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Diffstat (limited to 'src/can-utils.hpp')
| -rw-r--r-- | src/can-utils.hpp | 614 |
1 files changed, 0 insertions, 614 deletions
diff --git a/src/can-utils.hpp b/src/can-utils.hpp deleted file mode 100644 index 29a41f26..00000000 --- a/src/can-utils.hpp +++ /dev/null @@ -1,614 +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. - */ - -#pragma once - -#include <mutex> -#include <queue> -#include <thread> -#include <linux/can.h> -#include <condition_variable> - -#include "timer.hpp" -#include "openxc.pb.h" -#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_MESSAGE_SIZE 8 - -#define CAN_ACTIVE_TIMEOUT_S 30 - -/** - * @brief The type signature for a CAN signal decoder. - * - * @desc A SignalDecoder transforms a raw floating point CAN signal into a number, - * string or boolean. - * - * @param[in] CanSignal signal - The CAN signal that we are decoding. - * @param[in] CanSignal signals - The list of all signals. - * @param[in] int signalCount - The length of the signals array. - * @param[in] float value - The CAN signal parsed from the message as a raw floating point - * value. - * @param[out] bool 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)(struct CanSignal& signal, - const std::vector<CanSignal>& signals, float value, bool* send); - -/** - * @brief: The type signature for a CAN signal encoder. - * - * @desc A SignalEncoder transforms a number, string or boolean into a raw floating - * point value that fits in the CAN signal. - * - * @params[signal] - The CAN signal to encode. - * @params[value] - The dynamic field to encode. - * @params[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)(struct CanSignal* signal, - openxc_DynamicField* value, bool* send); - -/** - * @enum CanMessageFormat - * @brief The ID format for a CAN message. - */ -enum CanMessageFormat { - STANDARD, /*!< STANDARD - standard 11-bit CAN arbitration ID. */ - EXTENDED, /*!< EXTENDED - an extended frame, with a 29-bit arbitration ID. */ - ERROR, /*!< ERROR - ERROR code used at initialization to signify that it isn't usable'*/ -}; -typedef enum CanMessageFormat CanMessageFormat; - -/** - * @class can_message_t - * - * @brief A compact representation of a single CAN message, meant to be used in in/out - * buffers. - */ - -/************************* - * old CanMessage struct * - ************************* -struct CanMessage { - uint32_t id; - CanMessageFormat format; - uint8_t data[CAN_MESSAGE_SIZE]; - uint8_t length; -}; -typedef struct CanMessage CanMessage; -*/ -class can_message_t { - private: - uint32_t id_; /*!< uint32_t id - The ID of the message. */ - uint8_t length_; /*!< uint8_t length - the length of the data array (max 8). */ - CanMessageFormat format_; /*!< CanMessageFormat format - the format of the message's ID.*/ - uint8_t data_[CAN_MESSAGE_SIZE]; /*!< uint8_t data - The message's data field with a size of 8 which is the standard about CAN bus messages.*/ - - public: - /** - * @brief Class constructor - * - * Constructor about can_message_t class. - */ - can_message_t(); - - /** - * @brief Retrieve id_ member value. - * - * @return uint32_t id_ class member - */ - uint32_t get_id() const; - - /** - * @brief Retrieve format_ member value. - * - * @return CanMessageFormat format_ class member - */ - int get_format() const; - - /** - * @brief Retrieve data_ member value. - * - * @return uint8_t data_ pointer class member - */ - const uint8_t* get_data() const; - - /** - * @brief Retrieve length_ member value. - * - * @return uint8_t length_ class member - */ - uint8_t get_length() const; - - /** - * @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 is_correct_to_send(); - - /** - * @brief Set id_ member value. - * - * Preferred way to initialize these members by using - * convert_from_canfd_frame method. - * - * @param uint32_t id_ class member - */ - void set_id(const uint32_t new_id); - - /** - * @brief Set format_ member value. - * - * Preferred way to initialize these members by using - * convert_from_canfd_frame method. - * - * @param CanMessageFormat format_ class member - */ - void set_format(const CanMessageFormat format); - - /** - * @brief Set data_ member value. - * - * Preferred way to initialize these members by using - * convert_from_canfd_frame method. - * - * @param uint8_t data_ array with a max size of 8 elements. - */ - void set_data(const uint8_t new_data); - - /** - * @brief Set length_ member value. - * - * Preferred way to initialize these members by using - * convert_from_canfd_frame method. - * - * @param uint8_t length_ array with a max size of 8 elements. - */ - void set_length(const uint8_t new_length); - - /** - * @brief Take a canfd_frame struct to initialize class members - * - * This is the preferred way to initialize class members. - * - * @param canfd_frame struct read from can bus device. - */ - void convert_from_canfd_frame(const canfd_frame& frame); - - /** - * @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. - */ - canfd_frame convert_to_canfd_frame(); -}; - -/** - * @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); -}; - -/** - * @struct CanSignalState - * - * @brief A state encoded (SED) signal's mapping from numerical values to - * OpenXC state names. - */ -struct CanSignalState { - const int value; /*!