diff options
Diffstat (limited to 'src/can/can-bus.cpp')
| -rw-r--r-- | src/can/can-bus.cpp | 122 |
1 files changed, 91 insertions, 31 deletions
diff --git a/src/can/can-bus.cpp b/src/can/can-bus.cpp index 79fcd3fc..dfecea96 100644 --- a/src/can/can-bus.cpp +++ b/src/can/can-bus.cpp @@ -51,6 +51,87 @@ can_bus_t::can_bus_t(int conf_file) } +int can_bus_t::process_can_signals(can_message_t& can_message) +{ + int processed_signals = 0; + std::vector <can_signal_t*> signals; + openxc_DynamicField search_key, decoded_message; + openxc_VehicleMessage vehicle_message; + + /* First we have to found which can_signal_t it is */ + search_key = build_DynamicField((double)can_message.get_id()); + signals.clear(); + configuration_t::instance().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->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()); + + openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_generic_name(), decoded_message); + vehicle_message = build_VehicleMessage(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(); + processed_signals++; + } + } + + DEBUG(binder_interface, "process_can_signals: %d/%d CAN signals processed.", processed_signals, (int)signals.size()); + return processed_signals; +} + +int can_bus_t::process_diagnostic_signals(active_diagnostic_request_t* entry, const can_message_t& can_message) +{ + int processed_signals = 0; + openxc_VehicleMessage vehicle_message; + + diagnostic_manager_t& manager = configuration_t::instance().get_diagnostic_manager(); + + 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(entry->get_name()) != s.end() && afb_event_is_valid(s[entry->get_name()])) + { + if(manager.get_can_bus_dev() == entry->get_can_bus_dev() && entry->get_in_flight()) + { + DiagnosticResponse response = diagnostic_receive_can_frame( + // TODO: openXC todo task: eek, is bus address and array index this tightly coupled? + &manager.get_shims(), + entry->get_handle(), can_message.get_id(), can_message.get_data(), can_message.get_length()); + if(response.completed && entry->get_handle()->completed) + { + if(entry->get_handle()->success) + { + vehicle_message = manager.relay_diagnostic_response(entry, response); + 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(); + processed_signals++; + } + else + DEBUG(binder_interface, "Fatal error sending or receiving diagnostic request"); + } + else if(!response.completed && response.multi_frame) + // Reset the timeout clock while completing the multi-frame receive + entry->get_timeout_clock().tick(); + } + } + + return processed_signals; +} + /** * @brief thread to decoding raw CAN messages. * @@ -59,13 +140,15 @@ can_bus_t::can_bus_t(int conf_file) * 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. */ void can_bus_t::can_decode_message() { can_message_t can_message; - std::vector <can_signal_t*> signals; - openxc_VehicleMessage vehicle_message; - openxc_DynamicField search_key, decoded_message; while(is_decoding_) { @@ -73,34 +156,11 @@ void can_bus_t::can_decode_message() new_can_message_cv_.wait(can_message_lock); can_message = next_can_message(); - /* First we have to found which can_signal_t it is */ - search_key = build_DynamicField((double)can_message.get_id()); - signals.clear(); - configuration_t::instance().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->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()); - - openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_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(); - } - } + active_diagnostic_request_t* adr = configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message); + if(adr != nullptr) + process_diagnostic_signals(adr, can_message); + else + process_can_signals(can_message); } } |