Beginning of work on obd2 object and

files reorganization.

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

1 files changed, 556 insertions, 0 deletions

diff --git a/src/can/can-bus.cpp b/src/can/can-bus.cpp
new file mode 100644
index 0000000..d46092b
--- /dev/null
+++ b/src/can/can-bus.cpp
@@ -0,0 +1,556 @@
+/*
+ * 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