From de8fb10e1d8e98a85dfba6fc8966266dbf5e42c6 Mon Sep 17 00:00:00 2001 From: Romain Forlot Date: Mon, 6 Mar 2017 22:28:50 +0100 Subject: Beginning of work on obd2 object and files reorganization. Change-Id: Idaa7ad05c45d734ce771506fd6e41f1a09a6ac66 Signed-off-by: Romain Forlot --- src/can-bus.hpp | 172 -------------------------------------------------------- 1 file changed, 172 deletions(-) delete mode 100644 src/can-bus.hpp (limited to 'src/can-bus.hpp') diff --git a/src/can-bus.hpp b/src/can-bus.hpp deleted file mode 100644 index bc2bb04c..00000000 --- a/src/can-bus.hpp +++ /dev/null @@ -1,172 +0,0 @@ -/* - * Copyright (C) 2015, 2016 "IoT.bzh" - * Author "Romain Forlot" - * - * 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 "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_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::map> 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 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> 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 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); \ No newline at end of file -- cgit 1.2.3-korg