diff options
| -rw-r--r-- | src/CMakeLists.txt | 2 | ||||
| -rw-r--r-- | src/can-signals.cpp | 3 | ||||
| -rw-r--r-- | src/can-signals.hpp | 24 | ||||
| -rw-r--r-- | src/can-utils.cpp | 109 | ||||
| -rw-r--r-- | src/can-utils.hpp | 117 | ||||
| -rw-r--r-- | src/low-can-binding.cpp | 202 | ||||
| -rw-r--r-- | src/obd2.cpp | 10 | ||||
| -rw-r--r-- | src/obd2.hpp | 4 | ||||
| -rw-r--r-- | src/timer.cpp | 29 | ||||
| -rw-r--r-- | src/timer.hpp | 11 |
10 files changed, 238 insertions, 273 deletions
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index a034b43..84e8ecf 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -65,7 +65,7 @@ link_libraries(${EXTRAS_LIBRARIES}) message(STATUS "Creation of ${PROJECT_NAME} binding for AFB-DAEMON") ########################################################################### -add_library(${PROJECT_NAME}-binding MODULE ${PROJECT_NAME}-binding.cpp) +add_library(${PROJECT_NAME}-binding MODULE ${PROJECT_NAME}-binding.cpp can-signals.cpp) set_target_properties(${PROJECT_NAME}-binding PROPERTIES PREFIX "" diff --git a/src/can-signals.cpp b/src/can-signals.cpp index 610a5a8..b299693 100644 --- a/src/can-signals.cpp +++ b/src/can-signals.cpp @@ -26,9 +26,6 @@ std::map <CanSignal, struct afb_event> subscribed_signals; std::map <CanSignal, struct afb_event>::iterator subscribed_signals_i; -/* Find one or many signals based on its name or id -* passed through openxc_DynamicField. -*/ #define MESSAGE_SET_ID 0 std::vector <CanSignal> find_can_signals(openxc_DynamicField &key) { diff --git a/src/can-signals.hpp b/src/can-signals.hpp index 91a6932..2720513 100644 --- a/src/can-signals.hpp +++ b/src/can-signals.hpp @@ -69,16 +69,14 @@ int getMessageCount(); * */ CanBus* getCanBuses(); -/* Public: Decode CAN signals from raw CAN messages, translate from engineering - * * units to something more human readable, and send the resulting value over USB - * * as an OpenXC-style JSON message. - * * - * * This is the main workhorse function of the VI. Every time a new - * * CAN message is received that matches one of the signals in the list returend - * * by getSignals(), this function is called with the message ID and 64-bit data - * * field. - * * - * * bus - The CAN bus this message was received on. - * * message - The received CAN message. - * */ -void decodeCanMessage(openxc::pipeline::Pipeline* pipeline, CanBus* bus, CanMessage* message); + +/** + * @brief Find one or many signals based on its name or id + * passed through openxc_DynamicField. + * + * params[openxc_DynamicField&] - a const reference with the key to search into signal. + * Key is either a signal name or its CAN arbitration id. + * + * return[std::vector<CanSignal>] return found CanSignal array. + */ +std::vector <CanSignal> find_can_signals(const openxc_DynamicField &key)
\ No newline at end of file diff --git a/src/can-utils.cpp b/src/can-utils.cpp index 3aa2ca8..8d5f025 100644 --- a/src/can-utils.cpp +++ b/src/can-utils.cpp @@ -212,69 +212,72 @@ void can_bus_t::start_threads() * params[std::ifstream& conf_file] conf_file ifstream to the JSON configuration * file located at the rootdir of the binding */ - void init_can_dev() - { - std::vector<std::string> devices_name; - int i, t; - - devices_name = read_conf(conf_file_); - - t = devices_name.size(); - i=0 - - for(const auto& device : devices_name) - { - can_bus_dev_t(device); - i++; - } - - NOTICE(interface_, "Initialized %d/%d can bus device(s)", i, t); - } +int init_can_dev() +{ + std::vector<std::string> devices_name; + int i, t, ret; + + devices_name = read_conf(conf_file_); + + if (devices_name) + { + t = devices_name.size(); + i=0 + + for(const auto& device : devices_name) + { + can_bus_dev_t(device); + i++; + } + + NOTICE(interface_, "Initialized %d/%d can bus device(s)", i, t); + return 0; + } + ERROR(interface_, "init_can_dev: Error at CAN device initialization."); + return 1; +} /** * @brief Read the conf file and extract device name * - * @params[std::ifstream& conf_file] conf_file JSON configuration - * file located at the rootdir of the binding - * * @return[std:vector<std::string>] return a vector of device name */ - std::vector<std::string> read_conf(std::ifstream& conf_file) - { - std::vector<std::string> ret; - std::string fd_conf_content; +std::vector<std::string> read_conf() +{ + std::vector<std::string> ret; + std::string fd_conf_content; json_object jo, canbus; - int n, i, ok; - + int n, i, ok; + /* Open JSON conf file */ - if (conf_file) + if (conf_file_) { - conf_file.seekg(0, std::ios::end); - conf_file.resize(conf_file.tellg()); - conf_file.seekg(0, std::ios::beg); - conf_file.read(&fd_conf_content[0], fd_conf_content.size()); - conf_file.close(); - - jo = json_tokener_parse(&fd_conf_content); - - if (jo == NULL || !json_object_object_get_ex(&jo, "canbus", &&canbus)) - ERROR(interface_, "Can't find canbus node in the configuration file. Please review it."); - else if (json_object_get_type(canbus) != json_type_array) - ret.push_back(json_object_get_string(a)); - else - { - n = json_object_array_length(a); - ok = 0; - for (i = 0 ; i < n ; i++) - ret.push_back(json_object_get_string(json_object_array_get_idx(a, i))); - } - return ret; + conf_file_.seekg(0, std::ios::end); + conf_file_.resize(conf_file_.tellg()); + conf_file_.seekg(0, std::ios::beg); + conf_file_.read(&fd_conf_content[0], fd_conf_content.size()); + conf_file_.close(); + + jo = json_tokener_parse(&fd_conf_content); + + if (jo == NULL || !json_object_object_get_ex(&jo, "canbus", &&canbus)) + { + ERROR(interface_, "Can't find canbus node in the configuration file. Please review it."); + ret = nullptr; + } + else if (json_object_get_type(canbus) != json_type_array) + ret.push_back(json_object_get_string(a)); + else + { + n = json_object_array_length(a); + ok = 0; + for (i = 0 ; i < n ; i++) + ret.push_back(json_object_get_string(json_object_array_get_idx(a, i))); + } + return ret; } - else - { - ERROR(interface_, "Problem at reading the conf file"); - return 0; - } + ERROR(interface_, "Problem at reading the conf file"); + return nullptr; } /** diff --git a/src/can-utils.hpp b/src/can-utils.hpp index 8b64cb3..db97b4b 100644 --- a/src/can-utils.hpp +++ b/src/can-utils.hpp @@ -62,6 +62,55 @@ typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal* signal, typedef uint64_t (*SignalEncoder)(struct CanSignal* signal, openxc_DynamicField* value, bool* send); +/* Public: The ID format for a CAN message. + * + * STANDARD - standard 11-bit CAN arbitration ID. + * EXTENDED - an extended frame, with a 29-bit arbitration ID. + */ +enum CanMessageFormat { + STANDARD, + EXTENDED, +}; +typedef enum CanMessageFormat CanMessageFormat; + +/* A compact representation of a single CAN message, meant to be used in in/out + * buffers. + * + * id - The ID of the message. + * format - the format of the message's ID. + * data - The message's data field. + * length - the length of the data array (max 8). +struct CanMessage { + uint32_t id; + CanMessageFormat format; + uint8_t data[CAN_MESSAGE_SIZE]; + uint8_t length; +}; +typedef struct CanMessage CanMessage; +*/ +class can_message_t { + private: + afb_binding_interface interface_; + uint32_t id_; + CanMessageFormat format_; + uint8_t data_[CAN_MESSAGE_SIZE]; + uint8_t length_; + + public: + uint32_t get_id() const; + int get_format() const; + uint8_t get_data() const; + uint8_t get_lenght() const; + + void set_id(uint32_t id); + void set_format(CanMessageFormat format); + void set_data(uint8_t data); + void set_lenght(uint8_t length); + + void convert_from_canfd_frame(canfd_frame frame); + canfd_frame convert_to_canfd_frame(); +}; + /** * @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. @@ -91,8 +140,7 @@ class can_bus_dev_t { can_message_t* next_can_message(); void push_new_can_message(const can_message_t& can_msg); bool has_can_message() const; -} - +}; /** * @brief Object used to handle decoding and manage event queue to be pushed. @@ -112,11 +160,11 @@ class can_bus_t { std::queue <openxc_VehicleMessage> vehicle_message_q_; public: + int init_can_dev(); + std::vector<std::string> read_conf(); + void start_threads(); - void