< int value - The integer value of the state on the CAN bus.*/ - const char* name; /*!< char* name - The corresponding string name for the state in OpenXC. */ -}; -typedef struct CanSignalState CanSignalState; - -/** - * @struct CanSignal - * - * @brief A CAN signal to decode from the bus and output over USB. - */ -struct CanSignal { - struct CanMessageDefinition* message; /*!< message - The message this signal is a part of. */ - const char* genericName; /*!< genericName - The name of the signal to be output over USB.*/ - uint8_t bitPosition; /*!< 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 bitSize; /*!< bitSize - 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 minValue; /*!< minValue - The minimum value for the processed signal.*/ - float maxValue; /*!< maxValue - The maximum value for the processed signal. */ - FrequencyClock frequencyClock; /*!< frequencyClock - A FrequencyClock struct to control the maximum frequency to - * process and send this signal. To process every value, set the - * clock's frequency to 0. */ - bool sendSame; /*!< sendSame - If true, will re-send even if the value hasn't changed.*/ - bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send the - * value if it has changed. */ - const CanSignalState* states; /*!< states - An array of CanSignalState describing the mapping - * between numerical and string values for valid states. */ - uint8_t stateCount; /*!< stateCount - The length of the states array. */ - 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 lastValue; /*!< lastValue - The last received value of the signal. If 'received' is false, - * this value is undefined. */ -}; -typedef struct CanSignal CanSignal; - -/** - * @struct CanMessageDefinition - * - * @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. - */ -struct CanMessageDefinition { - //can_bus_dev_t bus; /*!< bus - A pointer to the bus this message is on. */ - uint32_t id; /*!< id - The ID of the message.*/ - CanMessageFormat format; /*!< format - the format of the message's ID.*/ - FrequencyClock frequencyClock; /*!< 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 retriec++ if ? syntaxve.*/ - bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send CAN - * message if it has changed when using raw passthrough.*/ - uint8_t lastValue[CAN_MESSAGE_SIZE]; /*!< lastValue - 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.*/ -}; -typedef struct CanMessageDefinition CanMessageDefinition; - -/** - * @struct CanMessageSet - * - * @brief A parent wrapper for a particular set of CAN messages and associated - * CAN buses(e.g. a vehicle or program). - */ - typedef struct { - uint8_t index; /*!<index - A numerical ID for the message set, ideally the index in an array - * for fast lookup*/ - const char* name; /*!< name - The name of the message set.*/ - uint8_t busCount; /*!< busCount - The number of CAN buses defined for this message set.*/ - unsigned short messageCount; /*!< messageCount - The number of CAN messages (across all buses) defined for - * this message set.*/ - unsigned short signalCount; /*!< signalCount - The number of CAN signals (across all messages) defined for - * this message set.*/ - unsigned short commandCount; /*!< commandCount - The number of CanCommmands defined for this message set.*/ -} CanMessageSet; - -/** - * @brief The type signature for a function to handle a custom OpenXC command. - * - * @param[in] char* name - the name of the received command. - * @param[in] openxc_DynamicField* value - the value of the received command, in a DynamicField. The actual type - * may be a number, string or bool. - * @param[in] openxc_DynamicField* event - an optional event from the received command, in a DynamicField. The - * actual type may be a number, string or bool. - * @param[in] CanSignal* signals - The list of all signals. - * @param[in] int signalCount - The length of the signals array. - */ -typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value, - openxc_DynamicField* event, CanSignal* signals, int signalCount); - -/* @struct CanCommand - * @brief The structure to represent a supported custom OpenXC command. - * - * @desc 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* genericName; /*!< genericName - The name of the command.*/ - CommandHandler handler; /*!< handler - An function to process the received command's data and perform some - * action.*/ -} CanCommand; - -/** - * @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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