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+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <net/if.h>
+#include <sys/socket.h>
+#include <json-c/json.h>
+#include <linux/can/raw.h>
+#include <map>
+#include <cerrno>
+#include <vector>
+#include <string>
+#include <algorithm>
+
+#include "can-bus.hpp"
+
+#include "can-signals.hpp"
+#include "can-decoder.hpp"
+#include "../binding/application.hpp"
+#include "../utils/signals.hpp"
+#include "../utils/openxc-utils.hpp"
+
+/// @brief Class constructor
+///
+/// @param[in] conf_file - handle to the json configuration file.
+can_bus_t::can_bus_t(utils::config_parser_t conf_file)
+ : conf_file_{conf_file}
+{}
+
+/// @brief Take a decoded message to determine if its value comply with the wanted
+/// filtering values.
+///
+/// @param[in] vehicle_message - A decoded message to analyze
+/// @param[in] can_subscription - the subscription which will be notified depending
+/// on its filtering values. Filtering values are stored in the event_filtermember.
+///
+/// @return True if the value is compliant with event filter values, false if not...
+bool can_bus_t::apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription)
+{
+ bool send = false;
+ if(is_valid(vehicle_message))
+ {
+ float min = std::isnan(can_subscription->get_min()) ? -INFINITY : can_subscription->get_min();
+ float max = std::isnan(can_subscription->get_max()) ? INFINITY : can_subscription->get_max();
+ double value = get_numerical_from_DynamicField(vehicle_message);
+ send = (value < min && value > max) ? false : true;
+ }
+ return send;
+}
+
+/// @brief Will make the decoding operation on a classic CAN message. It will not
+/// handle CAN commands nor diagnostic messages that have their own method to get
+/// this happens.
+///
+/// It will add to the vehicle_message queue the decoded message and tell the event push
+/// thread to process it.
+///
+/// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
+///
+/// @return How many signals has been decoded.
+void can_bus_t::process_can_signals(const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+{
+ int subscription_id = can_message.get_sub_id();
+ openxc_DynamicField decoded_message;
+ openxc_VehicleMessage vehicle_message;
+
+ // First we have to found which can_signal_t it is
+ std::shared_ptr<low_can_subscription_t> sig = s[subscription_id];
+
+ if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
+ {
+ bool send = true;
+ decoded_message = decoder_t::translateSignal(*sig->get_can_signal(), can_message, application_t::instance().get_all_can_signals(), &send);
+ openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
+ vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp());
+
+ if(send && apply_filter(vehicle_message, sig))
+ {
+ std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
+ push_new_vehicle_message(subscription_id, vehicle_message);
+ DEBUG("%s CAN signals processed.", sig->get_name().c_str());
+ }
+ }
+}
+
+/// @brief Will make the decoding operation on a diagnostic CAN message.Then it find the subscribed signal
+/// corresponding and will add the vehicle_message to the queue of event to pushed before notifying
+/// the event push thread to process it.
+///
+/// @param[in] manager - the diagnostic manager object that handle diagnostic communication
+/// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
+///
+/// @return How many signals has been decoded.
+void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+{
+ int subscription_id = can_message.get_sub_id();
+
+ openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
+ if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
+ s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
+ {
+ if (apply_filter(vehicle_message, s[subscription_id]))
+ {
+ std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
+ push_new_vehicle_message(subscription_id, vehicle_message);
+ DEBUG("%s CAN signals processed.", s[subscription_id]->get_name().c_str());
+ }
+ }
+}
+
+/// @brief thread to decoding raw CAN messages.
+///
+/// Depending on the nature of message, if arbitration ID matches ID for a diagnostic response
+/// then decoding a diagnostic message else use classic CAN signals decoding functions.
+///
+/// It will take from the can_message_q_ queue the next can message to process then it search
+/// about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
+/// subscription has been made. Can message will be decoded using translateSignal that will pass it to the
+/// corresponding decoding function if there is one assigned for that signal. If not, it will be the default
+/// noopDecoder function that will operate on it.
+///
+/// TODO: make diagnostic messages parsing optionnal.
+void can_bus_t::can_decode_message()
+{
+ utils::signals_manager_t& sm = utils::signals_manager_t::instance();
+
+ while(is_decoding_)
+ {
+ std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
+ new_can_message_cv_.wait(can_message_lock);
+ while(!can_message_q_.empty())
+ {
+ const can_message_t can_message = next_can_message();
+ can_message_lock.unlock();
+
+ {
+ std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
+ std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
+ if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
+ {process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), can_message, s);}
+ else
+ {process_can_signals(can_message, s);}
+ }
+ can_message_lock.lock();
+ }
+ new_decoded_can_message_.notify_one();
+ can_message_lock.unlock();
+ }
+}
+
+/// @brief thread to push events to suscribers. It will read subscribed_signals map to look
+/// which are events that has to be pushed.
