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Diffstat (limited to 'src/can/can-bus.hpp')
| -rw-r--r-- | src/can/can-bus.hpp | 172 |
1 files changed, 172 insertions, 0 deletions
diff --git a/src/can/can-bus.hpp b/src/can/can-bus.hpp new file mode 100644 index 00000000..bc2bb04c --- /dev/null +++ b/src/can/can-bus.hpp @@ -0,0 +1,172 @@ +/* + * 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_dev_t; + +/** + * @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.*/ + + void can_decode_message(); + std::thread th_decoding_; /*!< thread that'll handle decoding a can frame */ + bool is_decoding_; /*!< boolean member controling thread while loop*/ + + void can_event_push(); + 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_cv_; /*!< condition_variable use to wait until there is a new CAN message to read*/ + std::mutex can_message_mutex_; /*!< mutex protecting the can_message_q_ 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_; /*!< condition_variable use to wait until there is a new vehicle message to read from the queue vehicle_message_q_*/ + std::mutex decoded_can_message_mutex_; /*!< mutex protecting the vehicle_message_q_ queue.*/ + std::queue <openxc_VehicleMessage> vehicle_message_q_; /*!< queue that'll store openxc_VehicleMessage to pushed */ + + std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_devices_m_; /*!< Can device map containing all can_bus_dev_t objects initialized during init_can_dev function*/ + + public: + can_bus_t(int conf_file); + + int init_can_dev(); + std::vector<std::string> read_conf(); + + + void start_threads(); + void stop_threads(); + + can_message_t next_can_message(); + void push_new_can_message(const can_message_t& can_msg); + std::mutex& get_can_message_mutex(); + std::condition_variable& get_new_can_message_cv_(); + + openxc_VehicleMessage next_vehicle_message(); + void push_new_vehicle_message(const openxc_VehicleMessage& v_msg); + + std::map<std::string, std::shared_ptr<can_bus_dev_t>> get_can_devices(); +}; + + +/** + * @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: + int32_t id_; /*!< int32_t id_ - an identifier used through binding that refer to that device*/ + 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 */ + + void can_reader(can_bus_t& can_bus); + + public: + can_bus_dev_t(const std::string& dev_name); + + int open(); + int close(); + + + void start_reading(can_bus_t& can_bus); + + void stop_reading(); + + std::pair<struct canfd_frame&, size_t> read(); + + int send_can_message(can_message_t& can_msg); +}; + +/** TODO: implement this function as method into can_bus class + * @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); + +/** TODO: implement this function as method into can_bus class + * @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); + +/** TODO: implement this function as method into can_bus class + * @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); + +/** TODO: implement this function as method into can_bus class + * + * @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);
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