Beginning of work on obd2 object and

files reorganization.

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

1 files changed, 172 insertions, 0 deletions

diff --git a/src/can/can-bus.hpp b/src/can/can-bus.hpp
new file mode 100644
index 0000000..bc2bb04
--- /dev/null
+++ b/src/can/can-bus.hpp
@@ -0,0 +1,172 @@
+/*
+ * 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.
+ */
+
+#pragma once
+
+#include <mutex>
+#include <queue>
+#include <thread>
+#include <linux/can.h>
+#include <condition_variable>
+
+#include "timer.hpp"
+#include "openxc.pb.h"
+#include "can-signals.hpp"
+#include "can-message.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
+
+class can_bus_dev_t;
+
+/** 
+ * @class can_bus_t
+ * @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_; /*!< 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_; /*!< 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_; /*!< 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::map<std::string, std::shared_ptr<can_bus_dev_t>> can_devices_m_; /*!< Can device map containing all can_bus_dev_t objects initialized during init_can_dev function*/
+
+	public:
+		can_bus_t(int conf_file);
+
+		int init_can_dev();
+		std::vector<std::string> read_conf();
+		
+
+		void start_threads();
+		void stop_threads();
+
+		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);
+
+		std::map<std::string, std::shared_ptr<can_bus_dev_t>> get_can_devices();
+};
+
+
+/**
+ * @class can_bus_dev_t 
+ *
+ * @brief Object representing a can device. Handle opening, closing and reading on the
+ *  socket. This is the low level object to be use by can_bus_t.
+ */
+class can_bus_dev_t {
+	private:
+		int32_t id_; /*!< int32_t id_ - an identifier used through binding that refer to that device*/
+		std::string device_name_; /*!< std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc. */
+		int can_socket_; /*!< socket handler for the can device */
+		bool is_fdmode_on_; /*!< boolean telling if whether or not the can socket use fdmode. */
+		struct sockaddr_can txAddress_; /*!< internal member using to bind to the socket */
+		
+		std::thread th_reading_; /*!< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t */
+		bool is_running_; /*!< boolean telling whether or not reading is running or not */
+		
+		void can_reader(can_bus_t& can_bus);
+
+	public:
+		can_bus_dev_t(const std::string& dev_name);
+
+		int open();
+		int close();
+		
+
+		void start_reading(can_bus_t& can_bus);
+
+		void stop_reading();
+
+		std::pair<struct canfd_frame&, size_t> read();
+		
+		int send_can_message(can_message_t& can_msg);
+};
+
+/** TODO: implement this function as method into can_bus class
+ * @fn void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
+ * @brief Pre initialize actions made before CAN bus initialization
+ *
+ * @param[in] can_bus_dev_t bus - A CanBus struct defining the bus's metadata
+ * @param[in] bool writable - configure the controller in a writable mode. If false, it will be
+ *		configured as "listen only" and will not allow writes or even CAN ACKs.
+ * @param[in] buses - An array of all CAN buses.
+ * @param[in] int busCount - The length of the buses array.
+ */
+void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
+
+/** TODO: implement this function as method into can_bus class
+ * @fn void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
+ * @brief Post-initialize actions made after CAN bus initialization
+ *
+ * @param[in] bus - A CanBus struct defining the bus's metadata
+ * @param[in] writable - configure the controller in a writable mode. If false, it will be
+ *		configured as "listen only" and will not allow writes or even CAN ACKs.
+ * @param[in] buses - An array of all CAN buses.
+ * @param[in] busCount - The length of the buses array.
+ */
+void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
+
+/** TODO: implement this function as method into can_bus class
+ * @fn bool isBusActive(can_bus_dev_t* bus);
+ * @brief Check if the device is connected to an active CAN bus, i.e. it's
+ * received a message in the recent past.
+ *
+ * @return true if a message was received on the CAN bus within
+ * CAN_ACTIVE_TIMEOUT_S seconds.
+ */
+bool isBusActive(can_bus_dev_t* bus);
+
+/** TODO: implement this function as method into can_bus class
+ *
+ * @fn void logBusStatistics(can_bus_dev_t* buses, const int busCount);
+ * @brief Log transfer statistics about all active CAN buses to the debug log.
+ *
+ * @param[in] buses - an array of active CAN buses.
+ * @param[in] busCount - the length of the buses array.
+ */
+void logBusStatistics(can_bus_dev_t* buses, const int busCount);
\ No newline at end of file