{frequency_clock}, + force_send_changed_{force_send_changed}, + last_value_{CAN_MESSAGE_SIZE} +{} + +can_message_definition_t::can_message_definition_t( + const std::string bus, + uint32_t id, + can_message_format_t format, + frequency_clock_t frequency_clock, + bool force_send_changed) + : parent_{nullptr}, + bus_{bus}, + id_{id}, + format_{format}, + frequency_clock_{frequency_clock}, + force_send_changed_{force_send_changed}, + last_value_{CAN_MESSAGE_SIZE} +{} + +can_message_definition_t::can_message_definition_t( + const std::string bus, + uint32_t id, + can_message_format_t format, + frequency_clock_t frequency_clock, + bool force_send_changed, + const std::vector<std::shared_ptr<can_signal_t> >& can_signals) + : parent_{nullptr}, + bus_{bus}, + id_{id}, + format_{format}, + frequency_clock_{frequency_clock}, + force_send_changed_{force_send_changed}, + last_value_{CAN_MESSAGE_SIZE}, + can_signals_{can_signals} +{} + +const std::string can_message_definition_t::get_bus_name() const +{ + return bus_; +} + +uint32_t can_message_definition_t::get_id() const +{ + return id_; +} + +std::vector<std::shared_ptr<can_signal_t> >& can_message_definition_t::get_can_signals() +{ + return can_signals_; +} + +void can_message_definition_t::set_parent(can_message_set_t* parent) +{ + parent_= parent; +} + +void can_message_definition_t::set_last_value(const can_message_t& cm) +{ + last_value_= cm.get_data_vector(); +}
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/can/can-message-definition.hpp b/CAN-binder/low-can-binding/can/can-message-definition.hpp new file mode 100644 index 00000000..233d8ce8 --- /dev/null +++ b/CAN-binder/low-can-binding/can/can-message-definition.hpp @@ -0,0 +1,68 @@ +/* + * 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. + */ + +/** + * @class can_message_definition_t + * + * @brief The definition of a CAN message. This includes a lot of metadata, so + * to save memory this struct should not be used for storing incoming and + * outgoing CAN messages. + */ + +#pragma once + +#include <vector> +#include <memory> + +#include "can-signals.hpp" +#include "can-message.hpp" +#include "can-message-set.hpp" +#include "../utils/timer.hpp" + +class can_message_set_t; + +class can_message_definition_t +{ +private: + can_message_set_t* parent_; /*!< parent_ - Pointer to the CAN message set holding this CAN message definition */ + std::string bus_; /*!< bus_ - Address of CAN bus device. */ + uint32_t id_; /*!< id_ - The ID of the message.*/ + can_message_format_t format_; /*!< format_ - the format of the message's ID.*/ + frequency_clock_t frequency_clock_; /*!< clock_ - an optional frequency clock to control the output of this + * message, if sent raw, or simply to mark the max frequency for custom + * handlers to retrieve.*/ + bool force_send_changed_; /*!< force_send_changed_ - If true, regardless of the frequency, it will send CAN + * message if it has changed when using raw passthrough.*/ + std::vector<uint8_t> last_value_; /*!< last_value_ - The last received value of the message. Defaults to undefined. + * This is required for the forceSendChanged functionality, as the stack + * needs to compare an incoming CAN message with the previous frame.*/ + std::vector<std::shared_ptr<can_signal_t> > can_signals_; /*!< can_signals_ - Vector holding can_signal_t object which share the same arbitration ID */ + +public: + //can_message_definition_t(const can_message_definition_t& b); + can_message_definition_t(const std::string bus); + can_message_definition_t(const std::string bus, uint32_t id, frequency_clock_t frequency_clock, bool force_send_changed); + can_message_definition_t(const std::string bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed); + can_message_definition_t(const std::string bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed, const std::vector<std::shared_ptr<can_signal_t> >& can_signals); + + const std::string get_bus_name() const; + uint32_t get_id() const; + std::vector<std::shared_ptr<can_signal_t> >& get_can_signals(); + + void set_parent(can_message_set_t* parent); + void set_last_value(const can_message_t& cm); +}; diff --git a/CAN-binder/low-can-binding/can/can-message-set.cpp b/CAN-binder/low-can-binding/can/can-message-set.cpp new file mode 100644 index 00000000..5b3a220f --- /dev/null +++ b/CAN-binder/low-can-binding/can/can-message-set.cpp @@ -0,0 +1,58 @@ +/* + * Copyright (C) 2015, 2016, 2017 "IoT.bzh" + * Author "Romain Forlot" <romain.forlot@iot.bzh> + * Author "Loïc Collignon" <loic.collignon@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 "can-message-set.hpp" + +#include "../can/can-message-definition.hpp" + +can_message_set_t::can_message_set_t( + uint8_t index, + const std::string name, + const std::vector<std::shared_ptr<can_message_definition_t> >& can_messages_definition, + const std::vector<std::shared_ptr<diagnostic_message_t> >& diagnostic_messages) + : index_{index} + , name_{name} + , can_messages_definition_{can_messages_definition} + , diagnostic_messages_{diagnostic_messages} +{} + +/// @brief Return vector holding all message definition handled by this message set. +std::vector<std::shared_ptr<can_message_definition_t> >& can_message_set_t::get_can_message_definition() +{ + return can_messages_definition_; +} + +std::vector<std::shared_ptr<can_signal_t> > can_message_set_t::get_all_can_signals() const +{ + std::vector<std::shared_ptr<can_signal_t> > can_signals; + for(const auto& cmd: can_messages_definition_) + { + std::vector<std::shared_ptr<can_signal_t> >& cmd_signals = cmd->get_can_signals(); + can_signals.insert( can_signals.end(), + cmd_signals.begin(), + cmd_signals.end() + ); + } + + return can_signals; +} + +std::vector<std::shared_ptr<diagnostic_message_t> >& can_message_set_t::get_diagnostic_messages() +{ + return diagnostic_messages_; +}
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/can/can-message-set.hpp b/CAN-binder/low-can-binding/can/can-message-set.hpp new file mode 100644 index 00000000..ca01abc8 --- /dev/null +++ b/CAN-binder/low-can-binding/can/can-message-set.hpp @@ -0,0 +1,50 @@ +/* + * Copyright (C) 2015, 2016, 2017 "IoT.bzh" + * Author "Romain Forlot" <romain.forlot@iot.bzh> + * Author "Loïc Collignon" <loic.collignon@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 <cstdint> +#include <string> +#include <vector> +#include <memory> + +class can_signal_t; +class can_message_definition_t; +class diagnostic_message_t; + +/// @brief A parent wrapper for a particular set of CAN messages and associated +/// CAN buses(e.g. a vehicle or program). +class can_message_set_t +{ +private: + uint8_t index_; /// < A numerical ID for the message set, ideally the index in an array for fast lookup + const std::string name_; /// < The name of the message set. + std::vector<std::shared_ptr<can_message_definition_t> > can_messages_definition_; ///< Vector holding all message definition handled by this message set. + std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages_; ///< Vector holding all diagnostics messages from JSON signals description file. First vector map to message set + +public: + can_message_set_t( + uint8_t index, + const std::string name, + const std::vector<std::shared_ptr<can_message_definition_t> >& can_messages_definition, + const std::vector<std::shared_ptr<diagnostic_message_t> >& diagnostic_messages); + + std::vector<std::shared_ptr<can_message_definition_t> >& get_can_message_definition(); + std::vector<std::shared_ptr<can_signal_t> > get_all_can_signals() const; + std::vector<std::shared_ptr<diagnostic_message_t> >& get_diagnostic_messages(); +}; diff --git a/CAN-binder/low-can-binding/can/can-message.cpp b/CAN-binder/low-can-binding/can/can-message.cpp new file mode 100644 index 00000000..772734d7 --- /dev/null +++ b/CAN-binder/low-can-binding/can/can-message.cpp @@ -0,0 +1,365 @@ +/* + * 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 "can-message.hpp" + +#include <cstring> + +#include "../binding/low-can-hat.hpp" + +/// +/// @brief Class constructor +/// +/// Constructor about can_message_t class. +/// +can_message_t::can_message_t() + : maxdlen_{0}, id_{0}, length_{0}, format_{can_message_format_t::INVALID}, rtr_flag_{false}, flags_{0}, timestamp_{0} +{} + +can_message_t::can_message_t(uint8_t maxdlen, + uint32_t id, + uint8_t length, + can_message_format_t format, + bool rtr_flag, + uint8_t flags, + std::vector<uint8_t> data, + uint64_t timestamp) + : maxdlen_{maxdlen}, + id_{id}, + length_{length}, + format_{format}, + rtr_flag_{rtr_flag}, + flags_{flags}, + data_{data}, + timestamp_{timestamp} +{} + +/// +/// @brief Retrieve id_ member value. +/// +/// @return id_ class member +/// +uint32_t can_message_t::get_id() const +{ + return id_; +} + +/// +/// @brief Retrieve RTR flag member. +/// +/// @return rtr_flags_ class member +/// +bool can_message_t::get_rtr_flag_() const +{ + return rtr_flag_; +} + +/// +/// @brief Retrieve format_ member value. +/// +/// @return format_ class member +/// +can_message_format_t can_message_t::get_format() const +{ + if (format_ != can_message_format_t::STANDARD || format_ != can_message_format_t::EXTENDED) + return can_message_format_t::INVALID; + return format_; +} + +/// +/// @brief Retrieve flags_ member value. +/// +/// @return flags_ class member +/// +uint8_t can_message_t::get_flags() const +{ + return flags_; +} + +/// +/// @brief Retrieve data_ member value. +/// +/// @return pointer to the first element +/// of class member data_ +/// +const uint8_t* can_message_t::get_data() const +{ + return data_.data(); +} + +/// +/// @brief Retrieve data_ member whole vector +/// +/// @return the vector as is +/// +const std::vector<uint8_t> can_message_t::get_data_vector() const +{ + return data_; +} + +/// +/// @brief Retrieve length_ member value. +/// +/// @return length_ class member +/// +uint8_t can_message_t::get_length() const +{ + return length_; +} + +uint64_t can_message_t::get_timestamp() const +{ + return timestamp_; +} + +void can_message_t::set_timestamp(uint64_t timestamp) +{ + timestamp_ = timestamp; +} + +/// +/// @brief Control whether the object is correctly initialized +/// to be sent over the CAN bus +/// +/// @return true if object correctly initialized and false if not. +/// +bool can_message_t::is_correct_to_send() +{ + if (id_ != 0 && length_ != 0 && format_ != can_message_format_t::INVALID) + { + int i; + for(i=0;i<CAN_MESSAGE_SIZE;i++) + if(data_[i] != 0) + return true; + } + return false; +} + +/// +/// @brief Set format_ member value. +/// +/// Preferred way to initialize these members by using +/// convert_from_canfd_frame method. +/// +/// @param[in] new_format - class member +/// +void can_message_t::set_format(const can_message_format_t new_format) +{ + if(new_format == can_message_format_t::STANDARD || new_format == can_message_format_t::EXTENDED || new_format == can_message_format_t::INVALID) + format_ = new_format; + else + ERROR(binder_interface, "%s: Can set format, wrong format chosen", __FUNCTION__); +} + +/// @brief Take a canfd_frame struct to initialize class members +/// +/// This is the preferred way to initialize class members. +/// +/// @param[in] frame - canfd_frame to convert coming from a read of CAN socket +/// @param[in] nbytes - bytes read from socket read operation. +/// +/// @return A can_message_t object fully initialized with canfd_frame values. +/// +can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp) +{ + uint8_t maxdlen, length, flags = (uint8_t)NULL; + uint32_t id; + can_message_format_t format; + bool rtr_flag; + std::vector<uint8_t> data; + + switch(nbytes) + { + case CANFD_MTU: + DEBUG(binder_interface, "%s: Got an CAN FD frame", __FUNCTION__); + maxdlen = CANFD_MAX_DLEN; + break; + case CAN_MTU: + DEBUG(binder_interface, "%s: Got a legacy CAN frame", __FUNCTION__); + maxdlen = CAN_MAX_DLEN; + break; + default: + ERROR(binder_interface, "%s: unsupported CAN frame", __FUNCTION__); + break; + } + + if (frame.can_id & CAN_ERR_FLAG) + { + format = can_message_format_t::INVALID; + id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG); + } + else if (frame.can_id & CAN_EFF_FLAG) + { + format = can_message_format_t::EXTENDED; + id = frame.can_id & CAN_EFF_MASK; + } + else + { + format = can_message_format_t::STANDARD; + id = frame.can_id & CAN_SFF_MASK; + } + + /* Overwrite length_ if RTR flags is detected. + * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */ + if (frame.can_id & CAN_RTR_FLAG) + { + rtr_flag = true; + if(frame.len && frame.len <= CAN_MAX_DLC) + { + if(rtr_flag) + length = frame.len& 0xF; + else + { + length = (frame.len > maxdlen) ? maxdlen : frame.len; + } + } + } + else + { + length = (frame.len > maxdlen) ? maxdlen : frame.len; + + /* Flags field only present for CAN FD frames*/ + if(maxdlen == CANFD_MAX_DLEN) + flags = frame.flags & 0xF; + + if (data.capacity() < maxdlen) + data.reserve(maxdlen); + int