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Diffstat (limited to 'src/can-bus.cpp')
| -rw-r--r-- | src/can-bus.cpp | 556 |
1 files changed, 0 insertions, 556 deletions
diff --git a/src/can-bus.cpp b/src/can-bus.cpp deleted file mode 100644 index d46092bf..00000000 --- a/src/can-bus.cpp +++ /dev/null @@ -1,556 +0,0 @@ -/* - * 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-bus.hpp" - -#include <map> -#include <cerrno> -#include <vector> -#include <string> -#include <fcntl.h> -#include <unistd.h> -#include <net/if.h> -#include <sys/ioctl.h> -#include <sys/socket.h> -#include <json-c/json.h> -#include <linux/can/raw.h> - -#include "can-decoder.hpp" -#include "openxc-utils.hpp" - -extern "C" -{ - #include <afb/afb-binding.h> -} - -/******************************************************************************** -* -* can_bus_t method implementation -* -*********************************************************************************/ -/** -* @brief Class constructor -* -* @param struct afb_binding_interface *interface between daemon and binding -* @param int file handle to the json configuration file. -*/ -can_bus_t::can_bus_t(int conf_file) - : conf_file_{conf_file} -{ -} - -/** -* @brief thread to decoding raw CAN messages. -* -* @desc It will take from the can_message_q_ queue the next can message to process then it will 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. -*/ -void can_bus_t::can_decode_message() -{ - can_message_t can_message; - std::vector <CanSignal*> signals; - openxc_VehicleMessage vehicle_message; - openxc_DynamicField search_key, decoded_message; - - decoder_t decoder; - - while(is_decoding_) - { - std::unique_lock<std::mutex> can_message_lock(can_message_mutex_); - new_can_message_.wait(can_message_lock); - can_message = next_can_message(); - - /* First we have to found which CanSignal it is */ - search_key = build_DynamicField((double)can_message.get_id()); - signals.clear(); - find_can_signals(search_key, signals); - - /* Decoding the message ! Don't kill the messenger ! */ - for(auto& sig : signals) - { - std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex()); - std::map<std::string, struct afb_event>& s = get_subscribed_signals(); - - /* DEBUG message to make easier debugger STL containers... - DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[sig.generic_name])); - DEBUG(binder_interface, "Operator[] key string: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[std::string(sig.generic_name)])); - DEBUG(binder_interface, "Nb elt matched char: %d", (int)s.count(sig.generic_name)); - DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.generic_name))); */ - if( s.find(sig->generic_name) != s.end() && afb_event_is_valid(s[sig->generic_name])) - { - decoded_message = decoder.translateSignal(*sig, can_message, get_can_signals()); - - openxc_SimpleMessage s_message = build_SimpleMessage(sig->generic_name, decoded_message); - vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message); - - std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(vehicle_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; - - 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); - v_message = next_vehicle_message(); - - s_message = get_simple_message(v_message); - { - std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex()); - std::map<std::string, struct afb_event>& s = 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); - afb_event_push(s[std::string(s_message.name)], jo); - } - } - } -} - -/** - * @brief Will initialize threads that will decode - * and push subscribed events. - */ -void can_bus_t::start_threads() -{ - v_ = 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 Will initialize can_bus_dev_t objects after reading -* the configuration file passed in the constructor. -*/ -int can_bus_t::init_can_dev() -{ - std::vector<std::string> devices_name; - int i; - size_t t; - - devices_name = read_conf(); - - if (! devices_name.empty()) - { - t = devices_name.size(); - i=0; - - for(const auto& device : devices_name) - { - can_devices_m_[device] = std::make_shared<can_bus_dev_t>(device); - if (can_devices_m_[device]->open() == 0) - { - i++; - DEBUG(binder_interface, "Start