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Diffstat (limited to 'src/can-bus.hpp')
| -rw-r--r-- | src/can-bus.hpp | 322 |
1 files changed, 322 insertions, 0 deletions
diff --git a/src/can-bus.hpp b/src/can-bus.hpp new file mode 100644 index 00000000..9100ff80 --- /dev/null +++ b/src/can-bus.hpp @@ -0,0 +1,322 @@ +/* + * 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 <mutex> +#include <queue> +#include <thread> +#include <linux/can.h> +#include <condition_variable> + +#include "timer.hpp" +#include "openxc.pb.h" +#include "can-signals.hpp" +#include "can-message.hpp" +#include "low-can-binding.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 can_bus_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: + int conf_file_; /*!< conf_file_ - configuration file handle used to initialize can_bus_dev_t objects.*/ + + std::thread th_decoding_; /*!< thread that'll handle decoding a can frame */ + bool is_decoding_; /*!< boolean member controling thread while loop*/ + std::thread th_pushing_; /*!< thread that'll handle pushing decoded can frame to subscribers */ + bool is_pushing_; /*!< boolean member controling thread while loop*/ + + std::condition_variable new_can_message_; + std::mutex can_message_mutex_; + bool has_can_message_; /*!< boolean members that control whether or not there is can_message into the 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_; + std::mutex decoded_can_message_mutex_; + bool has_vehicle_message_; /*!< boolean members that control whether or not there is openxc_VehicleMessage into the queue */ + std::queue <openxc_VehicleMessage> vehicle_message_q_; /*!< queue that'll store openxc_VehicleMessage to pushed */ + + public: + /** + * @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(int& conf_file); + + /** + * @brief Will initialize can_bus_dev_t objects after reading + * the configuration file passed in the constructor. + */ + int init_can_dev(); + + /** + * @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> read_conf(); + + std::condition_variable& get_new_can_message(); + std::mutex& get_can_message_mutex(); + std::condition_variable& get_new_decoded_can_message(); + std::mutex& get_decoded_can_message_mutex(); + + /** + * @brief Will initialize threads that will decode + * and push subscribed events. + */ + void start_threads(); + + /** + * @brief Will stop all threads holded by can_bus_t object + * which are decoding and pushing threads. + */ + void stop_threads(); + + /** + * @brief Telling if the decoding 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 decoding thread is running, false if not. + */ + bool is_decoding(); + + /** + * @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. + */ + bool is_pushing(); + + /** + * @brief Return first can_message_t on the queue + * + * @return a can_message_t + */ + can_message_t next_can_message(); + + /** + * @brief Push a can_message_t into the queue + * + * @param the const reference can_message_t object to push into the queue + */ + void push_new_can_message(const can_message_t& can_msg); + + /** + * @brief Return a boolean telling if there is any can_message into the queue + * + * @return true if there is at least a can_message_t, false if not. + */ + bool has_can_message() const; + + /** + * @brief Return first openxc_VehicleMessage on the queue + * + * @return a openxc_VehicleMessage containing a decoded can message + */ + openxc_VehicleMessage next_vehicle_message(); + + /** + * @brief Push a openxc_VehicleMessage into the queue + * + * @param the const reference openxc_VehicleMessage object to push into the queue + */ + void push_new_vehicle_message(const openxc_VehicleMessage& v_msg); + + /** + * @brief Return a boolean telling if there is any openxc_VehicleMessage into the queue + * + * @return true if there is at least a openxc_VehicleMessage, false if not. + */ + bool has_vehicle_message() const; +}; + +/** + * @class can_bus_dev_t + * + * @brief Object representing a can device. Handle opening, closing and reading on the + * socket. This is the low level object to be use by can_bus_t. + */ +class can_bus_dev_t { + private: + std::string device_name_; /*!< std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc. */ + int can_socket_; /*!< socket handler for the can device */ + bool is_fdmode_on_; /*!< boolean telling if whether or not the can socket use fdmode. */ + struct sockaddr_can txAddress_; /*!< internal member using to bind to the socket */ + + std::thread th_reading_; /*!< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t */ + bool is_running_; /*!< boolean telling whether or not reading is running or not */ + + public: + /** + * @brief Class constructor + * + * @param const string representing the device name into the linux /dev tree + */ + can_bus_dev_t(const std::string& dev_name); + + /** + * @brief Open the can socket and returning it + * + * @return + */ + int open(); + + /** + * @brief Open the can socket and returning it + * + * @return + */ + int close(); + + /** + * @brief Telling if the reading 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 reading thread is running, false if not. + */ + bool is_running(); + + /** + * @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 start_reading(can_bus_t& can_bus); + + /** + * @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. + */ + canfd_frame read(); + + /** + * @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 send_can_message(can_message_t& can_msg); +}; + +/** + * @brief Return an array of the metadata for the 2 CAN buses you want to + * monitor. The size of this array is fixed at 2. + */ +can_bus_dev_t getCanBuses(); + +/** + * @fn void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount); + * @brief Pre initialize actions made before CAN bus initialization + * + * @param[in] can_bus_dev_t bus - A CanBus struct defining the bus's metadata + * @param[in] bool 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. + * @param[in] int busCount - The length of the buses array. + */ +void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount); + +/** + * @fn void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount); + * @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. + * @param[in] busCount - The length of the buses array. + */ +void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount); + +/** + * @fn bool isBusActive(can_bus_dev_t* bus); + * @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. + */ +bool isBusActive(can_bus_dev_t* bus); + +/** + * @fn void logBusStatistics(can_bus_dev_t* buses, const int busCount); + * @brief Log transfer statistics about all active CAN buses to the debug log. + * + * @param[in] buses - an array of active CAN buses. + * @param[in] busCount - the length of the buses array. + */ +void logBusStatistics(can_bus_dev_t* buses, const int busCount); + +/** + * @fn void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus); + * + * @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_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus); + +/** + * @fn void can_decode_message(can_bus_t& can_bus); + * + * @brief Thread function used to decode can messages read into the can_message_q_ + * + * @param[in] can_bus_t object used to pop can_message_q_ queue and fill decoded message + * into vehicle_message_q_ queue. + */ +void can_decode_message(can_bus_t& can_bus); + +/** + * @fn void can_decode_message(can_bus_t& can_bus); + * + * @brief Thread function used to push afb_event + * + * @param[in] can_bus_t object used to pop can_message_q_ queue and fill decoded message + * into vehicle_message_q_ queue. + */ +void can_event_push(can_bus_t& can_bus);
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