i; + + data.clear(); + /* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/ + for(i=0;i<maxdlen;i++) + { + data.push_back(frame.data[i]); + }; + + DEBUG(binder_interface, "%s: Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", __FUNCTION__, + id, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]); + } + + return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp); +} + +can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, size_t nbytes, uint64_t timestamp) +{ + uint8_t maxdlen, length, flags = (uint8_t)NULL; + uint32_t id; + can_message_format_t format; + bool rtr_flag; + std::vector<uint8_t> data; + + if(nbytes <= CAN_MTU) + { + DEBUG(binder_interface, "%s: Got a legacy CAN frame", __FUNCTION__); + maxdlen = CAN_MAX_DLEN; + } + else + { + ERROR(binder_interface, "%s: unsupported CAN frame", __FUNCTION__); + } + + if (frame.can_id & CAN_ERR_FLAG) + { + format = can_message_format_t::INVALID; + id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG); + } + else if (frame.can_id & CAN_EFF_FLAG) + { + format = can_message_format_t::EXTENDED; + id = frame.can_id & CAN_EFF_MASK; + } + else + { + format = can_message_format_t::STANDARD; + id = frame.can_id & CAN_SFF_MASK; + } + + /* Overwrite length_ if RTR flags is detected. + * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */ + if (frame.can_id & CAN_RTR_FLAG) + { + rtr_flag = true; + if(frame.can_dlc && frame.can_dlc <= CAN_MAX_DLC) + { + if(rtr_flag) + length = frame.can_dlc& 0xF; + else + { + length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc; + } + } + } + else + { + length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc; + + if (data.capacity() < maxdlen) + data.reserve(maxdlen); + int i; + + data.clear(); + /* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/ + for(i=0;i<maxdlen;i++) + { + data.push_back(frame.data[i]); + }; + +// DEBUG(binder_interface, "%s: Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", __FUNCTION__, +// id, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]); + } + + return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp); +} + +/// +/// @brief Take all initialized class's members and build an +/// canfd_frame struct that can be use to send a CAN message over +/// the bus. +/// +/// @return canfd_frame struct built from class members. +/// +struct canfd_frame can_message_t::convert_to_canfd_frame() +{ + canfd_frame frame; + + if(is_correct_to_send()) + { + frame.can_id = get_id(); + frame.len = get_length(); + ::memcpy(frame.data, get_data(), length_); + } + else + ERROR(binder_interface, "%s: can_message_t not correctly initialized to be sent", __FUNCTION__); + + return frame; +} + +struct can_frame can_message_t::convert_to_can_frame() +{ + can_frame frame; + + if(is_correct_to_send()) + { + frame.can_id = get_id(); + frame.can_dlc = get_length(); + ::memcpy(frame.data, get_data(), length_); + } + else + ERROR(binder_interface, "%s: can_message_t not correctly initialized to be sent", __FUNCTION__); + + return frame; +} diff --git a/CAN-binder/low-can-binding/can/can-message.hpp b/CAN-binder/low-can-binding/can/can-message.hpp new file mode 100644 index 00000000..910b3e9f --- /dev/null +++ b/CAN-binder/low-can-binding/can/can-message.hpp @@ -0,0 +1,79 @@ +/* + * 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 <vector> +#include <string> +#include <cstdint> +#include <linux/can.h> + +#include "../utils/timer.hpp" + +#define CAN_MESSAGE_SIZE 8 + +/** + * @enum can_message_format_t + * @brief The ID format for a CAN message. + */ +enum class can_message_format_t { + STANDARD, /*!< STANDARD - standard 11-bit CAN arbitration ID. */ + EXTENDED, /*!< EXTENDED - an extended frame, with a 29-bit arbitration ID. */ + INVALID, /*!< INVALID - INVALID code used at initialization to signify that it isn't usable'*/ +}; + +/** + * @class can_message_t + * + * @brief A compact representation of a single CAN message, meant to be used in in/out + * buffers. + */ +class can_message_t { +private: + uint8_t maxdlen_; /*!< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/ + uint32_t id_; /*!< id_ - The ID of the message. */ + uint8_t length_; /*!< length_ - the length of the data array (max 8). */ + can_message_format_t format_; /*!< format_ - the format of the message's ID.*/ + bool rtr_flag_; /*!< rtr_flag_ - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/ + uint8_t flags_; /*!< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/ + std::vector<uint8_t> data_; /*!< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/ + uint64_t timestamp_; /*!< timestamp_ - timestamp of the received message*/ + +public: + can_message_t(); + can_message_t(uint8_t maxdlen, uint32_t id, uint8_t length, can_message_format_t format, bool rtr_flag_, uint8_t flags, std::vector<uint8_t> data, uint64_t timestamp); + + uint32_t get_id() const; + bool get_rtr_flag_() const; + can_message_format_t get_format() const; + uint8_t get_flags() const; + const uint8_t* get_data() const; + const std::vector<uint8_t> get_data_vector() const; + uint8_t get_length() const; + uint64_t get_timestamp() const; + + void set_timestamp(uint64_t timestamp); + void set_format(const can_message_format_t new_format); + + bool is_correct_to_send(); + + static can_message_t convert_from_frame(const canfd_frame& frame, size_t nbytes, uint64_t timestamp); + static can_message_t convert_from_frame(const can_frame& frame, size_t nbytes, uint64_t timestamp); + + struct canfd_frame convert_to_canfd_frame(); + struct can_frame convert_to_can_frame(); +}; diff --git a/CAN-binder/low-can-binding/can/can-signals.cpp b/CAN-binder/low-can-binding/can/can-signals.cpp new file mode 100644 index 00000000..9a876136 --- /dev/null +++ b/CAN-binder/low-can-binding/can/can-signals.cpp @@ -0,0 +1,262 @@ +/* + * 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 <fnmatch.h> + +#include "can-signals.hpp" + +#include "../binding/configuration.hpp" +#include "../utils/signals.hpp" +#include "can-decoder.hpp" +#include "can-message.hpp" +#include "can-bus.hpp" +#include "../diagnostic/diagnostic-message.hpp" +#include "canutil/write.h" + +std::string can_signal_t::prefix_ = "messages"; + +can_signal_t::can_signal_t( + std::string generic_name, + uint8_t bit_position, + uint8_t bit_size, + float factor, + float offset, + float min_value, + float max_value, + frequency_clock_t frequency, + bool send_same, + bool force_send_changed, + std::map<uint8_t, std::string> states, + bool writable, + SignalDecoder decoder, + SignalEncoder encoder, + bool received) + : parent_{nullptr}, + generic_name_{ generic_name } + , bit_position_{ bit_position } + , bit_size_{ bit_size } + , factor_{ factor } + , offset_{ offset } + , min_value_{min_value} + , max_value_{max_value} + , frequency_{frequency} + , send_same_{send_same} + , force_send_changed_{force_send_changed} + , states_{states} + , writable_{writable} + , decoder_{decoder} + , encoder_{encoder} + , received_{received} + , last_value_{.0f} +{} + +/*can_signal_t::can_signal_t(const can_signal_t& b) + : parent_{b.parent_}, + generic_name_{ b.generic_name_} + , bit_position_{ b.bit_position_} + , bit_size_{ b.bit_size_} + , factor_{ b.factor_ } + , offset_{ b.offset_} + , min_value_{b.min_value_} + , max_value_{b.max_value_} + , frequency_{b.frequency_} + , send_same_{b.send_same_} + , force_send_changed_{b.force_send_changed_} + , states_{b.states_} + , writable_{b.writable_} + , decoder_{b.decoder_} + , encoder_{b.encoder_} + , received_{b.received_} + , last_value_{b.last_value_} +{}*/ + +utils::socketcan_bcm_t can_signal_t::get_socket() const +{ + return socket_; +} + +can_message_definition_t* can_signal_t::get_message() const +{ + return parent_; +} + +const std::string can_signal_t::get_generic_name() const +{ + return generic_name_; +} + +const std::string can_signal_t::get_name() const +{ + return prefix_ + "." + generic_name_; +} + +const std::string can_signal_t::get_prefix() const +{ + return prefix_; +} + +uint8_t can_signal_t::get_bit_position() const +{ + return bit_position_; +} + +uint8_t can_signal_t::get_bit_size() const +{ + return bit_size_; +} + +float can_signal_t::get_factor() const +{ + return factor_; +} + +float can_signal_t::get_offset() const +{ + return offset_; +} + +float can_signal_t::get_min_value() const +{ + return min_value_; +} + +float can_signal_t::get_max_value() const +{ + return max_value_; +} + +frequency_clock_t& can_signal_t::get_frequency() +{ + return frequency_; +} + +bool can_signal_t::get_send_same() const +{ + return send_same_; +} + +bool can_signal_t::get_force_send_changed() const +{ + return force_send_changed_; +} + +const std::map<uint8_t, std::string>& can_signal_t::get_states() const +{ + return states_; +} + +const std::string can_signal_t::get_states(uint8_t value) +{ + if (value < states_.size()) + return states_[value]; + return std::string(); +} + +size_t can_signal_t::get_state_count() const +{ + return states_.size(); +} + +bool can_signal_t::get_writable() const +{ + return writable_; +} + +SignalDecoder& can_signal_t::get_decoder() +{ + return decoder_; +} + +SignalEncoder& can_signal_t::get_encoder() +{ + return encoder_; +} + +bool can_signal_t::get_received() const +{ + return received_; +} +float can_signal_t::get_last_value() const +{ + return last_value_; +} + +void can_signal_t::set_parent(can_message_definition_t* parent) +{ + parent_ = parent; +} + +void can_signal_t::set_prefix(std::string val) +{ + prefix_ = val; +} + +void can_signal_t::set_received(bool r) +{ + received_ = r; +} + +void can_signal_t::set_last_value(float val) +{ + last_value_ = val; +} + +void can_signal_t::set_timestamp(uint64_t timestamp) +{ + frequency_.tick(timestamp); +} + +/// @brief Create a RX_SETUP receive job used by the BCM socket. +/// +/// @return 0 if ok else -1 +int can_signal_t::create_rx_filter() +{ + // Make sure that socket has been opened. + if(! socket_) + socket_.open( + get_message()->get_bus_name()); + + uint32_t can_id = get_message()->get_id(); + + struct utils::simple_bcm_msg bcm_msg; + struct can_frame cfd; + + memset(&cfd, 0, sizeof(cfd)); + memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head)); + float val = (float)(1 << bit_size_)-1; + struct timeval freq = frequency_.get_timeval_from_period(); + + bcm_msg.msg_head.opcode = RX_SETUP; + bcm_msg.msg_head.can_id = can_id; + bcm_msg.msg_head.flags = SETTIMER|RX_NO_AUTOTIMER; + bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec ; + bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec; + bcm_msg.msg_head.nframes = 1; + bitfield_encode_float(val, + bit_position_, + bit_size_, + factor_, + offset_, + cfd.data, + CAN_MAX_DLEN); + + bcm_msg.frames = cfd; + + if(socket_ << bcm_msg) + return 0; + return -1; +} diff --git a/CAN-binder/low-can-binding/can/can-signals.hpp b/CAN-binder/low-can-binding/can/can-signals.hpp new file mode 100644 index 00000000..cc4b6da3 --- /dev/null +++ b/CAN-binder/low-can-binding/can/can-signals.hpp @@ -0,0 +1,160 @@ +/// +/// 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 <map> +#include <mutex> +#include <vector> +#include <string> +#include <memory> + +#include "openxc.pb.h" +#include "can-message-definition.hpp" +#include "../utils/timer.hpp" +#include "../utils/socketcan-bcm.hpp" +#include "can-message.hpp" +#include "../diagnostic/diagnostic-message.hpp" + +extern "C" +{ + #include <afb/afb-binding.h> + #include <afb/afb-event-itf.h> +} + +#define MESSAGE_SET_ID 0 + +class can_signal_t; +/// +/// @brief The type signature for a CAN signal decoder. +/// +/// A SignalDecoder transforms a raw floating point CAN signal into a number, +/// string or boolean. +/// +/// @param[in] signal - The CAN signal that we are decoding. +/// @param[in] signals - The list of all signals. +/// @param[in] signalCount - The length of the signals array. +/// @param[in] value - The CAN signal parsed from the message as a raw floating point +/// value. +/// @param[out] send - An output parameter. If the decoding failed or the CAN signal should +/// not send for some other reason, this should be flipped to false. +/// +/// @return a decoded value in an openxc_DynamicField struct. +/// +typedef openxc_DynamicField (*SignalDecoder)(can_signal_t& signal, + const std::vector<std::shared_ptr<can_signal_t> > signals, float value, bool* send); + +/// +/// @brief: The type signature for a CAN signal encoder. +/// +/// A SignalEncoder transforms a number, string or boolean into a raw floating +/// point value that fits in the CAN signal. +/// +/// @param[in] signal - The CAN signal to encode. +/// @param[in] value - The dynamic field to encode. +/// @param[out] send - An output parameter. If the encoding failed or the CAN signal should +/// not be encoded for some other reason, this will be flipped to false. +/// +typedef uint64_t (*SignalEncoder)(can_signal_t* signal, + openxc_DynamicField* value, bool* send); + +class can_signal_t +{ +private: + can_message_definition_t* parent_; /*!