+void can_bus_t::can_event_push()
+{
+ openxc_SimpleMessage s_message;
+ json_object* jo;
+ utils::signals_manager_t& sm = utils::signals_manager_t::instance();
+
+ while(is_pushing_)
+ {
+ std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
+ new_decoded_can_message_.wait(decoded_can_message_lock);
+ while(!vehicle_message_q_.empty())
+ {
+ std::pair<int, openxc_VehicleMessage> v_message = next_vehicle_message();
+ decoded_can_message_lock.unlock();
+ {
+ std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
+ std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
+ s_message = get_simple_message(v_message.second);
+ if(s.find(v_message.first) != s.end() && afb_event_is_valid(s[v_message.first]->get_event()))
+ {
+ jo = json_object_new_object();
+ jsonify_simple(s_message, jo);
+ if(afb_event_push(s[v_message.first]->get_event(), jo) == 0)
+ {
+ if(v_message.second.has_diagnostic_response)
+ {on_no_clients(s[v_message.first], v_message.second.diagnostic_response.pid, s);}
+ else
+ {on_no_clients(s[v_message.first], s);}
+ }
+ }
+ }
+ decoded_can_message_lock.lock();
+ }
+ decoded_can_message_lock.unlock();
+ }
+}
+
+/// @brief Will initialize threads that will decode
+/// and push subscribed events.
+void can_bus_t::start_threads()
+{
+ is_decoding_ = true;
+ th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
+ th_decoding_.detach();
+
+ is_pushing_ = true;
+ th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
+ th_pushing_.detach();
+}
+
+/// @brief Will stop all threads holded by can_bus_t object
+/// which are decoding and pushing then will wait that's
+/// they'll finish their job.
+void can_bus_t::stop_threads()
+{
+ is_decoding_ = false;
+ is_pushing_ = false;
+}
+
+/// @brief return new_can_message_cv_ member
+///
+/// @return return new_can_message_cv_ member
+std::condition_variable& can_bus_t::get_new_can_message_cv()
+{
+ return new_can_message_cv_;
+}
+
+/// @brief return can_message_mutex_ member
+///
+/// @return return can_message_mutex_ member
+std::mutex& can_bus_t::get_can_message_mutex()
+{
+ return can_message_mutex_;
+}
+
+/// @brief Return first can_message_t on the queue
+///
+/// @return a can_message_t
+const can_message_t can_bus_t::next_can_message()
+{
+ can_message_t can_msg;
+
+ if(!can_message_q_.empty())
+ {
+ can_msg = can_message_q_.front();
+ can_message_q_.pop();
+ DEBUG("Here is the next can message : id %X, length %X, data %02X%02X%02X%02X%02X%02X%02X%02X", can_msg.get_id(), can_msg.get_length(),
+ can_msg.get_data()[0], can_msg.get_data()[1], can_msg.get_data()[2], can_msg.get_data()[3], can_msg.get_data()[4], can_msg.get_data()[5], can_msg.get_data()[6], can_msg.get_data()[7]);
+ return can_msg;
+ }
+
+ return can_msg;
+}
+
+/// @brief Push a can_message_t into the queue
+///
+/// @param[in] can_msg - the const reference can_message_t object to push into the queue
+void can_bus_t::push_new_can_message(const can_message_t& can_msg)
+{
+ can_message_q_.push(can_msg);
+}
+
+/// @brief Return first openxc_VehicleMessage on the queue
+///
+/// @return a openxc_VehicleMessage containing a decoded can message
+std::pair<int, openxc_VehicleMessage> can_bus_t::next_vehicle_message()
+{
+ std::pair<int, openxc_VehicleMessage> v_msg;
+
+ if(! vehicle_message_q_.empty())
+ {
+ v_msg = vehicle_message_q_.front();
+ vehicle_message_q_.pop();
+ DEBUG("next vehicle message poped");
+ return v_msg;
+ }
+
+ return v_msg;
+}
+
+/// @brief Push a openxc_VehicleMessage into the queue
+///
+/// @param[in] v_msg - const reference openxc_VehicleMessage object to push into the queue
+void can_bus_t::push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg)
+{
+ vehicle_message_q_.push(std::make_pair(subscription_id, v_msg));
+}
+
+/// @brief Fills the CAN device map member with value from device
+/// mapping configuration file read at initialization.
+void can_bus_t::set_can_devices()
+{
+ can_devices_ = conf_file_.get_devices_name();
+
+ if(can_devices_.empty())
+ {
+ ERROR("No mapping found in config file: '%s'. Check it that it have a CANbus-mapping section.",
+ conf_file_.filepath().c_str());
+ }
+}
+
+
+/// @brief Return the CAN device index from the map
+/// map are sorted so index depend upon alphabetical sorting.
+int can_bus_t::get_can_device_index(const std::string& bus_name) const
+{
+ int i = 0;
+ for(const auto& d: can_devices_)
+ {
+ if(d.first == bus_name)
+ break;
+ i++;
+ }
+ return i;
+}
+
+/// @brief Return CAN device name from a logical CAN device name gotten from
+/// the signals.json description file which comes from a CAN databases file in
+/// general.
+const std::string can_bus_t::get_can_device_name(const std::string& id_name) const
+{
+ std::string ret;
+ for(const auto& d: can_devices_)
+ {
+ if(d.first == id_name)
+ {
+ ret = d.second;
+ break;
+ }
+ }
+ return ret;
+}