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Diffstat (limited to 'src/can/can-bus.cpp')
| -rw-r--r-- | src/can/can-bus.cpp | 556 |
1 files changed, 556 insertions, 0 deletions
diff --git a/src/can/can-bus.cpp b/src/can/can-bus.cpp new file mode 100644 index 00000000..d46092bf --- /dev/null +++ b/src/can/can-bus.cpp @@ -0,0 +1,556 @@ +/* + * 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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