Beginning of work on obd2 object and

files reorganization.

Change-Id: Idaa7ad05c45d734ce771506fd6e41f1a09a6ac66
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

1 files changed, 0 insertions, 556 deletions

diff --git a/src/can-bus.cpp b/src/can-bus.cpp
deleted file mode 100644
index d46092b..0000000
--- a/src/can-bus.cpp
+++ /dev/null
@@ -1,556 +0,0 @@
-/*
- * 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 <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-decoder.hpp"
-#include "openxc-utils.hpp"
-
-extern "C"
-{
-	#include <afb/afb-binding.h>
-}
-
-/********************************************************************************
-*
-*		can_bus_t method implementation
-*
-*********************************************************************************/
-/**
-* @brief Class constructor
-*
-* @param struct afb_binding_interface *interface between daemon and binding
-* @param int file handle to the json configuration file.
-*/
-can_bus_t::can_bus_t(int conf_file)
-	: conf_file_{conf_file}
-{
-}
-
-/**
-* @brief thread to decoding raw CAN messages. 
-*
-* @desc It will take from the can_message_q_ queue the next can message to process then it will 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.
-*/
-void can_bus_t::can_decode_message()
-{
-	can_message_t can_message;
-	std::vector <CanSignal*> signals;
-	openxc_VehicleMessage vehicle_message;
-	openxc_DynamicField search_key, decoded_message;
-
-	decoder_t decoder;
-
-	while(is_decoding_)
-	{
-		std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
-		new_can_message_.wait(can_message_lock);
-		can_message = next_can_message();
-	
-		/* First we have to found which CanSignal it is */
-		search_key = build_DynamicField((double)can_message.get_id());
-		signals.clear();
-		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->generic_name) != s.end() && afb_event_is_valid(s[sig->generic_name]))
-			{
-				decoded_message = decoder.translateSignal(*sig, can_message, get_can_signals());
-
-				openxc_SimpleMessage s_message = build_SimpleMessage(sig->generic_name, decoded_message);
-				vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message);
-
-				std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
-				push_new_vehicle_message(vehicle_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);
-		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);
-				afb_event_push(s[std::string(s_message.name)], jo);
-			}
-		}
-	}
-}
-
-/**
-	* @brief Will initialize threads that will decode
-	*  and push subscribed events.
-	*/
-void can_bus_t::start_threads()
-{
-	v_ = 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.
-*/
-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_devices_m_[device] = std::make_shared<can_bus_dev_t>(device);
-			if (can_devices_m_[device]->open() == 0)
-			{
-				i++;
-				DEBUG(binder_interface, "Start reading thread");
-				NOTICE(binder_interface, "%s device opened and reading", device.c_str());
-				can_devices_m_[device]->start_reading(*this);
-			}
-			else
-				ERROR(binder_interface, "Can't open device %s", device.c_str());
-		}
-
-		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;
-}
-
-/**
-* @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))
-		{/**
-* @brief Telling if the pushing thread is running
-*  This is the boolean value on which the while loop
-*  take its condition. Set it to false will stop the 
-*  according thread.
-*
-* @return true if pushing thread is running, false if not.
-*/
-
-			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_ member
-*
-* @return  return new_can_message_ 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 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 the 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
-*/
-std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::get_can_devices()
-{
-	return can_devices_m_;
-}
-
-/********************************************************************************
-*
-*		can_bus_dev_t method implementation
-*
-*********************************************************************************/
-/**
-* @brief Class constructor 
-*
-* @param const string representing the device name into the linux /dev tree
-*/
-can_bus_dev_t::can_bus_dev_t(const std::string &dev_name)
-	: device_name_{dev_name}, can_socket_{-1}
-{
-}
-
-/**
-* @brief Open the can socket and returning it 
-*
-* @return 
-*/
-int can_bus_dev_t::open()
