/* * 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 <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-bus.hpp" #include "can-signals.hpp" #include "can-decoder.hpp" #include "../configuration.hpp" #include "../utils/signals.hpp" #include "../utils/openxc-utils.hpp" extern "C" { #include <afb/afb-binding.h> } /// @brief Class constructor /// /// @param[in] conf_file - handle to the json configuration file. can_bus_t::can_bus_t(int conf_file) : conf_file_{conf_file} { } std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::can_devices_; /// @brief Will make the decoding operation on a classic CAN message. It will not /// handle CAN commands nor diagnostic messages that have their own method to get /// this happens. /// /// It will add to the vehicle_message queue the decoded message and tell the event push /// thread to process it. /// /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode. /// /// @return How many signals has been decoded. 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()); 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_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); processed_signals++; } } DEBUG(binder_interface, "process_can_signals: %d/%d CAN signals processed.", processed_signals, (int)signals.size()); return processed_signals; } /// @brief Will make the decoding operation on a diagnostic CAN message.Then it find the subscribed signal /// corresponding and will add the vehicle_message to the queue of event to pushed before notifying /// the event push thread to process it. /// /// @param[in] manager - the diagnostic manager object that handle diagnostic communication /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode. /// /// @return How many signals has been decoded. int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message) { int processed_signals = 0; std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex()); std::map<std::string, struct afb_event>& s = get_subscribed_signals(); openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message); if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) && (s.find(vehicle_message.simple_message.name) != s.end() && afb_event_is_valid(s[vehicle_message.simple_message.name]))) { std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); push_new_vehicle_message(vehicle_message); processed_signals++; } return processed_signals; } /// @brief thread to decoding raw CAN messages. /// /// Depending on the nature of message, if arbitration ID matches ID for a diagnostic response /// then decoding a diagnostic message else use classic CAN signals decoding functions. /// /// It will take from the can_message_q_ queue the next can message to process then it 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. /// /// TODO: make diagnostic messages parsing optionnal. void can_bus_t::can_decode_message() { can_message_t can_message; while(is_decoding_) { { std::unique_lock<std::mutex> can_message_lock(can_message_mutex_); new_can_message_cv_.wait(can_message_lock); while(!can_message_q_.empty()) { can_message = next_can_message(); if(configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message)) process_diagnostic_signals(configuration_t::instance().get_diagnostic_manager(), can_message); else process_can_signals(can_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); while(!vehicle_message_q_.empty()) { 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); if(afb_event_push(s[std::string(s_message.name)], jo) == 0) on_no_clients(std::string(s_message.name)); } } } } } /// @brief Will initialize threads that will decode /// and push subscribed events. void can_bus_t::start_threads() { is_decoding_ = 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. All CAN buses /// Initialized here will be added to a vector holding them for /// inventory and later access. /// /// That will initialize CAN socket reading too using a new thread. /// /// @return 0 if ok, other if not. int can_bus_t::init_can_dev() { std::vector<std::string> devices_name; int i = 0; size_t t; devices_name = read_conf(); if (! devices_name.empty()) { t = devices_name.size(); for(const auto& device : devices_name) { can_bus_t::can_devices_[device] = std::make_shared<can_bus_dev_t>(device, i); if (can_bus_t::can_devices_[device]->open() == 0) { DEBUG(binder_interface, "Start reading thread"); NOTICE(binder_interface, "%s device opened and reading", device.c_str()); can_bus_t::can_devices_[device]->start_reading(*this); i++; } else { ERROR(binder_interface, "Can't open device %s", device.c_str()); return 1; } } NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, (int)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)) { 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_cv_ member /// /// @return return new_can_message_cv_ 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[in] can_msg - 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[in] v_msg - 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 const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const { return can_bus_t::can_devices_; } /// @brief Return the shared pointer on the can_bus_dev_t initialized /// with device_name "bus" /// /// @param[in] bus - CAN bus device name to retrieve. /// /// @return A shared pointer on an object can_bus_dev_t std::shared_ptr<can_bus_dev_t> can_bus_t::get_can_device(std::string bus) { return can_bus_t::can_devices_[bus]; }