Handle project new architecture using new CMakeFile

Change-Id: I672a9b49d9d5a3953ba6dccaafbbd738839f64a6
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

# Conflicts:
#	low-can-binding/libs/bitfield-c
#	low-can-binding/libs/isotp-c
#	low-can-binding/libs/openxc-message-format

1 files changed, 398 insertions, 0 deletions

diff --git a/low-can-binding/can/can-bus.cpp b/low-can-binding/can/can-bus.cpp
new file mode 100644
index 0000000..33f58fd
--- /dev/null
+++ b/low-can-binding/can/can-bus.cpp
@@ -0,0 +1,398 @@
+/*
+ * 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];
+}