Re-arranging objects splitting all objects over

separated files.

Change-Id: Ifbdb2ea08704324e505a48ba3124df6f2af63c6b
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

1 files changed, 363 insertions, 0 deletions

diff --git a/src/can-bus.cpp b/src/can-bus.cpp
new file mode 100644
index 0000000..29cadba
--- /dev/null
+++ b/src/can-bus.cpp
@@ -0,0 +1,363 @@
+/*
+ * 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 "can-bus.hpp"
+
+#include <map>
+#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>
+
+extern "C"
+{
+	#include <afb/afb-binding.h>
+}
+
+/********************************************************************************
+*
+*		can_bus_t method implementation
+*
+*********************************************************************************/
+
+can_bus_t::can_bus_t(int& conf_file)
+	: conf_file_{conf_file}
+{
+}
+
+void can_bus_t::start_threads()
+{
+	th_decoding_ = std::thread(can_decode_message, std::ref(*this));
+	is_decoding_ = true;
+	th_pushing_ = std::thread(can_event_push, std::ref(*this));
+	is_pushing_ = true;
+}
+
+void can_bus_t::stop_threads()
+{
+	is_decoding_ = false;
+	is_pushing_ = false;
+}
+
+bool can_bus_t::is_decoding()
+{
+	return is_decoding_;
+}
+
+bool can_bus_t::is_pushing()
+{
+	return is_pushing_;
+}
+
+int can_bus_t::init_can_dev()
+{
+	std::vector<std::string> devices_name;
+	int i;
+	size_t t;
+
+	devices_name = read_conf();
+
+	if (! devices_name.empty())
+	{
+		t = devices_name.size();
+		i=0;
+
+		for(const auto& device : devices_name)
+		{
+			can_bus_dev_t can_bus_device_handler(device);
+			if (can_bus_device_handler.open())
+			{
+				i++;
+				can_bus_device_handler.start_reading(std::ref(*this));
+			}
+			else
+				ERROR(binder_interface, "Can't open device %s", device);
+		}
+
+		NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, 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;
+}
+
+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, "Conf 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;
+}
+
+std::condition_variable& can_bus_t::get_new_can_message()
+{
+	return new_can_message_;
+}
+
+std::mutex& can_bus_t::get_can_message_mutex()
+{
+	return can_message_mutex_;
+}
+
+std::condition_variable& can_bus_t::get_new_decoded_can_message()
+{
+	return new_decoded_can_message_;
+}
+
+std::mutex& can_bus_t::get_decoded_can_message_mutex()
+{
+	return decoded_can_message_mutex_;
+}
+
+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 %d, length %d", can_msg.get_id(), can_msg.get_length());
+		return can_msg;
+	}
+	
+	NOTICE(binder_interface, "next_can_message: End of can message queue");
+	has_can_message_ = false;
+	return can_msg;
+}
+
+void can_bus_t::push_new_can_message(const can_message_t& can_msg)
+{
+	can_message_q_.push(can_msg);
+}
+
+bool can_bus_t::has_can_message() const
+{
+	return has_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;
+	}
+	
+	NOTICE(binder_interface, "next_vehicle_message: End of vehicle message queue");
+	has_vehicle_message_ = false;
+	return v_msg;
+}
+
+void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
+{
+	vehicle_message_q_.push(v_msg);
+	has_vehicle_message_ = true;
+}
+
+bool can_bus_t::has_vehicle_message() const
+{
+	return has_vehicle_message_;
+}
+
+/********************************************************************************
+*
+*		can_bus_dev_t method implementation
+*
+*********************************************************************************/
+
+can_bus_dev_t::can_bus_dev_t(const std::string &dev_name)
+	: device_name_{dev_name}
+{
+}
+
+int can_bus_dev_t::open()
+{
+	const int canfd_on = 1;
+	struct ifreq ifr;
+	struct timeval timeout = {1, 0};
+
+	DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_);
+	if (can_socket_ >= 0)
+		return 0;
+
+	can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW);
+	if (can_socket_ < 0)
+	{
+		ERROR(binder_interface, "socket could not be created");
+	}
+	else
+	{
+		/* Set timeout for read */
+		::setsockopt(can_socket_, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
+		/* try to switch the socket into CAN_FD mode */
+		if (::setsockopt(can_socket_, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
+		{
+			NOTICE(binder_interface, "Can not switch into CAN Extended frame format.");
+			is_fdmode_on_ = false;
+		} else {
+			is_fdmode_on_ = true;
+		}
+
+		/* Attempts to open a socket to CAN bus */
+		::strcpy(ifr.ifr_name, device_name_.c_str());
+		if(::ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0)
+			ERROR(binder_interface, "ioctl failed");
+		else
+		{
+			txAddress_.can_family = AF_CAN;
+			txAddress_.can_ifindex = ifr.ifr_ifindex;
+
+			/* And bind it to txAddress */
+			if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
+				ERROR(binder_interface, "Bind failed");
+			else
+				return 0;
+		}
+		close();
+	}
+	return -1;
+}
+
+int can_bus_dev_t::close()
+{
+	::close(can_socket_);
+	can_socket_ = -1;
+	return can_socket_;
+}
+
+canfd_frame can_bus_dev_t::read()
+{
+	ssize_t nbytes;
+	//int maxdlen;
+	canfd_frame canfd_frame;
+
+	/* Test that socket is really opened */
+	if (can_socket_ < 0)
+	{
+		ERROR(binder_interface, "read_can: Socket unavailable. Closing thread.");
+		is_running_ = false;
+	}
+
+	nbytes = ::read(can_socket_, &canfd_frame, CANFD_MTU);
+
+	switch(nbytes)
+	{
+		case CANFD_MTU:
+			DEBUG(binder_interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
+			//maxdlen = CANFD_MAX_DLEN;
+			break;
+		case CAN_MTU:
+			DEBUG(binder_interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
+			//maxdlen = CAN_MAX_DLEN;
+			break;
+		default:
+			if (errno == ENETDOWN)
+					ERROR(binder_interface, "read_can: %s binder_interface down", device_name_);
+			ERROR(binder_interface, "read_can: Error reading CAN bus");
+			::memset(&canfd_frame, 0, sizeof(canfd_frame));
+			is_running_ = false;
+			break;
+	}
+	
+	return canfd_frame;
+}
+
+void can_bus_dev_t::start_reading(can_bus_t& can_bus)
+{
+	th_reading_ = std::thread(can_reader, std::ref(*this), std::ref(can_bus));
+	is_running_ = true;
+}
+
+/*
+ * Return is_running_ bool
+ */
+bool can_bus_dev_t::is_running()
+{
+	return is_running_;
+}
+
+int can_bus_dev_t::send_can_message(can_message_t& can_msg)
+{
+	ssize_t nbytes;
+	canfd_frame f;
+
+	f = can_msg.convert_to_canfd_frame();
+
+	if(can_socket_ >= 0)
+	{
+		nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0,
+				(struct sockaddr*)&txAddress_, sizeof(txAddress_));
+		if (nbytes == -1)
+		{
+			ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
+			return -1;
+		}
+		return (int)nbytes;
+	}
+	else
+	{
+		ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
+		open();
+	}
+	return 0;
+}
\ No newline at end of file