From 32e25cbca210a359b09768537b6f443fe90a3070 Mon Sep 17 00:00:00 2001 From: Romain Forlot Date: Tue, 20 Jun 2017 10:24:05 +0000 Subject: Separation Generator to a dedicated repo Change-Id: Id94831651c3266861435272a6e36c7884bef2c45 Signed-off-by: Romain Forlot --- low-can-binding/can/can-bus.hpp | 94 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 94 insertions(+) create mode 100644 low-can-binding/can/can-bus.hpp (limited to 'low-can-binding/can/can-bus.hpp') diff --git a/low-can-binding/can/can-bus.hpp b/low-can-binding/can/can-bus.hpp new file mode 100644 index 00000000..a76d3e87 --- /dev/null +++ b/low-can-binding/can/can-bus.hpp @@ -0,0 +1,94 @@ +/* + * Copyright (C) 2015, 2016, 2017 "IoT.bzh" + * Author "Romain Forlot" + * Author "Loïc Collignon" + * + * 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 +#include +#include +#include +#include +#include + +#include "openxc.pb.h" +#include "can-message.hpp" +#include "../utils/config-parser.hpp" +#include "../binding/low-can-hat.hpp" +#include "../binding/low-can-subscription.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 diagnostic_manager_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: + utils::config_parser_t conf_file_; ///< configuration file handle used to initialize can_bus_dev_t objects. + + bool apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr can_subscription); + void process_can_signals(const can_message_t& can_message, std::map >& s); + void process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message, std::map >& s); + + void can_decode_message(); + std::thread th_decoding_; ///< thread that'll handle decoding a can frame + bool is_decoding_ = false; ///< 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_ = false; ///< 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_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 > vehicle_message_q_; ///< queue that'll store openxc_VehicleMessage to pushed + + std::vector > can_devices_; ///< can_devices_ - holds a mapping between logical CAN devices names and linux CAN devices names. +public: + explicit can_bus_t(utils::config_parser_t conf_file); + can_bus_t(can_bus_t&&); + + void set_can_devices(); + int get_can_device_index(const std::string& bus_name) const; + const std::string get_can_device_name(const std::string& id_name) const; + + void start_threads(); + void stop_threads(); + + const 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(); + + std::pair next_vehicle_message(); + void push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg); +}; -- cgit 1.2.3-korg