-{
-	const int canfd_on = 1;
-	const int timestamp_on = 1;
-	struct ifreq ifr;
-	struct timeval timeout;
-
-	DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_);
-	if (can_socket_ >= 0)
-		return 0;
-
-	can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW);
-	DEBUG(binder_interface, "CAN Handler socket correctly initialized : %d", can_socket_);
-	if (can_socket_ < 0)
-		ERROR(binder_interface, "socket could not be created. Error was : %s", ::strerror(errno));
-	else
-	{
-		/* Set timeout for read */
-		::setsockopt(can_socket_, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
-		/* Set timestamp for receveid frame */
-		if (::setsockopt(can_socket_, SOL_SOCKET, SO_TIMESTAMP, &timestamp_on, sizeof(timestamp_on)) < 0)
-			WARNING(binder_interface, "setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
-		DEBUG(binder_interface, "Switch CAN Handler socket to use fd mode");
-		/* 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 {
-			DEBUG(binder_interface, "Correctly set up CAN socket to use FD frames.");
-			is_fdmode_on_ = true;
-		}
-
-		/* Attempts to open a socket to CAN bus */
-		::strcpy(ifr.ifr_name, device_name_.c_str());
-		DEBUG(binder_interface, "ifr_name is : %s", ifr.ifr_name);
-		if(::ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0)
-			ERROR(binder_interface, "ioctl failed. Error was : %s", strerror(errno));
-		else
-		{
-			txAddress_.can_family = AF_CAN;
-			txAddress_.can_ifindex = ifr.ifr_ifindex;
-
-			/* And bind it to txAddress */
-			DEBUG(binder_interface, "Bind the socket");
-			if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
-				ERROR(binder_interface, "Bind failed. %s", strerror(errno));
-			else
-				return 0;
-		}
-		close();
-	}
-	return -1;
-}
-
-/**
-	* @brief Open the can socket and returning it 
-	*
-	* @return 
-	*/
-int can_bus_dev_t::close()
-{
-	::close(can_socket_);
-	can_socket_ = -1;
-	return can_socket_;
-}
-
-/**
-* @brief Read the can socket and retrieve canfd_frame
-*
-* @param const struct afb_binding_interface* interface pointer. Used to be able to log 
-*  using application framework logger.
-*/
-std::pair<struct canfd_frame&, size_t> can_bus_dev_t::read()
-{
-	ssize_t nbytes;
-	//int maxdlen;
-	struct canfd_frame cfd;
-
-	/* 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_, &cfd, CANFD_MTU);
-
-	/* if we did not fit into CAN sized messages then stop_reading. */
-	if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
-	{
-		if (errno == ENETDOWN)
-			ERROR(binder_interface, "read: %s CAN device down", device_name_);
-		ERROR(binder_interface, "read: Incomplete CAN(FD) frame");
-		::memset(&cfd, 0, sizeof(cfd));
-	}
-	
-	DEBUG(binder_interface, "read: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", cfd.can_id, cfd.len,
-							cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]);
-	return std::pair<struct canfd_frame&, size_t>(cfd, nbytes);
-}
-
-/**
-* @brief start reading threads and set flag is_running_
-*
-* @param can_bus_t reference can_bus_t. it will be passed to the thread 
-*  to allow using can_bus_t queue.
-*/
-void can_bus_dev_t::start_reading(can_bus_t& can_bus)
-{
-	DEBUG(binder_interface, "Launching reading thread");
-	is_running_ = true;
-	th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
-	if(!th_reading_.joinable())
-		is_running_ = false;
-}
-
-/**
-* @brief stop the reading thread setting flag is_running_ to false and
-* and wait that the thread finish its job.
-*/
-void can_bus_dev_t::stop_reading()
-{
-	is_running_ = false;
-}
-
-/**
-*
-* @brief Thread function used to read the can socket.
-*
-* @param[in] can_bus_dev_t object to be used to read the can socket
-* @param[in] can_bus_t object used to fill can_message_q_ queue
-*/
-void can_bus_dev_t::can_reader(can_bus_t& can_bus)
-{
-	can_message_t can_message;
-
-	while(is_running_)
-	{
-		can_message.convert_from_canfd_frame(read());
-
-		{
-			std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex());
-			can_bus.push_new_can_message(can_message);
-		}
-		can_bus.get_new_can_message_cv_().notify_one();
-	}
-}
-
-/**
-* @brief Send a can message from a can_message_t object.
-* 
-* @param const can_message_t& can_msg: the can message object to send 
-* @param const struct afb_binding_interface* interface pointer. Used to be able to log 
-*  using application framework logger.
-*/
-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