< parent_ - pointer to the parent message definition holding this signal*/ + utils::socketcan_bcm_t socket_; /*!< socket_ - Specific BCM socket that filter the signal read from CAN device */ + std::string generic_name_; /*!< generic_name_ - The name of the signal to be output.*/ + static std::string prefix_; /*!< prefix_ - generic_name_ will be prefixed with it. It has to reflect the used protocol. + * which make easier to sort message when the come in.*/ + uint8_t bit_position_; /*!< 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 bit_size_; /*!< bit_size_ - 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 min_value_; /*!< min_value_ - The minimum value for the processed signal.*/ + float max_value_; /*!< max_value_ - The maximum value for the processed signal. */ + frequency_clock_t frequency_; /*!< frequency_ - A frequency_clock_t struct to control the maximum frequency to + * process and send this signal. To process every value, set the + * clock's frequency to 0. */ + bool send_same_; /*!< send_same_ - If true, will re-send even if the value hasn't changed.*/ + bool force_send_changed_; /*!< force_send_changed_ - If true, regardless of the frequency, it will send the + * value if it has changed. */ + std::map<uint8_t, std::string> states_; /*!< states_ - A map of CAN signal state describing the mapping + * between numerical and string values for valid states. */ + 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 last_value_; /*!< lastValue_ - The last received value of the signal. If 'received' is false, + * this value is undefined. */ + +public: + can_signal_t( + std::string generic_name, + uint8_t bit_position, + uint8_t bit_size, + float factor, + float offset, + float min_value, + float max_value, + frequency_clock_t frequency, + bool send_same, + bool force_send_changed, + std::map<uint8_t, std::string> states, + bool writable, + SignalDecoder decoder, + SignalEncoder encoder, + bool received); + + utils::socketcan_bcm_t get_socket() const; + can_message_definition_t* get_message() const; + const std::string get_generic_name() const; + const std::string get_name() const; + const std::string get_prefix() const; + uint8_t get_bit_position() const; + uint8_t get_bit_size() const; + float get_factor() const; + float get_offset() const; + float get_min_value() const; + float get_max_value() const; + frequency_clock_t& get_frequency(); + bool get_send_same() const; + bool get_force_send_changed() const; + const std::map<uint8_t, std::string>& get_states() const; + const std::string get_states(uint8_t value); + size_t get_state_count() const; + bool get_writable() const; + SignalDecoder& get_decoder(); + SignalEncoder& get_encoder(); + bool get_received() const; + float get_last_value() const; + + void set_parent(can_message_definition_t* parent); + void set_prefix(std::string val); + void set_received(bool r); + void set_last_value(float val); + void set_timestamp(uint64_t timestamp); + + int create_rx_filter(); +}; diff --git a/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.cpp b/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.cpp new file mode 100644 index 00000000..e657456f --- /dev/null +++ b/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.cpp @@ -0,0 +1,172 @@ +/* + * 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 <map> +#include <fnmatch.h> + +#include "active-diagnostic-request.hpp" + +#include "../binding/configuration.hpp" + +#define ERROR_PID 0xFF + +std::string active_diagnostic_request_t::prefix_ = "diagnostic_messages"; + +bool active_diagnostic_request_t::operator==(const active_diagnostic_request_t& b) +{ + return (bus_ == b.bus_ && id_ == b.id_ && handle_ == b.handle_); +} + +active_diagnostic_request_t& active_diagnostic_request_t::operator=(const active_diagnostic_request_t& adr) +{ + if (this != &adr) + { + bus_ = adr.bus_; + id_ = adr.id_; + handle_ = adr.handle_; + name_ = adr.name_; + decoder_ = adr.decoder_; + callback_ = adr.callback_; + recurring_ = adr.recurring_; + wait_for_multiple_responses_ = adr.wait_for_multiple_responses_; + frequency_clock_ = adr.frequency_clock_; + timeout_clock_ = adr.timeout_clock_; + } + + return *this; +} + +active_diagnostic_request_t::active_diagnostic_request_t() + : bus_{nullptr}, + id_{0}, + handle_{nullptr}, + name_{""}, + decoder_{nullptr}, + callback_{nullptr}, + recurring_{false}, + wait_for_multiple_responses_{false}, + frequency_clock_{frequency_clock_t()}, + timeout_clock_{frequency_clock_t()} +{} + +active_diagnostic_request_t::active_diagnostic_request_t(const std::string& bus, DiagnosticRequest* request, + const std::string& name, + bool wait_for_multiple_responses, + const DiagnosticResponseDecoder decoder, + const DiagnosticResponseCallback callback, + float frequencyHz) + : bus_{bus}, + id_{request->arbitration_id}, + handle_{nullptr}, + name_{name}, + decoder_{decoder}, + callback_{callback}, + recurring_{frequencyHz ? true : false}, + wait_for_multiple_responses_{wait_for_multiple_responses}, + frequency_clock_{frequency_clock_t(frequencyHz)}, + timeout_clock_{frequency_clock_t(10)} +{} + +uint32_t active_diagnostic_request_t::get_id() const +{ + return id_; +} + +uint16_t active_diagnostic_request_t::get_pid() const +{ + if (handle_->request.has_pid) + return handle_->request.pid; + return ERROR_PID; +} + +DiagnosticRequestHandle* active_diagnostic_request_t::get_handle() +{ + return handle_; +} + +const std::string active_diagnostic_request_t::get_name() const +{ + return name_; +} + +std::string& active_diagnostic_request_t::get_prefix() +{ + return active_diagnostic_request_t::prefix_; +} + +DiagnosticResponseDecoder& active_diagnostic_request_t::get_decoder() +{ + return decoder_; +} + +DiagnosticResponseCallback& active_diagnostic_request_t::get_callback() +{ + return callback_; +} + +bool active_diagnostic_request_t::get_recurring() const +{ + return recurring_; +} + +frequency_clock_t& active_diagnostic_request_t::get_frequency_clock() +{ + return frequency_clock_; +} + +frequency_clock_t& active_diagnostic_request_t::get_timeout_clock() +{ + return timeout_clock_; +} + +utils::socketcan_bcm_t& active_diagnostic_request_t::get_socket() +{ + return socket_; +} + +void active_diagnostic_request_t::set_handle(DiagnosticShims& shims, DiagnosticRequest* request) +{ + handle_ = new DiagnosticRequestHandle(generate_diagnostic_request(&shims, request, nullptr)); +} + +/// +/// @brief Check if requested signal name is a diagnostic message. If the name +/// begin with the diagnostic message prefix then true else false. +/// +/// @param[in] name - A signal name. +/// +/// @return true if name began with the diagnostic message prefix else false. +/// +bool active_diagnostic_request_t::is_diagnostic_signal(const std::string& name) +{ + const std::string p = active_diagnostic_request_t::prefix_ + "*"; + if(::fnmatch(p.c_str(), name.c_str(), FNM_CASEFOLD) == 0) + return true; + return false; +} + +/// @brief Returns true if a sufficient response has been received for a +/// diagnostic request. +/// +/// This is true when at least one response has been received and the request is +/// configured to not wait for multiple responses. Functional broadcast requests +/// may often wish to wait the full 100ms for modules to respond. +bool active_diagnostic_request_t::response_received() const +{ + return !wait_for_multiple_responses_ && + handle_->completed && handle_->success; +} diff --git a/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp b/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp new file mode 100644 index 00000000..c295bed3 --- /dev/null +++ b/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp @@ -0,0 +1,116 @@ +/* + * 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 <string> +#include <vector> + +#include "../utils/socketcan-bcm.hpp" +#include "uds/uds.h" +#include "uds/uds_types.h" +#include "../utils/timer.hpp" + +class active_diagnostic_request_t; +class diagnostic_manager_t; + +/// @brief The signature for an optional function that can apply the neccessary +/// formula to translate the binary payload into meaningful data. +/// +/// @param[in] response - the received DiagnosticResponse (the data is in response.payload, +/// a byte array). This is most often used when the byte order is signiticant, i.e. with many OBD-II PID formulas. +/// @param[in] parsed_payload - the entire payload of the response parsed as an int. +/// +/// @return float value after decoding. +/// +typedef float (*DiagnosticResponseDecoder)(const DiagnosticResponse* response, + float parsed_payload); + +/// @brief: The signature for an optional function to handle a new diagnostic +/// response. +/// +/// @param[in] request - The original diagnostic request. +/// @param[in] response - The response object that was just received. +/// @param[in] parsed_payload - The payload of the response, parsed as a float. +/// +typedef void (*DiagnosticResponseCallback)(const active_diagnostic_request_t* request, + const DiagnosticResponse* response, float parsed_payload); + +/// +/// @brief An active diagnostic request, either recurring or one-time. +/// +/// Will host a diagnostic_message_t class members to describe an on going +/// diagnostic request on the CAN bus. Diagnostic message will be converted to +/// a DiagnosticRequest using ad-hoc method build_diagnostic_request from diagnostic message. +/// Then missing member, that can not be hosted into a DiagnosticRequest struct, will be passed +/// as argument when adding the request to (non)-recurrent vector. Argument will be used to instanciate +/// an active_diagnostic_request_t object before sending it. +/// +class active_diagnostic_request_t { +private: + std::string bus_; ///< bus_ - The CAN bus this request should be made on, or is currently in flight-on + uint32_t id_; ///< id_ - The arbitration ID (aka message ID) for the request. + DiagnosticRequestHandle* handle_; ///< handle_ - A handle for the request to keep track of it between + ///< sending the frames of the request and receiving all frames of the response. + std::string name_; ///< name_ - Human readable name, to be used when publishing received responses. + ///< TODO: If the name is NULL, the published output will use the raw OBD-II response format. + static std::string prefix_; ///< prefix_ - It has to reflect the JSON object which it comes from. It makes easier sorting + ///< incoming CAN messages. + DiagnosticResponseDecoder decoder_; ///< decoder_ - An optional DiagnosticResponseDecoder to parse the payload of responses + ///< to this request. If the decoder is NULL, the output will include the raw payload + ///< instead of a parsed value. + DiagnosticResponseCallback callback_; ///< callback_ - An optional DiagnosticResponseCallback to be notified whenever a + ///< response is received for this request. + bool recurring_; ///< bool recurring_ - If true, this is a recurring request and it will remain as active until explicitly cancelled. + ///< The frequencyClock attribute controls how often a recurrin request is made. + bool wait_for_multiple_responses_; ///< wait_for_multiple_responses_ - False by default, when any response is received for a request + ///< it will be removed from the active list. If true, the request will remain active until the timeout + ///< clock expires, to allow it to receive multiple response (e.g. to a functional broadcast request). + frequency_clock_t frequency_clock_; ///< frequency_clock_ - A frequency_clock_t object to control the send rate for a + ///< recurring request. If the request is not reecurring, this attribute is not used. + frequency_clock_t timeout_clock_; ///< timeout_clock_ - A frequency_clock_t object to monitor how long it's been since + ///< this request was sent. + utils::socketcan_bcm_t socket_; ///< socket_ - A BCM socket setup to send cyclic message to CAN ID 7DF. +public: + bool operator==(const active_diagnostic_request_t& b); + active_diagnostic_request_t& operator=(const active_diagnostic_request_t& adr); + + active_diagnostic_request_t(); + active_diagnostic_request_t(active_diagnostic_request_t&&) = default; + active_diagnostic_request_t(const std::string& bus, DiagnosticRequest* request, + const std::string& name, bool wait_for_multiple_responses, + const DiagnosticResponseDecoder decoder, + const DiagnosticResponseCallback callback, float frequencyHz); + + uint32_t get_id() const; + DiagnosticRequestHandle* get_handle(); + uint16_t get_pid() const; + const std::string get_name() const; + static std::string& get_prefix(); + DiagnosticResponseDecoder& get_decoder(); + DiagnosticResponseCallback& get_callback(); + bool get_recurring() const; + frequency_clock_t& get_frequency_clock(); + frequency_clock_t& get_timeout_clock(); + utils::socketcan_bcm_t& get_socket(); + + void set_handle(DiagnosticShims& shims, DiagnosticRequest* request); + + static bool is_diagnostic_signal(const