reading thread"); - NOTICE(binder_interface, "%s device opened and reading", device.c_str()); - can_devices_m_[device]->start_reading(*this); - } - else - ERROR(binder_interface, "Can't open device %s", device.c_str()); - } - - NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t); - return 0; - } - ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read from configuration file. Did you specify canbus JSON object ?"); - return 1; -} - -/** -* @brief read the conf_file_ and will parse json objects -* in it searching for canbus objects devices name. -* -* @return Vector of can bus device name string. -*/ -std::vector<std::string> can_bus_t::read_conf() -{ - std::vector<std::string> ret; - json_object *jo, *canbus; - int n, i; - const char* taxi; - - FILE *fd = fdopen(conf_file_, "r"); - if (fd) - { - std::string fd_conf_content; - std::fseek(fd, 0, SEEK_END); - fd_conf_content.resize(std::ftell(fd)); - std::rewind(fd); - std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd); - std::fclose(fd); - - DEBUG(binder_interface, "Configuration file content : %s", fd_conf_content.c_str()); - jo = json_tokener_parse(fd_conf_content.c_str()); - - if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus)) - {/** -* @brief Telling if the pushing thread is running -* This is the boolean value on which the while loop -* take its condition. Set it to false will stop the -* according thread. -* -* @return true if pushing thread is running, false if not. -*/ - - ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it."); - ret.clear(); - } - else if (json_object_get_type(canbus) != json_type_array) - { - taxi = json_object_get_string(canbus); - DEBUG(binder_interface, "Can bus found: %s", taxi); - ret.push_back(std::string(taxi)); - } - else - { - n = json_object_array_length(canbus); - for (i = 0 ; i < n ; i++) - ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i))); - } - return ret; - } - ERROR(binder_interface, "Problem at reading the conf file"); - ret.clear(); - return ret; -} - -/** -* @brief return new_can_message_ member -* -* @return return new_can_message_ 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, "next_can_message: 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 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, "next_vehicle_message: next vehicle message poped"); - return v_msg; - } - - return v_msg; -} - -/** -* @brief Push a openxc_VehicleMessage into the queue -* -* @param the 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 a map with the can_bus_dev_t initialized -* -* @return map can_bus_dev_m_ map -*/ -std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::get_can_devices() -{ - return can_devices_m_; -} - -/******************************************************************************** -* -* can_bus_dev_t method implementation -* -*********************************************************************************/ -/** -* @brief Class constructor -* -* @param const string representing the device name into the linux /dev tree -*/ -can_bus_dev_t::can_bus_dev_t(const std::string &dev_name) - : device_name_{dev_name}, can_socket_{-1} -{ -} - -/** -* @brief Open the can socket and returning it -* -* @return -*/ -int can_bus_dev_t::open() -{ - const int canfd_on = 1; - const int timestamp_on = 1; - struct ifreq ifr; - struct timeval timeout; - - DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_); - if (can_socket_ >= 0) - return 0; - - can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW); - DEBUG(binder_interface, "CAN Handler socket correctly initialized : %d", can_socket_); - if (can_socket_ < 0) - ERROR(binder_interface, "socket could not be created. Error was : %s", ::strerror(errno)); - else - { - /* Set timeout for read */ - ::setsockopt(can_socket_, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout)); - /* Set timestamp for receveid frame */ - if (::setsockopt(can_socket_, SOL_SOCKET, SO_TIMESTAMP, ×tamp_on, sizeof(timestamp_on)) < 0) - WARNING(binder_interface, "setsockopt SO_TIMESTAMP error: %s", ::strerror(errno)); - DEBUG(binder_interface, "Switch CAN Handler socket to use fd mode"); - /* try to switch the socket into CAN_FD mode */ - if (::setsockopt(can_socket_, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0) - { - NOTICE(binder_interface, "Can not switch into CAN Extended frame format."); - is_fdmode_on_ = false; - } else { - DEBUG(binder_interface, "Correctly set up CAN socket to use FD frames."); - is_fdmode_on_ = true; - } - - /* Attempts to open a socket to CAN bus */ - ::strcpy(ifr.ifr_name, device_name_.c_str()); - DEBUG(binder_interface, "ifr_name is : %s", ifr.ifr_name); - if(::ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0) - ERROR(binder_interface, "ioctl failed. Error was : %s", strerror(errno)); - else - { - txAddress_.can_family = AF_CAN; - txAddress_.can_ifindex = ifr.ifr_ifindex; - - /* And bind it to txAddress */ - DEBUG(binder_interface, "Bind the socket"); - if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0) - ERROR(binder_interface, "Bind failed. %s", strerror(errno)); - else - return 0; - } - close(); - } - return -1; -} - -/** - * @brief Open the can socket and returning it - * - * @return - */ -int can_bus_dev_t::close() -{ - ::close(can_socket_); - can_socket_ = -1; - return can_socket_; -} - -/** -* @brief Read the can socket and retrieve canfd_frame -* -* @param const struct afb_binding_interface* interface pointer. Used to be able to log -* using application framework logger. -*/ -std::pair<struct canfd_frame&, size_t> can_bus_dev_t::read() -{ - ssize_t nbytes; - //int maxdlen; - struct canfd_frame cfd; - - /* Test that socket is really opened */ - if (can_socket_ < 0) - { - ERROR(binder_interface, "read_can: Socket unavailable. Closing thread."); - is_running_ = false; - } - - nbytes = ::read(can_socket_, &cfd, CANFD_MTU); - - /* if we did not fit into CAN sized messages then stop_reading. */ - if (nbytes != CANFD_MTU && nbytes != CAN_MTU) - { - if (errno == ENETDOWN) - ERROR(binder_interface, "read: %s CAN device down", device_name_); - ERROR(binder_interface, "read: Incomplete CAN(FD) frame"); - ::memset(&cfd, 0, sizeof(cfd)); - } - - DEBUG(binder_interface, "read: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", cfd.can_id, cfd.len, - cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]); - return std::pair<struct canfd_frame&, size_t>(cfd, nbytes); -} - -/** -* @brief start reading threads and set flag is_running_ -* -* @param can_bus_t reference can_bus_t. it will be passed to the thread -* to allow using can_bus_t queue. -*/ -void can_bus_dev_t::start_reading(can_bus_t& can_bus) -{ - DEBUG(binder_interface, "Launching reading thread"); - is_running_ = true; - th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus)); - if(!th_reading_.joinable()) - is_running_ = false; -} - -/** -* @brief stop the reading thread setting flag is_running_ to false and -* and wait that the thread finish its job. -*/ -void can_bus_dev_t::stop_reading() -{ - is_running_ = false; -} - -/** -* -* @brief Thread function used to read the can socket. -* -* @param[in] can_bus_dev_t object to be used to read the can socket -* @param[in] can_bus_t object used to fill can_message_q_ queue -*/ -void can_bus_dev_t::can_reader(can_bus_t& can_bus) -{ - can_message_t can_message; - - while(is_running_) - { - can_message.convert_from_canfd_frame(read()); - - { - std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex()); - can_bus.push_new_can_message(can_message); - } - can_bus.get_new_can_message_cv_().notify_one(); - } -} - -/** -* @brief Send a can message from a can_message_t object. -* -* @param const can_message_t& can_msg: the can message object to send -* @param const struct afb_binding_interface* interface pointer. Used to be able to log -* using application framework logger. -*/ -int can_bus_dev_t::send_can_message(can_message_t& can_msg) -{ - ssize_t nbytes; - canfd_frame f; - - f = can_msg.convert_to_canfd_frame(); - - if(can_socket_ >= 0) - { - nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0, - (struct sockaddr*)&txAddress_, sizeof(txAddress_)); - if (nbytes == -1) - { - ERROR(binder_interface, "send_can_message: Sending CAN frame failed."); - return -1; - } - return (int)nbytes; - } - else - { - ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket."); - open(); - } - return 0; -}
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