/* * Copyright (C) 2015, 2016, 2017 "IoT.bzh" * Author "Romain Forlot" <romain.forlot@iot.bzh> * Author "Loïc Collignon" <loic.collignon@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 "openxc.pb.h" #include "../utils/timer.hpp" #include "can-signals.hpp" #include "can-message.hpp" #include "can-bus-dev.hpp" #include "../obd2/active-diagnostic-request.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 /// @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_; /// < 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_ = 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_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::vector<std::shared_ptr<can_bus_dev_t>> can_devices_; /// < Can device map containing all can_bus_dev_t objects initialized during init_can_dev function public: can_bus_t(int conf_file); can_bus_t(can_bus_t&&); int init_can_dev(); std::vector<std::string> read_conf(); void start_threads(); void stop_threads(); int process_can_signals(can_message_t& can_message); int process_diagnostic_signals(active_diagnostic_request_t* adr, const can_message_t& can_message); 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); const std::vector<std::shared_ptr<can_bus_dev_t>>& get_can_devices() const; };