std::string& name); + + bool response_received() const; +}; diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp new file mode 100644 index 00000000..1a382af9 --- /dev/null +++ b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp @@ -0,0 +1,584 @@ +/* + * 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 <systemd/sd-event.h> +#include <algorithm> +#include <string.h> + +#include "diagnostic-manager.hpp" + +#include "../utils/openxc-utils.hpp" +#include "../utils/signals.hpp" +#include "../binding/configuration.hpp" + +#define MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ 10 +#define MAX_SIMULTANEOUS_DIAG_REQUESTS 50 +// There are only 8 slots of in flight diagnostic requests +#define MAX_SIMULTANEOUS_IN_FLIGHT_REQUESTS 8 +#define TIMERFD_ACCURACY 0 +#define MICRO 1000000 + +diagnostic_manager_t::diagnostic_manager_t() + : initialized_{false} +{} + +/// @brief Diagnostic manager isn't initialized at launch but after +/// CAN bus devices initialization. For the moment, it is only possible +/// to have 1 diagnostic bus which are the first bus declared in the JSON +/// description file. Configuration instance will return it. +/// +/// this will initialize DiagnosticShims and cancel all active requests +/// if there are any. +bool diagnostic_manager_t::initialize() +{ + // Mandatory to set the bus before intialize shims. + bus_ = configuration_t::instance().get_diagnostic_bus(); + + init_diagnostic_shims(); + event_source_ = nullptr; + reset(); + + initialized_ = true; + DEBUG(binder_interface, "%s: Diagnostic Manager initialized", __FUNCTION__); + return initialized_; +} + +utils::socketcan_bcm_t& diagnostic_manager_t::get_socket() +{ + return socket_; +} + +/// @brief initialize shims used by UDS lib and set initialized_ to true. +/// It is needed before used the diagnostic manager fully because shims are +/// required by most member functions. +void diagnostic_manager_t::init_diagnostic_shims() +{ + shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL); + DEBUG(binder_interface, "%s: Shims initialized", __FUNCTION__); +} + +/// @brief Force cleanup all active requests. +void diagnostic_manager_t::reset() +{ + DEBUG(binder_interface, "%s: Clearing existing diagnostic requests", __FUNCTION__); + cleanup_active_requests(true); +} + +/// @brief Adds 8 RX_SETUP jobs to the BCM rx_socket_ then diagnotic manager +/// listens on CAN ID range 7E8 - 7EF affected to the OBD2 communications. +/// +/// @return -1 or negative value on error, 0 if ok. +int diagnostic_manager_t::add_rx_filter(uint32_t can_id) +{ + // Make sure that socket has been opened. + if(! socket_) + socket_.open(bus_); + + struct utils::simple_bcm_msg bcm_msg; + memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head)); + + const struct timeval freq = recurring_requests_.back()->get_timeout_clock().get_timeval_from_period(); + + bcm_msg.msg_head.opcode = RX_SETUP; + bcm_msg.msg_head.flags = SETTIMER|RX_FILTER_ID; + bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec; + bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec; + + // If it isn't an OBD2 CAN ID then just add a simple RX_SETUP job + if(can_id != OBD2_FUNCTIONAL_BROADCAST_ID) + { + bcm_msg.msg_head.can_id = can_id; + + socket_ << bcm_msg; + if(! socket_) + return -1; + } + else + { + for(uint8_t i = 0; i < 8; i++) + { + can_id = OBD2_FUNCTIONAL_RESPONSE_START + i; + bcm_msg.msg_head.can_id = can_id; + + socket_ << bcm_msg; + if(! socket_) + return -1; + } + } + + return 0; +} + +/// @brief send function use by diagnostic library. Only one bus used for now +/// so diagnostic request is sent using the default diagnostic bus not matter of +/// which is specified in the diagnostic message definition. +/// +/// @param[in] arbitration_id - CAN arbitration ID to use when send message. OBD2 broadcast ID +/// is 0x7DF by example. +/// @param[in] data - The data payload for the message. NULL is valid if size is also 0. +/// @param[in] size - The size of the data payload, in bytes. +/// +/// @return true if the CAN message was sent successfully. +bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size) +{ + diagnostic_manager_t& dm = configuration_t::instance().get_diagnostic_manager(); + active_diagnostic_request_t* current_adr = dm.get_last_recurring_requests(); + utils::socketcan_bcm_t& tx_socket = current_adr->get_socket(); + + // Make sure that socket has been opened. + if(! tx_socket) + tx_socket.open( + dm.get_can_bus()); + + struct utils::simple_bcm_msg bcm_msg; + struct can_frame cfd; + + memset(&cfd, 0, sizeof(cfd)); + memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head)); + + struct timeval freq = current_adr->get_frequency_clock().get_timeval_from_period(); + + bcm_msg.msg_head.opcode = TX_SETUP; + bcm_msg.msg_head.can_id = arbitration_id; + bcm_msg.msg_head.flags = SETTIMER|STARTTIMER|TX_CP_CAN_ID; + bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec; + bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec; + bcm_msg.msg_head.nframes = 1; + cfd.can_dlc = size; + ::memcpy(cfd.data, data, size); + + bcm_msg.frames = cfd; + + tx_socket << bcm_msg; + if(tx_socket) + return true; + return false; +} + +/// @brief The type signature for an optional logging function, if the user +/// wishes to provide one. It should print, store or otherwise display the +/// message. +/// +/// message - A format string to log using the given parameters. +/// ... (vargs) - the parameters for the format string. +/// +void diagnostic_manager_t::shims_logger(const char* format, ...) +{ + va_list args; + va_start(args, format); + + char buffer[256]; + vsnprintf(buffer, 256, format, args); + + DEBUG(binder_interface, "%s: %s", __FUNCTION__, buffer); +} + +/// @brief The type signature for a... OpenXC TODO: not used yet. +void diagnostic_manager_t::shims_timer() +{} + +std::string diagnostic_manager_t::get_can_bus() +{ + return bus_; +} + +active_diagnostic_request_t* diagnostic_manager_t::get_last_recurring_requests() const +{ + return recurring_requests_.back(); +} + +/// @brief Return diagnostic manager shims member. +DiagnosticShims& diagnostic_manager_t::get_shims() +{ + return shims_; +} + +/// @brief Search for a specific active diagnostic request in the provided requests list +/// and erase it from the vector. This is useful at unsubscription to clean up the list otherwize +/// all received CAN messages will be passed to DiagnosticRequestHandle of all active diagnostic request +/// contained in the vector but no event if connected to, so we will decode uneeded request. +/// +/// @param[in] entry - a pointer of an active_diagnostic_request instance to clean up +/// @param[in] requests_list - a vector where to make the search and cleaning. +void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list) +{ + auto i = std::find(requests_list.begin(), requests_list.end(), entry); + if ( i != requests_list.end()) + requests_list.erase(i); +} + +// @brief TODO: implement cancel_request if needed... Don't know. +void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry) +{ + entry->get_socket().close(); +} + +/// @brief Cleanup a specific request if it isn't running and get complete. As it is almost +/// impossible to get that state for a recurring request without waiting for that, you can +/// force the cleaning operation. +/// +/// @param[in] entry - the request to clean +/// @param[in] force - Force the cleaning or not ? +void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, bool force) +{ + if((force || (entry != nullptr && entry->response_received()))) + { + char request_string[128] = {0}; + diagnostic_request_to_string(&entry->get_handle()->request, + request_string, sizeof(request_string)); + if(force && entry->get_recurring()) + { + find_and_erase(entry, recurring_requests_); + cancel_request(entry); + DEBUG(binder_interface, "%s: Cancelling completed, recurring request: %s", __FUNCTION__, request_string); + } + else + { + DEBUG(binder_interface, "%s: Cancelling completed, non-recurring request: %s", __FUNCTION__, request_string); + find_and_erase(entry, non_recurring_requests_); + cancel_request(entry); + } + } +} + +/// @brief Clean up all requests lists, recurring and not recurring. +/// +/// @param[in] force - Force the cleaning or not ? If true, that will do +/// the same effect as a call to reset(). +void diagnostic_manager_t::cleanup_active_requests(bool force) +{ + for(auto& entry : non_recurring_requests_) + if (entry != nullptr) + cleanup_request(entry, force); + + for(auto& entry : recurring_requests_) + if (entry != nullptr) + cleanup_request(entry, force); +} + +/// @brief Will return the active_diagnostic_request_t pointer for theDiagnosticRequest or nullptr if +/// not found. +/// +/// @param[in] request - Search key, method will go through recurring list to see if it find that request +/// holded by the DiagnosticHandle member. +active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const DiagnosticRequest* request) +{ + for (auto& entry : recurring_requests_) + { + if(entry != nullptr) + { + if(diagnostic_request_equals(&entry->get_handle()->request, request)) + { + return entry; + break; + } + } + } + return nullptr; +} + +/// @brief Add and send a new one-time diagnostic request. +/// +/// A one-time (aka non-recurring) request can existing in parallel with a +/// recurring request for the same PID or mode, that's not a problem. +/// +/// For an example, see the docs for addRecurringRequest. This function is very +/// similar but leaves out the frequencyHz parameter. +/// +/// @param[in] request - The parameters for the request. +/// @param[in] name - Human readable name this response, to be used when +/// publishing received responses. TODO: If the name is NULL, the published output +/// will use the raw OBD-II response format. +/// @param[in] wait_for_multiple_responses - If false, When any response is received +/// for this request it will be removed from the active list. If true, the +/// request will remain active until the timeout clock expires, to allow it +/// to receive multiple response. Functional broadcast requests will always +/// waint for the timeout, regardless of this parameter. +/// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of +/// responses to this request. If the decoder is NULL, the output will +/// include the raw payload instead of a parsed value. +/// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a +/// response is received for this request. +/// +/// @return true if the request was added successfully. Returns false if there +/// wasn't a free active request entry, if the frequency was too high or if the +/// CAN acceptance filters could not be configured, +active_diagnostic_request_t* diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string name, + bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder, + const DiagnosticResponseCallback callback) +{ + cleanup_active_requests(false); + + active_diagnostic_request_t* entry = nullptr; + + if (non_recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS) + { + // TODO: implement Acceptance Filter + // if(updateRequiredAcceptanceFilters(bus, request)) { + active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request, name, + wait_for_multiple_responses, decoder, callback, 0); + entry->set_handle(shims_, request); + + char request_string[128] = {0}; + diagnostic_request_to_string(&entry->get_handle()->request, request_string, + sizeof(request_string)); + + find_and_erase(entry, non_recurring_requests_); + DEBUG(binder_interface, "%s: Added one-time diagnostic request on bus %s: %s", __FUNCTION__, + bus_.c_str(), request_string); + + non_recurring_requests_.push_back(entry); + } + else + { + WARNING(binder_interface, "%s: There isn't enough request entry. Vector exhausted %d/%d", __FUNCTION__, (int)non_recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS); + non_recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS); + } + return entry; +} + +bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz) +{ + if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) { + DEBUG(binder_interface, "%s: Requested recurring diagnostic frequency %lf is higher than maximum of %d", __FUNCTION__, + frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ); + return false; + } + return true; +} + +/// @brief Add and send a new recurring diagnostic request. +/// +/// At most one recurring request can be active for the same arbitration ID, mode +/// and (if set) PID on the same bus at one time. If you try and call +/// addRecurringRequest with the same key, it will return an error. +/// +/// TODO: This also adds any neccessary CAN acceptance filters so we can receive the +/// response. If the request is to the functional broadcast ID (0x7df) filters +/// are added for all functional addresses (0x7e8 to 0x7f0). +/// +/// Example: +/// +/// // Creating a functional broadcast, mode 1 request for PID 2. +/// DiagnosticRequest request = { +/// arbitration_id: 0x7df, +/// mode: 1, +/// has_pid: true, +/// pid: 2 +/// }; +/// +/// // Add a recurring request, to be sent at 1Hz, and published with the +/// // name "my_pid_request" +/// addRecurringRequest(&getConfiguration()->diagnosticsManager, +/// canBus, +/// &request, +/// "my_pid_request", +/// false, +/// NULL, +/// NULL, +/// 1); +/// +/// @param[in] request - The parameters for the request. +/// @param[in] name - An optional human readable name this response, to be used when +/// publishing received responses. If the name is NULL, the published output +/// will use the raw OBD-II response format. +/// @param[in] wait_for_multiple_responses - If false, When any response is received +/// for this request it will be removed from the active list. If true, the +/// request will remain active until the timeout clock expires, to allow it +/// to receive multiple response. Functional broadcast requests will always +/// waint for the timeout, regardless of this parameter. +/// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of +/// responses to this request. If the decoder is NULL, the output will +/// include the raw payload instead of a parsed value. +/// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a +/// response is received for this request. +/// @param[in] frequencyHz - The frequency (in Hz) to send the request. A frequency above +/// MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ is not allowed, and will make this +/// function return false. +/// +/// @return true if the request was added successfully. Returns false if there +/// was too much already running requests, if the frequency was too high TODO:or if the +/// CAN acceptance filters could not be configured, +active_diagnostic_request_t* diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name, + bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder, + const DiagnosticResponseCallback callback, float frequencyHz) +{ + active_diagnostic_request_t* entry = nullptr; + + if(!validate_optional_request_attributes(frequencyHz)) + return entry; + + cleanup_active_requests(false); + + if(find_recurring_request(request) == nullptr) + { + if(recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS) + { + // TODO: implement Acceptance Filter + //if(updateRequiredAcceptanceFilters(bus, request)) { + entry = new active_diagnostic_request_t(bus_, request, name, + wait_for_multiple_responses, decoder, callback, frequencyHz); + recurring_requests_.push_back(entry); + + entry->set_handle(shims_, request); + if(add_rx_filter(OBD2_FUNCTIONAL_BROADCAST_ID) < 0) + { recurring_requests_.pop_back(); } + else + { + start_diagnostic_request(&shims_, entry->get_handle()); + if(event_source_ == nullptr && sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), + &event_source_, + socket_.socket(), + EPOLLIN, + read_message, + nullptr) < 0) + { + cleanup_request(entry, true); + WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, entry->get_name().c_str()); + return entry; + } + } + } + else + { + WARNING(binder_interface, "%s: There isn't enough request entry. Vector exhausted %d/%d", __FUNCTION__, (int)recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS); + recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS); + } + } + else + { DEBUG(binder_interface, "%s: Can't add request, one already exists with same key", __FUNCTION__);} + return entry; +} + +/// @brief Will decode the diagnostic response and build the final openxc_VehicleMessage to return. +/// +/// @param[in] adr - A pointer to an active diagnostic request holding a valid diagnostic handle +/// @param[in] response - The response to decode from which the Vehicle message will be built and returned +/// +/// @return A filled openxc_VehicleMessage or a zeroed struct if there is an error. +openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response) +{ + openxc_VehicleMessage message = build_VehicleMessage(); + float value = (float)diagnostic_payload_to_integer(&response); + if(adr->get_decoder() != nullptr) + { + value = adr->get_decoder()(&response, value); + } + + if((response.success && adr->get_name().size()) > 0) + { + // If name, include 'value' instead of payload, and leave of response + // details. + message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField(value))); + } + else + { + // If no name, send full details of response but still include 'value' + // instead of 'payload' if they provided a decoder. The one case you + // can't get is the full detailed response with 'value'. We could add + // another parameter for that but it's onerous to carry that around. + message = build_VehicleMessage(adr, response, value); + } + + // If not success but completed then the pid isn't supported + if(!response.success) + { + struct utils::signals_found found_signals; + found_signals = utils::signals_manager_t::instance().find_signals(build_DynamicField(adr->get_name())); + found_signals.diagnostic_messages.front()->set_supported(false); + cleanup_request(adr, true); + NOTICE(binder_interface, "%s: PID not supported or ill formed. Please unsubscribe from it. Error code : %d", __FUNCTION__, response.negative_response_code); + message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField("This PID isn't supported by your vehicle."))); + } + + if(adr->get_callback() != nullptr) + { + adr->get_callback()(adr, &response, value); + } + + // Reset the completed flag handle to make sure that it will be reprocessed the next time. + adr->get_handle()->success = false; + return message; +} + +/// @brief Will take the CAN message and pass it to the receive functions that will process +/// diagnostic handle for each active diagnostic request then depending on the result we will +/// return pass the diagnostic response to decode it. +/// +/// @param[in] entry - A pointer to an active diagnostic request holding a valid diagnostic handle +/// @param[in] cm - A raw CAN message. +/// +/// @return A pointer to a filled openxc_VehicleMessage or a nullptr if nothing has been found. +openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm) +{ + DiagnosticResponse response = diagnostic_receive_can_frame(&shims_, entry->get_handle(), cm.get_id(), cm.get_data(), cm.get_length()); + if(response.completed && entry->get_handle()->completed) + { + if(entry->get_handle()->success) + return relay_diagnostic_response(entry, response); + } + else if(!response.completed && response.multi_frame) + { + // Reset the timeout clock while completing the multi-frame receive + entry->get_timeout_clock().tick( + entry->get_timeout_clock().get_time_function()()); + } + + return build_VehicleMessage(); +} + +/// @brief Find the active diagnostic request with the correct DiagnosticRequestHandle +/// member that will understand the CAN message using diagnostic_receive_can_frame function +/// from UDS-C library. Then decode it with an ad-hoc method. +/// +/// @param[in] cm - Raw CAN message received +/// +/// @return VehicleMessage with decoded value. +openxc_VehicleMessage diagnostic_manager_t::find_and_decode_adr(const can_message_t& cm) +{ + openxc_VehicleMessage vehicle_message = build_VehicleMessage(); + + for ( auto entry : non_recurring_requests_) + { + vehicle_message = relay_diagnostic_handle(entry, cm); + if (is_valid(vehicle_message)) + return vehicle_message; + } + + for ( auto entry : recurring_requests_) + { + vehicle_message = relay_diagnostic_handle(entry, cm); + if (is_valid(vehicle_message)) + return vehicle_message; + } + + return vehicle_message; +} + +/// @brief Tell if the CAN message received is a diagnostic response. +/// Request broadcast ID use 0x7DF and assigned ID goes from 0x7E0 to Ox7E7. That allows up to 8 ECU to respond +/// at the same time. The response is the assigned ID + 0x8, so response ID can goes from 0x7E8 to 0x7EF. +/// +/// @param[in] cm - CAN message received from the socket. +/// +/// @return True if the active diagnostic request match the response. +bool diagnostic_manager_t::is_diagnostic_response(const can_message_t& cm) +{ + if (cm.get_id() >= 0x7e8 && cm.get_id() <= 0x7ef) + return true; + return false; +} diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp new file mode 100644 index 00000000..894cf630 --- /dev/null +++ b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp @@ -0,0 +1,94 @@ +/* + * 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 <systemd/sd-event.h> +#include <map> +#include <vector> + +#include "../utils/socketcan-bcm.hpp" +#include "uds/uds.h" +#include "openxc.pb.h" +#include "../can/can-bus.hpp" +#include "active-diagnostic-request.hpp" + +/// Each CAN bus needs its own set of shim functions, so this should +/// match the maximum CAN controller count. +/// +#define MAX_SHIM_COUNT can_bus_t.get_can_devices().size() +#define DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET 0x8 + +class active_diagnostic_request_t; + +/// +/// @brief The core structure for running the diagnostics module by the binding. +/// +/// This stores details about the active requests and shims required to connect +/// the diagnostics library to the CAN device. +/// +class diagnostic_manager_t { +private: + DiagnosticShims shims_; /*!< shims_ - Shim functions for each CAN bus that plug the diagnostics + * library (uds-c) into the VI's CAN peripheral.*/ + std::string bus_; /*!< bus_ - A pointer to the CAN bus that should be used for all standard OBD-II requests, if the bus is not + * explicitly spcified in the request. Default to the first bus CAN at initialization.*/ + std::vector<active_diagnostic_request_t*> recurring_requests_; /*!< recurringRequests - A list of active recurring diagnostic requests.*/ + std::vector<active_diagnostic_request_t*> non_recurring_requests_; /*!< nonrecurringRequests - A list of active one-time diagnostic requests. When a + * response is received for a non-recurring request or it times out, it is removed*/ + bool initialized_; /*!< * initialized - True if the DiagnosticsManager has been initialized with shims. It will interface with the uds-c lib*/ + utils::socketcan_bcm_t socket_; ///< socket_ - a BCM socket with 8 RX_SETUP jobs for the 8 CAN ID on which ECU could respond. + struct sd_event_source* event_source_; + + void init_diagnostic_shims(); + void reset(); + int add_rx_filter(uint32_t can_id); + + static bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size); + static void shims_logger(const char* m, ...); + static void shims_timer(); +public: + diagnostic_manager_t(); + + bool initialize(); + + utils::socketcan_bcm_t& get_socket(); + std::string get_can_bus(); + active_diagnostic_request_t* get_last_recurring_requests() const; + DiagnosticShims& get_shims(); + + void find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list); + void cancel_request(active_diagnostic_request_t* entry); + void cleanup_request(active_diagnostic_request_t* entry, bool force); + void cleanup_active_requests(bool force); + active_diagnostic_request_t* find_recurring_request(const DiagnosticRequest* request); + + // Subscription parts + active_diagnostic_request_t* add_request(DiagnosticRequest* request, const std::string name, + bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder, + const DiagnosticResponseCallback callback); + bool validate_optional_request_attributes(float frequencyHz); + active_diagnostic_request_t* add_recurring_request(DiagnosticRequest* request, const char* name, + bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder, + const DiagnosticResponseCallback callback, float frequencyHz); + + // Decoding part + openxc_VehicleMessage relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response); + openxc_VehicleMessage relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm); + openxc_VehicleMessage find_and_decode_adr(const can_message_t& cm); + bool is_diagnostic_response(const can_message_t& cm); +}; diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-message.cpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-message.cpp new file mode 100644 index 00000000..4455aa89 --- /dev/null +++ b/CAN-binder/low-can-binding/diagnostic/diagnostic-message.cpp @@ -0,0 +1,113 @@ +/* + * 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 <map> + +#include "diagnostic-message.hpp" + +#include "../binding/configuration.hpp" +#include "../utils/signals.hpp" + +const char *UNIT_NAMES[10] = { + "POURCENT", + "DEGREES_CELSIUS", + "KPA", + "RPM", + "GRAMS_SEC", + "SECONDS", + "KM", + "KM_H", + "PA", + "NM" +}; + +diagnostic_message_t::diagnostic_message_t(uint8_t pid, const std::string generic_name, const int min, + const int max, enum UNIT unit, float frequency, DiagnosticResponseDecoder decoder, + DiagnosticResponseCallback callback, bool supported) + : pid_{pid}, generic_name_{generic_name}, min_{min}, max_{max}, unit_{unit}, + frequency_{frequency}, decoder_{decoder}, callback_{callback}, supported_{supported} +{} + +uint32_t diagnostic_message_t::get_pid() +{ + return (uint32_t)pid_; +} + +const std::string diagnostic_message_t::get_generic_name() const +{ + return generic_name_; +} + +const std::string diagnostic_message_t::get_name() const +{ + return active_diagnostic_request_t::get_prefix() + "." + generic_name_; +} + +float diagnostic_message_t::get_frequency() const +{ + return frequency_; +} + +DiagnosticResponseDecoder diagnostic_message_t::get_decoder() const +{ + return decoder_; +} +DiagnosticResponseCallback diagnostic_message_t::get_callback() const +{ + return callback_; +} + +bool diagnostic_message_t::get_supported() const +{ + return supported_; +} + +void diagnostic_message_t::set_supported(bool value) +{ + supported_ = value; +} + +void diagnostic_message_t::set_parent(can_message_set_t* parent) +{ + parent_ = parent; +} + +/// +/// @brief Build a DiagnosticRequest struct to be passed +/// to diagnostic manager instance. +/// +const DiagnosticRequest diagnostic_message_t::build_diagnostic_request() +{ + return {/*arbitration_id: */OBD2_FUNCTIONAL_BROADCAST_ID, + /*mode: */0x1, + /*has_pid: */true, + /*pid: */pid_, + /*pid_length: */0, + /*payload[]: */{0}, + /*payload_length: */0, + /*no_frame_padding: */false, + /*DiagnosticRequestType: */DiagnosticRequestType::DIAGNOSTIC_REQUEST_TYPE_PID }; +} + +/// +/// @brief Check if a request is an OBD-II PID request. +/// +/// @return true if the request is a mode 1 request and it has a 1 byte PID. +/// +bool diagnostic_message_t::is_obd2_request(const DiagnosticRequest* request) +{ + return request->mode == 0x1 && request->has_pid && request->pid < 0xff; +} diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-message.hpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-message.hpp new file mode 100644 index 00000000..ac427b97 --- /dev/null +++ b/CAN-binder/low-can-binding/diagnostic/diagnostic-message.hpp @@ -0,0 +1,84 @@ +/* + * 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 <vector> +#include <string> + +#include "uds/uds.h" +#include "../can/can-message-set.hpp" +#include "../can/can-message.hpp" +#include "active-diagnostic-request.hpp" + +enum UNIT { + POURCENT, + DEGREES_CELSIUS, + KPA, + RPM, + GRAMS_SEC, + SECONDS, + KM, + KM_H, + PA, + NM, + INVALID +}; + +class can_message_set_t; + +/// +/// @brief - A representation of an OBD-II PID. +/// +class diagnostic_message_t +{ + private: + can_message_set_t* parent_; /*!< parent_ - Pointer to the CAN message set holding this diagnostic message */ + uint8_t pid_; /*!< pid_ - The 1 byte PID.*/ + std::string generic_name_; /*!< generic_name_ - A human readable name to use for this PID when published.*/ + int min_; /*!< min_ - Minimum value that can take this pid */ + int max_; /*!< max_ - Maximum value that can take this pid */ + enum UNIT unit_; /*!< unit_ : Which unit system is used by that pid. See enum UNIT above.*/ + float frequency_; /*!< frequency_ - The frequency to request this PID if supported by the vehicle when automatic, recurring OBD-II requests are enabled.*/ + DiagnosticResponseDecoder decoder_; /*!< decoder_ - An optional DiagnosticResponseDecoder to parse the payload of responses + * to this request. If the decoder is NULL, the output will include the raw payload + * instead of a parsed value.*/ + DiagnosticResponseCallback callback_; /*!< callback_ - An optional DiagnosticResponseCallback to be notified whenever a + * response is received for this request.*/ + + bool supported_; /*!< supported_ - boolean indicating whether this pid is supported by the vehicle or not.*/ + + public: + const char* generic_name = generic_name_.c_str(); + diagnostic_message_t(uint8_t pid, const std::string generic_name, const int min, const int max, enum UNIT unit, float frequency, + DiagnosticResponseDecoder decoder, DiagnosticResponseCallback callback, bool supported); + + uint32_t get_pid(); + const std::string get_generic_name() const; + const std::string get_name() const; + float get_frequency() const; + DiagnosticResponseDecoder get_decoder() const; + DiagnosticResponseCallback get_callback() const; + bool get_supported() const; + + void set_supported(bool value); + void set_parent(can_message_set_t* parent); + const DiagnosticRequest build_diagnostic_request(); + + bool is_obd2_response(const can_message_t& can_message); + bool is_obd2_request(const DiagnosticRequest *request); +}; diff --git a/CAN-binder/low-can-binding/utils/config-parser.cpp b/CAN-binder/low-can-binding/utils/config-parser.cpp new file mode 100644 index 00000000..3f338121 --- /dev/null +++ b/CAN-binder/low-can-binding/utils/config-parser.cpp @@ -0,0 +1,67 @@ +/* + * Copyright (C) 2015, 2016 ,2017 "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 "config-parser.hpp" + +#include "../binding/low-can-hat.hpp" + +namespace utils +{ + /// @brief constructor using path to file + config_parser_t::config_parser_t(std::string conf_file) + : filepath_{conf_file}, config_content_{} + { + config_content_.read_file(conf_file); + } + + const std::string& config_parser_t::filepath() const + { + return filepath_; + } + + /// @brief read the conf_file_ and parse it into an INIReader object + /// to search into later. + bool config_parser_t::check_conf() + { + if (config_content_.size() <= 0) + { + ERROR(binder_interface, "%s: Can't load the INI config file.", __FUNCTION__); + return false; + } + DEBUG(binder_interface, "%s: Configuration file parsed", __FUNCTION__); + return true; + } + + /// @brief Public method to access devices_name_ vector. If vector size equal 0 + /// then it will parses the configuration file content to fill it. It could be empty even + /// after parsing if content file just don't have a correct "canbus" directive so you + /// have to test the returned value. + /// + /// @return A const vector with string of linux CAN devices. + const std::vector<std::pair<std::string, std::string> > config_parser_t::get_devices_name() + { + std::vector<std::pair<std::string, std::string> > devices_name; + + std::map<std::string, std::string> bus_mapping = config_content_.get_keys("CANbus-mapping"); + for(const auto& busIt : bus_mapping ) + { + devices_name.push_back(std::make_pair(busIt.first, busIt.second)); + } + + return devices_name; + } +}
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/utils/config-parser.hpp b/CAN-binder/low-can-binding/utils/config-parser.hpp new file mode 100644 index 00000000..04531108 --- /dev/null +++ b/CAN-binder/low-can-binding/utils/config-parser.hpp @@ -0,0 +1,44 @@ +/* + * Copyright (C) 2015, 2016 ,2017 "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 <string> +#include <vector> +#include <utility> +#include "ini-config.hpp" + +namespace utils +{ + /// @brief A configuration file parser that handle INI configuration + /// file format. + class config_parser_t + { + private: + const std::string filepath_; /*!< filepath_ - Path to the config file*/ + ini_config config_content_; /*!< config_content_ - Parsed content of INI file.*/ + + public: + config_parser_t(config_parser_t&&) = default; + config_parser_t(const config_parser_t&) = default; + config_parser_t(std::string conf_file); + + const std::string& filepath() const; + bool check_conf(); + const std::vector<std::pair<std::string, std::string> > get_devices_name(); + }; +} diff --git a/CAN-binder/low-can-binding/utils/openxc-utils.cpp b/CAN-binder/low-can-binding/utils/openxc-utils.cpp new file mode 100644 index 00000000..286b2f53 --- /dev/null +++ b/CAN-binder/low-can-binding/utils/openxc-utils.cpp @@ -0,0 +1,284 @@ +/* + * Copyright (C) 2015, 2016 "IoT.bzh" + * Author "Romain Forlot" <romain.forlot@iot.bzh> + * Author "Loic Collignon" <loic.collignon@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 "openxc-utils.hpp" + +#include "../binding/configuration.hpp" + +/// +/// @brief Build a specific VehicleMessage containing a DiagnosticResponse. +/// +/// @param[in] request - Original request use to retrieve decoder and callback +/// @param[in] response - Response to the request that will be decoded if decoder set +/// and put into the DiagnosticResponse of the VehicleMessage. +/// @param[in] parsed_value - raw parsed value of the payload from CAN message +/// +/// @return a vehicle message including simple message that will be convert into +/// a JSON object before being pushed to the subscribers +/// +openxc_VehicleMessage build_VehicleMessage(active_diagnostic_request_t* request, const DiagnosticResponse& response, float parsed_value) +{ + openxc_VehicleMessage message; + configuration_t& conf = configuration_t::instance(); + + message.has_type = true; + message.type = openxc_VehicleMessage_Type::openxc_VehicleMessage_Type_DIAGNOSTIC; + message.has_diagnostic_response = true; + message.diagnostic_response.has_bus = true; + message.diagnostic_response.bus = conf.get_can_bus_manager().get_can_device_index( + conf.get_diagnostic_manager().get_can_bus()); + message.diagnostic_response.has_message_id = true; + + if(request->get_id() != OBD2_FUNCTIONAL_BROADCAST_ID) + { + message.diagnostic_response.message_id = response.arbitration_id + - DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET; + } + else + { + // must preserve responding arb ID for responses to functional broadcast + // requests, as they are the actual module address and not just arb ID + + // 8. + message.diagnostic_response.message_id = response.arbitration_id; + } + + message.diagnostic_response.has_mode = true; + message.diagnostic_response.mode = response.mode; + message.diagnostic_response.has_pid = response.has_pid; + if(message.diagnostic_response.has_pid) + message.diagnostic_response.pid = response.pid; + message.diagnostic_response.has_success = true; + message.diagnostic_response.success = response.success; + message.diagnostic_response.has_negative_response_code = !response.success; + message.diagnostic_response.negative_response_code = + response.negative_response_code; + + if(response.payload_length > 0) + { + if(request->get_decoder() != nullptr) + { + message.diagnostic_response.has_value = true; + message.diagnostic_response.value = parsed_value; + } + else + { + message.diagnostic_response.has_payload = true; + ::memcpy(message.diagnostic_response.payload.bytes, response.payload, + response.payload_length); + message.diagnostic_response.payload.size = response.payload_length; + } + } + + return message; +} + +/// +/// @brief Build a specific VehicleMessage containing a SimpleMessage. +/// +/// @param[in] message - simple message to include into openxc_VehicleMessage +/// +/// @return a vehicle message including simple message that will be convert into +/// a JSON object before being pushed to the subscribers +/// +openxc_VehicleMessage build_VehicleMessage(const openxc_SimpleMessage& message) +{ + openxc_VehicleMessage v; + + v.has_type = true, + v.type = openxc_VehicleMessage_Type::openxc_VehicleMessage_Type_SIMPLE; + v.has_simple_message = true; + v.simple_message = message; + v.has_timestamp = true; + v.timestamp = system_time_ms(); + + return v; +} + +/// +/// @brief Build an empty VehicleMessage that isn't usable by at least the struct +/// is initialized for the most part and can be use to check a false return value. +/// +/// @return A VehicleMessage with all boolean value to false. +/// +openxc_VehicleMessage build_VehicleMessage() +{ + openxc_VehicleMessage v; + + ::memset(&v, 0, sizeof(openxc_VehicleMessage)); + return v; +} + +bool is_valid(const openxc_VehicleMessage& v) +{ + if (v.has_type == false && + v.has_can_message == false && + v.has_simple_message == false && + v.has_diagnostic_response == false && + v.has_control_command == false && + v.has_command_response == false && + v.has_timestamp == false) + return false; + return true; +} + +/// +/// @brief Build an openxc_SimpleMessage associating a name to an openxc_DynamicField +/// +/// @param[in] name - const string reference name to assign to the created SimpleMessage +/// this will set has_name member to true and assign name to the name member. Maximum size for name is +/// set to 100 char. +/// @param[in] value - const reference with DynamicField to assign to SimpleMessage +/// value. +/// +/// @return an openxc_SimpleMessage struct initialized with name and value provided. +/// +openxc_SimpleMessage build_SimpleMessage(const std::string& name, const openxc_DynamicField& value) +{ + openxc_SimpleMessage s; + + s.has_name = true; + ::strncpy(s.name, name.c_str(), 100); + s.has_value = true; + s.value = value; + + return s; +} + +/// +/// @brief Build an openxc_DynamicField with a string value +/// +/// @param[in] value - const string reference value to assign to builded +/// openxc_DynamicField. +/// +/// @return openxc_DynamicField initialized with a string value. +/// +openxc_DynamicField build_DynamicField(const std::string& value) +{ + openxc_DynamicField d; + d.has_type = true; + d.type = openxc_DynamicField_Type_STRING; + + d.has_string_value = true; + d.has_numeric_value = false; + d.has_boolean_value = false; + ::strncpy(d.string_value, value.c_str(), 100); + + return d; +} + +/// +/// @fn openxc_DynamicField build_DynamicField(double value); +/// +/// @brief Build an openxc_DynamicField with a double value +/// +/// @param[in] value - double value to assign to builded openxc_DynamicField. +/// +/// @return openxc_DynamicField initialized with a double value. +/// +openxc_DynamicField build_DynamicField(double value) +{ + openxc_DynamicField d; + d.has_type = true; + d.type = openxc_DynamicField_Type_NUM; + + d.has_string_value = false; + d.has_numeric_value = true; + d.has_boolean_value = false; + d.numeric_value = value; + + return d; +} + +/// +/// @brief Build an openxc_DynamicField with a boolean value +/// +/// @param[in] value - boolean value to assign to builded openxc_DynamicField. +/// +/// @return openxc_DynamicField initialized with a boolean value. +/// +openxc_DynamicField build_DynamicField(bool value) +{ + openxc_DynamicField d; + d.has_type = true; + d.type = openxc_DynamicField_Type_BOOL; + + d.has_string_value = false; + d.has_numeric_value = false; + d.has_boolean_value = true; + d.boolean_value = value; + + return d; +} + +/// +/// @brief Extract the simple message value from an openxc_VehicleMessage +/// and return it. If there isn't SimpleMessage in the VehicleMessage then +/// returned value will be a SimpleMessage with all field set at false. +/// DynamicField from SimpleMessage will be boolean DynamicField set to false too. +/// +/// @param[in] v_msg - const reference to openxc_VehicleMessage +/// +/// @return A simpleMessage from the provided VehicleMessage. +/// +openxc_SimpleMessage get_simple_message(const openxc_VehicleMessage& v_msg) +{ + if (v_msg.has_simple_message) + return v_msg.simple_message; + + openxc_SimpleMessage s_msg = { false, "", false, build_DynamicField(false), false, build_DynamicField(false)}; + return s_msg; +} + +/// +/// @brief Make a JSON object from a DynamicField +/// +/// @param[in] field - openxc_DynamicField struct to convert into +/// a json object. +/// @param[out] value - pointer to the object to set up. +/// +void jsonify_DynamicField(const openxc_DynamicField& field, json_object* value) +{ + if(field.has_numeric_value) + json_object_object_add(value, "value", json_object_new_double(field.numeric_value)); + else if(field.has_boolean_value) + json_object_object_add(value, "value", json_object_new_boolean(field.boolean_value)); + else if(field.has_string_value) + json_object_object_add(value, "value", json_object_new_string(field.string_value)); +} + +/// +/// @brief Make a JSON object from a SimpleMessage +/// +/// @param[in] s_msg - const reference to an openxc_SimpleMessage +/// struct to convert into a json object. +/// @param[out] json - pointer with the DynamicField converted into json object +/// +/// @return True if SimpleMessage has been transformed into json object +/// and false if not. In such case, a json object is returned { "error": "error msg"} +/// +bool jsonify_simple(const openxc_SimpleMessage& s_msg, json_object* json) +{ + if(s_msg.has_name) + { + json_object_object_add(json, "name", json_object_new_string(s_msg.name)); + jsonify_DynamicField(s_msg.value, json); + return true; + } + json_object_object_add(json, "error", json_object_new_string("openxc_SimpleMessage doesn't have name'")); + return false; +}
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/utils/openxc-utils.hpp b/CAN-binder/low-can-binding/utils/openxc-utils.hpp new file mode 100644 index 00000000..d36b359b --- /dev/null +++ b/CAN-binder/low-can-binding/utils/openxc-utils.hpp @@ -0,0 +1,42 @@ +/* + * Copyright (C) 2015, 2016 "IoT.bzh" + * Author "Romain Forlot" <romain.forlot@iot.bzh> + * Author "Loic Collignon" <loic.collignon@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 <string> +#include <json-c/json.h> +#include <sys/timeb.h> + +#include "openxc.pb.h" +#include "../diagnostic/active-diagnostic-request.hpp" + +openxc_VehicleMessage build_VehicleMessage(active_diagnostic_request_t* request, const DiagnosticResponse& response, float parsed_value); +openxc_VehicleMessage build_VehicleMessage(const openxc_SimpleMessage& message); +openxc_VehicleMessage build_VehicleMessage(); +bool is_valid(const openxc_VehicleMessage& v); + +openxc_SimpleMessage build_SimpleMessage(const std::string& name, const openxc_DynamicField& value); +openxc_DynamicField build_DynamicField(const std::string& value); +openxc_DynamicField build_DynamicField(double value); +openxc_DynamicField build_DynamicField(bool value); + +openxc_SimpleMessage get_simple_message(const openxc_VehicleMessage& v_msg); + +void jsonify_DynamicField(const openxc_DynamicField& field, json_object* value); + +bool jsonify_simple(const openxc_SimpleMessage& s_msg, json_object* json);
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/utils/signals.cpp b/CAN-binder/low-can-binding/utils/signals.cpp new file mode 100644 index 00000000..261f572b --- /dev/null +++ b/CAN-binder/low-can-binding/utils/signals.cpp @@ -0,0 +1,77 @@ +/* + * 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 "signals.hpp" + +namespace utils +{ + signals_manager_t::signals_manager_t() + {} + + /// @brief Return singleton instance of configuration object. + signals_manager_t& signals_manager_t::instance() + { + static signals_manager_t sm; + return sm; + } + + /// @brief Return Subscribed signals map mutex. + std::mutex& signals_manager_t::get_subscribed_signals_mutex() + { + return subscribed_signals_mutex_; + } + + /// + /// @brief return the subscribed_signals map. + /// + /// @return Map of subscribed signals. + std::map<std::string, struct afb_event>& signals_manager_t::get_subscribed_signals() + { + return subscribed_signals_; + } + + /// + /// @fn std::vector<std::string> find_signals(const openxc_DynamicField &key) + /// @brief return signals name found searching through CAN_signals and OBD2 pid + /// + /// @param[in] key : can contain numeric or string value in order to search against + /// can signals or obd2 signals name. + /// + /// @return Vector of signals name found. + /// + struct signals_found signals_manager_t::find_signals(const openxc_DynamicField &key) + { + struct signals_found sf; + + switch(key.type) + { + case openxc_DynamicField_Type::openxc_DynamicField_Type_STRING: + lookup_signals_by_name(key.string_value, configuration_t::instance().get_all_can_signals(), sf.can_signals); + lookup_signals_by_name(key.string_value, configuration_t::instance().get_diagnostic_messages(), sf.diagnostic_messages); + break; + case openxc_DynamicField_Type::openxc_DynamicField_Type_NUM: + lookup_signals_by_id(key.numeric_value, configuration_t::instance().get_all_can_signals(), sf.can_signals); + lookup_signals_by_id(key.numeric_value, configuration_t::instance().get_diagnostic_messages(), sf.diagnostic_messages); + break; + default: + ERROR(binder_interface, "%s: wrong openxc_DynamicField specified. Use openxc_DynamicField_Type_NUM or openxc_DynamicField_Type_STRING type only.", __FUNCTION__); + break; + } + DEBUG(binder_interface, "%s: Found %d signal(s)", __FUNCTION__, (int)(sf.can_signals.size() + sf.diagnostic_messages.size())); + return sf; + } +}
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/utils/signals.hpp b/CAN-binder/low-can-binding/utils/signals.hpp new file mode 100644 index 00000000..358ddbe6 --- /dev/null +++ b/CAN-binder/low-can-binding/utils/signals.hpp @@ -0,0 +1,81 @@ +/* + * 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 <vector> +#include <string> +#include <fnmatch.h> + +#include "openxc.pb.h" +#include "../binding/configuration.hpp" +#include "../can/can-signals.hpp" +#include "../diagnostic/diagnostic-message.hpp" + +#include "../binding/low-can-hat.hpp" + +namespace utils +{ + struct signals_found + { + std::vector<std::shared_ptr<can_signal_t> > can_signals; + std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages; + }; + + class signals_manager_t + { + private: + std::mutex subscribed_signals_mutex_; + std::map<std::string, struct afb_event> subscribed_signals_; + + signals_manager_t(); ///< Private constructor to make singleton class. + + public: + static signals_manager_t& instance(); + + std::mutex& get_subscribed_signals_mutex(); + std::map<std::string, struct afb_event>& get_subscribed_signals(); + + struct signals_found find_signals(const openxc_DynamicField &key); + void find_diagnostic_messages(const openxc_DynamicField &key, std::vector<std::shared_ptr<diagnostic_message_t> >& found_signals); + void find_can_signals(const openxc_DynamicField &key, std::vector<std::shared_ptr<can_signal_t> >& found_signals); + + template <typename T> + void lookup_signals_by_name(const std::string& key, std::vector<std::shared_ptr<T> > signals, std::vector<std::shared_ptr<T> >& found_signals) + { + for(std::shared_ptr<T> s : signals) + { + if(::fnmatch(key.c_str(), s->get_generic_name().c_str(), FNM_CASEFOLD) == 0) + found_signals.push_back(s); + else if(::fnmatch(key.c_str(), s->get_name().c_str(), FNM_CASEFOLD) == 0) + found_signals.push_back(s); + } + } + + template <typename T> + void lookup_signals_by_id(const double key, std::vector<std::shared_ptr<T> > signals, std::vector<std::shared_ptr<T> >& found_signals) + { + for(std::shared_ptr<T> s : signals) + { + if(configuration_t::instance().get_signal_id(*s) == key) + { + found_signals.push_back(s); + } + } + } + }; +}
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp new file mode 100644 index 00000000..38f48522 --- /dev/null +++ b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp @@ -0,0 +1,96 @@ +/* + * Copyright (C) 2015, 2016 ,2017 "IoT.bzh" + * Author "Romain Forlot" <romain.forlot@iot.bzh> + * Author "Loïc Collignon" <loic.collignon@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 "socketcan-bcm.hpp" + +#include <net/if.h> +#include <sys/ioctl.h> +#include <fcntl.h> + +namespace utils +{ + /// @brief Connect the socket. + /// @return 0 if success. + int socketcan_bcm_t::connect(const struct sockaddr* addr, socklen_t len) + { + return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0; + } + + /// @brief Open a raw socket CAN. + /// @param[in] device_name is the kernel network device name of the CAN interface. + /// + /// @return Upon successful completion, shall return a non-negative integer, the socket file descriptor. Otherwise, a value of -1 shall be returned and errno set to indicate the error. + int socketcan_bcm_t::open(std::string device_name) + { + close(); + + struct ifreq ifr; + socket_ = socketcan_t::open(PF_CAN, SOCK_DGRAM, CAN_BCM); + + // Attempts to open a socket to CAN bus + ::strcpy(ifr.ifr_name, device_name.c_str()); + DEBUG(binder_interface, "%s: BCM socket ifr_name is : %s", __FUNCTION__, ifr.ifr_name); + if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0) + { + ERROR(binder_interface, "%s: ioctl failed. Error was : %s", __FUNCTION__, strerror(errno)); + close(); + } + else + { + tx_address_.can_family = AF_CAN; + tx_address_.can_ifindex = ifr.ifr_ifindex; + + if(connect((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0) + { + ERROR(binder_interface, "%s: Connect failed. %s", __FUNCTION__, strerror(errno)); + close(); + } + // Needed because of using systemD event loop. See sd_event_add_io manual. + fcntl(socketcan_t::socket_, F_SETFL, O_NONBLOCK); + } + return socket_; + } + + socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm) + { + struct { + struct bcm_msg_head msg_head; + struct can_frame frames; + } msg; + + const struct sockaddr_can& addr = s.get_tx_address(); + socklen_t addrlen = sizeof(addr); + struct ifreq ifr; + + ssize_t nbytes = ::recvfrom(s.socket(), &msg, sizeof(msg), 0, (struct sockaddr*)&addr, &addrlen); + ifr.ifr_ifindex = addr.can_ifindex; + ioctl(s.socket(), SIOCGIFNAME, &ifr); + + DEBUG(binder_interface, "Data available: %i bytes read", (int)nbytes); + DEBUG(binder_interface, "read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, msg.msg_head.can_id, msg.frames.can_dlc, + msg.frames.data[0], msg.frames.data[1], msg.frames.data[2], msg.frames.data[3], msg.frames.data[4], msg.frames.data[5], msg.frames.data[6], msg.frames.data[7]); + + struct timeval tv; + ioctl(s.socket(), SIOCGSTAMP, &tv); + uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec; + cm = ::can_message_t::convert_from_frame(msg.frames , + nbytes-sizeof(struct bcm_msg_head), + timestamp); + + return s; + } +}
