diff options
Diffstat (limited to 'src/can/can-bus.cpp')
| -rw-r--r-- | src/can/can-bus.cpp | 204 |
1 files changed, 86 insertions, 118 deletions
diff --git a/src/can/can-bus.cpp b/src/can/can-bus.cpp index 0c2337c5..a81c142f 100644 --- a/src/can/can-bus.cpp +++ b/src/can/can-bus.cpp @@ -40,12 +40,9 @@ extern "C" #include <afb/afb-binding.h> } -/** -* @brief Class constructor -* -* @param struct afb_binding_interface *interface between daemon and binding -* @param int file handle to the json configuration file. -*/ +/// @brief Class constructor +/// +/// @param[in] conf_file - handle to the json configuration file. can_bus_t::can_bus_t(int conf_file) : conf_file_{conf_file} { @@ -53,18 +50,16 @@ can_bus_t::can_bus_t(int conf_file) std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::can_devices_; -/** - * @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. - */ +/// @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(can_message_t& can_message) { int processed_signals = 0; @@ -72,21 +67,21 @@ int can_bus_t::process_can_signals(can_message_t& can_message) openxc_DynamicField search_key, decoded_message; openxc_VehicleMessage vehicle_message; - /* First we have to found which can_signal_t it is */ + // First we have to found which can_signal_t it is search_key = build_DynamicField((double)can_message.get_id()); configuration_t::instance().find_can_signals(search_key, signals); - /* Decoding the message ! Don't kill the messenger ! */ + // 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)));*/ + // 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->get_name()) != s.end() && afb_event_is_valid(s[sig->get_name()])) { decoded_message = decoder_t::translateSignal(*sig, can_message, configuration_t::instance().get_can_signals()); @@ -105,15 +100,14 @@ int can_bus_t::process_can_signals(can_message_t& can_message) return processed_signals; } -/** - * @brief Will make the decoding operation on a diagnostic CAN message.It will add to - * the vehicle_message queue the decoded message and tell 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. - */ +/// @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; @@ -134,20 +128,18 @@ int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const c return processed_signals; } -/** -* @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. -* -* Depending on the nature of message, if id match a diagnostic request corresponding id for a response -* then decoding a diagnostic message else use classic CAN signals decoding functions. -* -* TODO: make diagnostic messages parsing optionnal. -*/ +/// @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; @@ -165,10 +157,8 @@ void can_bus_t::can_decode_message() } } -/** -* @brief thread to push events to suscribers. It will read subscribed_signals map to look -* which are events that has to be pushed. -*/ +/// @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; @@ -195,10 +185,8 @@ void can_bus_t::can_event_push() } } -/** -* @brief Will initialize threads that will decode -* and push subscribed events. -*/ +/// @brief Will initialize threads that will decode +/// and push subscribed events. void can_bus_t::start_threads() { is_decoding_ = true; @@ -212,25 +200,23 @@ void can_bus_t::start_threads() 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. -*/ +/// @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. All CAN buses -* Initialized here will be added to a vector holding them for -* inventory and later access. -* -* That will initialize CAN socket reading too using a new thread. -*/ +/// @brief Will initialize can_bus_dev_t objects after reading +/// the configuration file passed in the constructor. All CAN buses +/// Initialized here will be added to a vector holding them for +/// inventory and later access. +/// +/// That will initialize CAN socket reading too using a new thread. +/// +/// @return 0 if ok, other if not. int can_bus_t::init_can_dev() { std::vector<std::string> devices_name; @@ -264,12 +250,10 @@ int can_bus_t::init_can_dev() 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. -*/ +/// @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; @@ -314,31 +298,25 @@ std::vector<std::string> can_bus_t::read_conf() return ret; } -/** -* @brief return new_can_message_cv_ member -* -* @return return new_can_message_cv_ member -*/ +/// @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 -*/ +/// @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 -*/ +/// @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; @@ -355,21 +333,17 @@ can_message_t can_bus_t::next_can_message() 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 -*/ +/// @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 -*/ +/// @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; @@ -385,34 +359,28 @@ openxc_VehicleMessage can_bus_t::next_vehicle_message() return v_msg; } -/** -* @brief Push a openxc_VehicleMessage into the queue -* -* @param the const reference openxc_VehicleMessage object to push into the queue -*/ +/// @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 a map with the can_bus_dev_t initialized -* -* @return map can_bus_dev_m_ map -*/ +/// @brief Return a map with the can_bus_dev_t initialized +/// +/// @return map can_bus_dev_m_ map const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const { return can_bus_t::can_devices_; } -/** -* @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 -*/ +/// @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 std::shared_ptr<can_bus_dev_t> can_bus_t::get_can_device(std::string bus) { return can_bus_t::can_devices_[bus]; |