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/utils/socketcan-bcm.hpp b/CAN-binder/low-can-binding/utils/socketcan-bcm.hpp new file mode 100644 index 00000000..2e4547ba --- /dev/null +++ b/CAN-binder/low-can-binding/utils/socketcan-bcm.hpp @@ -0,0 +1,52 @@ +/* + * Copyright (C) 2015, 2016 ,2017 "IoT.bzh" + * Author "Romain Forlot" <romain.forlot@iot.bzh> + * Author "Loïc Collignon" <loic.collignon@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 "socketcan.hpp" +#include "../can/can-message.hpp" + +namespace utils +{ + struct simple_bcm_msg + { + struct bcm_msg_head msg_head; + struct can_frame frames; + }; + + struct canfd_bcm_msg + { + struct bcm_msg_head msg_head; + struct canfd_frame frames; + canfd_bcm_msg() { msg_head.flags |= CAN_FD_FRAME; } + }; + + class socketcan_bcm_t : public socketcan_t + { + public: + using socketcan_t::socketcan_t; + + virtual int open(std::string device_name); + + private: + int connect(const struct sockaddr* addr, socklen_t len); + }; + + socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm); +// socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct simple_bcm_msg& obj); +// socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct canfd_bcm_msg& obj); +} diff --git a/CAN-binder/low-can-binding/utils/socketcan-raw.cpp b/CAN-binder/low-can-binding/utils/socketcan-raw.cpp new file mode 100644 index 00000000..a35a99d4 --- /dev/null +++ b/CAN-binder/low-can-binding/utils/socketcan-raw.cpp @@ -0,0 +1,88 @@ +/* + * Copyright (C) 2015, 2016 ,2017 "IoT.bzh" + * Author "Romain Forlot" <romain.forlot@iot.bzh> + * Author "Loïc Collignon" <loic.collignon@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 "socketcan-raw.hpp" + +#include <net/if.h> +#include <sys/ioctl.h> + +namespace utils +{ + /// @brief Bind the socket. + /// @return 0 if success. + int socketcan_raw_t::bind(const struct sockaddr* addr, socklen_t len) + { + return socket_ != INVALID_SOCKET ? ::bind(socket_, addr, len) : 0; + } + + /// @brief Open a raw socket CAN. + /// @param[in] device_name is the kernel network device name of the CAN interface. + /// + /// @return Upon successful completion, shall return a non-negative integer, the socket file descriptor. Otherwise, a value of -1 shall be returned and errno set to indicate the error. + int socketcan_raw_t::open(std::string device_name) + { + close(); + + struct ifreq ifr; + socket_ = socketcan_t::open(PF_CAN, SOCK_RAW, CAN_RAW); + + // Attempts to open a socket to CAN bus + ::strcpy(ifr.ifr_name, device_name.c_str()); + DEBUG(binder_interface, "%s: ifr_name is : %s", __FUNCTION__, ifr.ifr_name); + if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0) + { + ERROR(binder_interface, "%s: ioctl failed. Error was : %s", __FUNCTION__, strerror(errno)); + close(); + } + else + { + tx_address_.can_family = AF_CAN; + tx_address_.can_ifindex = ifr.ifr_ifindex; + + if(bind((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0) + { + ERROR(binder_interface, "%s: Bind failed. %s", __FUNCTION__, strerror(errno)); + close(); + } + } + return socket_; + } + + socketcan_raw_t& operator>>(socketcan_raw_t& s, can_message_t& cm) + { + struct canfd_frame frame; + + const struct sockaddr_can& addr = s.get_tx_address(); + socklen_t addrlen = sizeof(addr); + struct ifreq ifr; + + ssize_t nbytes = ::recvfrom(s.socket(), &frame, sizeof(frame), 0, (struct sockaddr*)&addr, &addrlen); + ifr.ifr_ifindex = addr.can_ifindex; + ioctl(s.socket(), SIOCGIFNAME, &ifr); + + DEBUG(binder_interface, "Data available: %i bytes read", (int)nbytes); + DEBUG(binder_interface, "read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, frame.can_id, frame.len, + frame.data[0], frame.data[1], frame.data[2], frame.data[3], frame.data[4], frame.data[5], frame.data[6], frame.data[7]); + + struct timeval tv; + ioctl(s.socket(), SIOCGSTAMP, &tv); + uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec; + cm = ::can_message_t::convert_from_frame(frame , nbytes, timestamp); + + return s; + } +}
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/utils/socketcan-raw.hpp b/CAN-binder/low-can-binding/utils/socketcan-raw.hpp new file mode 100644 index 00000000..61672411 --- /dev/null +++ b/CAN-binder/low-can-binding/utils/socketcan-raw.hpp @@ -0,0 +1,35 @@ +/* + * Copyright (C) 2015, 2016 ,2017 "IoT.bzh" + * Author "Romain Forlot" <romain.forlot@iot.bzh> + * Author "Loïc Collignon" <loic.collignon@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 "socketcan.hpp" +#include "../can/can-message.hpp" + +namespace utils +{ + class socketcan_raw_t : public socketcan_t + { + public: + using socketcan_t::socketcan_t; + virtual int open(std::string device_name); + + private: + int bind(const struct sockaddr* addr, socklen_t len); + }; + + socketcan_raw_t& operator>>(socketcan_raw_t& s, can_message_t& cm); +} diff --git a/CAN-binder/low-can-binding/utils/socketcan.cpp b/CAN-binder/low-can-binding/utils/socketcan.cpp new file mode 100644 index 00000000..d66822de --- /dev/null +++ b/CAN-binder/low-can-binding/utils/socketcan.cpp @@ -0,0 +1,93 @@ +/* + * Copyright (C) 2015, 2016 ,2017 "IoT.bzh" + * Author "Romain Forlot" <romain.forlot@iot.bzh> + * Author "Loïc Collignon" <loic.collignon@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 <unistd.h> +#include <string> +#include <linux/can/raw.h> +#include <net/if.h> +#include <sys/ioctl.h> + +#include "socketcan.hpp" + +namespace utils +{ + + /// @brief Construct a default, invalid, socket. + socketcan_t::socketcan_t() + : socket_{INVALID_SOCKET} + {} + + /// @brief Construct a socket by copying an existing one. + socketcan_t::socketcan_t(const socketcan_t& s) + : socket_{s.socket_} + {} + + /// @brief Construct a socket by moving an existing one. + socketcan_t::socketcan_t(socketcan_t&& s) + : socket_{s.socket_} + { + s.socket_ = INVALID_SOCKET; + } + + socketcan_t::~socketcan_t() + {} + + const struct sockaddr_can& socketcan_t::get_tx_address() const + { + return tx_address_; + } + + /// @brief Test if socket is valid. + /// @return true if valid, false otherwise. + socketcan_t::operator bool() const + { + return socket_ != INVALID_SOCKET; + } + + /// @brief Open the socket. + /// @param[in] domain Specifies the communications domain in which a socket is to be created. + /// @param[in] type Specifies the type of socket to be created. + /// @param[in] protocol Specifies a particular protocol to be used with the socket. Specifying a protocol of 0 causes socket() to use an unspecified default protocol appropriate for the requested socket type. + /// @return Upon successful completion, shall return a non-negative integer, the socket file descriptor. Otherwise, a value of -1 shall be returned and errno set to indicate the error. + int socketcan_t::open(int domain, int type, int protocol) + { + close(); + socket_ = ::socket(domain, type, protocol); + return socket_; + } + + /// @brief Close the socket. + /// @return 0 if success. + int socketcan_t::close() + { + return socket_ != INVALID_SOCKET ? ::close(socket_) : 0; + } + + /// @brief Set socket option. + /// @return 0 if success. + int socketcan_t::setopt(int level, int optname, const void* optval, socklen_t optlen) + { + return socket_ != INVALID_SOCKET ? ::setsockopt(socket_, level, optname, optval, optlen) : 0; + } + + /// @brief Get the file descriptor. + /// @return The socket's file descriptor + int socketcan_t::socket() const + { + return socket_; + } +}
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/utils/socketcan.hpp b/CAN-binder/low-can-binding/utils/socketcan.hpp new file mode 100644 index 00000000..c3abb2ff --- /dev/null +++ b/CAN-binder/low-can-binding/utils/socketcan.hpp @@ -0,0 +1,70 @@ +#pragma once + +/* + * Copyright (C) 2015, 2016 ,2017 "IoT.bzh" + * Author "Romain Forlot" <romain.forlot@iot.bzh> + * Author "Loïc Collignon" <loic.collignon@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 <vector> + +#include <sys/socket.h> +#include <linux/can/bcm.h> +#include <string.h> + +#include "../binding/low-can-hat.hpp" + +#define INVALID_SOCKET -1 + +namespace utils +{ + class socketcan_t + { + public: + socketcan_t(); + socketcan_t(const socketcan_t& s); + socketcan_t(socketcan_t&&); + virtual ~socketcan_t(); + + const struct sockaddr_can& get_tx_address() const; + explicit operator bool() const; + + int socket() const; + virtual int open(std::string device_name) = 0; + int setopt(int level, int optname, const void* optval, socklen_t optlen); + int close(); + + protected: + int socket_; + struct sockaddr_can tx_address_; + + int open(int domain, int type, int protocol); + }; + + template <typename T> + socketcan_t& operator<<(socketcan_t& s, const std::vector<T>& vobj) + { + for(const auto& obj : vobj) + s << obj; + return s; + } + + template <typename T> + socketcan_t& operator<<(socketcan_t& s, const T& obj) + { + if (::sendto(s.socket(), &obj, sizeof(obj), 0, (const struct sockaddr*)&s.get_tx_address(), sizeof(s.get_tx_address())) < 0) + ERROR(binder_interface, "%s: Error sending : %i %s", __FUNCTION__, errno, ::strerror(errno)); + return s; + } +} diff --git a/CAN-binder/low-can-binding/utils/timer.cpp b/CAN-binder/low-can-binding/utils/timer.cpp new file mode 100644 index 00000000..9c22bd0d --- /dev/null +++ b/CAN-binder/low-can-binding/utils/timer.cpp @@ -0,0 +1,121 @@ +/* + * 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 <time.h> +#include <stdlib.h> +#include <cmath> + +#include "timer.hpp" + +long long int system_time_us() +{ + struct timespec t_usec; + long long int timestamp_usec; + + if(!::clock_gettime(CLOCK_MONOTONIC, &t_usec)) + timestamp_usec = (t_usec.tv_nsec / 1000ll) + (t_usec.tv_sec* 1000000ll); + return timestamp_usec; +} + +long long int system_time_ms() +{ + struct timespec t_msec; + long long int timestamp_msec; + + if(!::clock_gettime(CLOCK_MONOTONIC, &t_msec)) + timestamp_msec = (t_msec.tv_nsec / 1000000ll) + (t_msec.tv_sec* 1000ll); + return timestamp_msec; +} + +long long int system_time_s() +{ + struct timespec t_sec; + long long int timestamp_sec; + + if(!::clock_gettime(CLOCK_MONOTONIC, &t_sec)) + timestamp_sec = t_sec.tv_sec; + return timestamp_sec; +} + +frequency_clock_t::frequency_clock_t() + : unit_{1000000}, frequency_{10.0}, last_tick_{0}, time_function_{nullptr} +{} + +frequency_clock_t::frequency_clock_t(float frequency) + : unit_{1000000}, frequency_{frequency}, last_tick_{0}, time_function_{nullptr} +{ + if(frequency_ <= 0) + frequency_ = 1; +} + +frequency_clock_t::frequency_clock_t(float frequency, uint64_t last_tick, time_function_t time_function) + : unit_{1000000}, frequency_{frequency}, last_tick_{0}, time_function_{nullptr} +{ + if(frequency_ <= 0) + frequency_ = 1; +} +/// @brief Return the period in ms given the frequency in hertz. +/// @param[in] frequency - Frequency to convert, in hertz +float frequency_clock_t::frequency_to_period() const +{ + return frequency_ == 0 ? 0 : 1 / frequency_; +} + +const struct timeval frequency_clock_t::get_timeval_from_period() const +{ + struct timeval freq = {0, 0}; + float f; + freq.tv_usec = (long int)(std::modf(frequency_to_period(), &f) * unit_); + freq.tv_sec = (time_t)f; + + return freq; +} + +bool frequency_clock_t::started() +{ + return last_tick_ != 0; +} + +time_function_t frequency_clock_t::get_time_function() +{ + return time_function_ != nullptr ? time_function_ : system_time_us; +} + +bool frequency_clock_t::elapsed(bool stagger) +{ + float period = frequency_to_period(); + float elapsed_time = 0; + if(!started() && stagger) + last_tick_ = get_time_function()() - (rand() % int(period)); + + // Make sure it ticks the the first call + elapsed_time = !started() ? period : (float)get_time_function()() - (float)last_tick_; + + return frequency_ == 0 || elapsed_time >= period; +} + +float frequency_clock_t::get_frequency() const +{ + return frequency_; +} + +/// @brief Force the clock to tick, regardless of it its time has actually +/// elapsed. +void frequency_clock_t::tick(uint64_t timestamp) +{ + last_tick_ = timestamp; +}
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/utils/timer.hpp b/CAN-binder/low-can-binding/utils/timer.hpp new file mode 100644 index 00000000..432d513d --- /dev/null +++ b/CAN-binder/low-can-binding/utils/timer.hpp @@ -0,0 +1,57 @@ +/* + * 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 <sys/time.h> +#include <stdint.h> + +/// @brief return epoch in milliseconds +/// +/// @return long long int epoch in milliseconds +typedef long long int (*time_function_t)(); + +long long int system_time_us(); +long long int system_time_ms(); +long long int system_time_s(); + + +/// @brief A frequency counting clock. +/// Utility class allowing some time function. +class frequency_clock_t +{ +private: + float unit_; ///< unit_ - multiplicator to make operation to be in the right unit (milli, micro, nano, etc) + float frequency_; ///< the clock frequency in Hz. + uint64_t last_tick_; ///< the last time (in microseconds since startup) that the clock ticked. + time_function_t time_function_; ///< a function returning current time + +public: + frequency_clock_t(); + frequency_clock_t(float frequency); + frequency_clock_t(float frequency, uint64_t last_tick, time_function_t time_function); + + float get_frequency() const; + const struct timeval get_timeval_from_period() const; + + float frequency_to_period() const; + bool started(); + time_function_t get_time_function(); + bool elapsed(bool stagger); + + void tick(uint64_t timestamp); +};
\ No newline at end of file |