init_can_dev(std::ifstream& conf_file); - std::vector<std::string> read_conf() - int send_can_message(can_message_t can_msg); openxc_VehicleMessage& next_vehicle_message(); @@ -124,57 +172,6 @@ class can_bus_t { bool has_vehicle_message() const; }; -/* A compact representation of a single CAN message, meant to be used in in/out - * buffers. - * - * id - The ID of the message. - * format - the format of the message's ID. - * data - The message's data field. - * length - the length of the data array (max 8). -struct CanMessage { - uint32_t id; - CanMessageFormat format; - uint8_t data[CAN_MESSAGE_SIZE]; - uint8_t length; -}; -typedef struct CanMessage CanMessage; -*/ -class can_message_t { - private: - afb_binding_interface interface_; - uint32_t id_; - CanMessageFormat format_; - uint8_t data_[CAN_MESSAGE_SIZE]; - uint8_t length_; - - public: - uint32_t get_id() const; - int get_format() const; - uint8_t get_data() const; - uint8_t get_lenght() const; - - void set_id(uint32_t id); - void set_format(CanMessageFormat format); - void set_data(uint8_t data); - void set_lenght(uint8_t length); - - void convert_from_canfd_frame(canfd_frame frame); - canfd_frame convert_to_canfd_frame(); -}; - -QUEUE_DECLARE(can_message_t, 8); - -/* Public: The ID format for a CAN message. - * - * STANDARD - standard 11-bit CAN arbitration ID. - * EXTENDED - an extended frame, with a 29-bit arbitration ID. - */ -enum CanMessageFormat { - STANDARD, - EXTENDED, -}; -typedef enum CanMessageFormat CanMessageFormat; - /* Public: A state encoded (SED) signal's mapping from numerical values to * OpenXC state names. * @@ -346,17 +343,11 @@ typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value, * genericName - The name of the command. * handler - An function to process the received command's data and perform some * action. + */ typedef struct { const char* genericName; CommandHandler handler; } CanCommand; - */ - -class CanCommand_c { - private: - const char* genericName; - CommandHandler handler; -}; /* Pre initialize actions made before CAN bus initialization * diff --git a/src/low-can-binding.cpp b/src/low-can-binding.cpp index 7899797..c5fadbe 100644 --- a/src/low-can-binding.cpp +++ b/src/low-can-binding.cpp @@ -33,6 +33,7 @@ #include <functional> #include <memory> #include <thread> +#include <fstream> #include <json-c/json.h> #include <openxc.pb.h> @@ -40,14 +41,15 @@ #include <afb/afb-binding.h> #include <afb/afb-service-itf.h> -//#include "obd2.hpp" +#include "obd2.hpp" #include "can-utils.hpp" #include "can-signals.hpp" /* - * Interface between the daemon and the binding + * Interface between the daemon and the binding */ static const struct afb_binding_interface *interface; +static obd2_handler_t obd2_handler(); /******************************************************************************** * @@ -55,153 +57,90 @@ static const struct afb_binding_interface *interface; * *********************************************************************************/ -/* - * TBF TBF TBF - * called on an event on the CAN bus - static int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata) -{ - openxc_CanMessage can_message; - - can_message = openxc_CanMessage_init_default; - - /* read available data */ - /* - if ((revents & EPOLLIN) != 0) - { - read_can(&can_message); - send_event(); - } -*/ - /* check if error or hangup */ -/* - if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0) - { - sd_event_source_unref(s); - close(fd); - connect_to_event_loop(); - } +/******************************************************************************** +* +* Subscription and unsubscription +* +*********************************************************************************/ - return 0; -} -*/ -/* - * USELESS SINCE THREADS SEPARATION - * - * Get the event loop running. - * Will trigger on_event function on EPOLLIN event on socket - * - * Return 0 or positive value on success. Else negative value for failure. -static int connect_to_event_loop(CanBus &CanBus_handler) +static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, std::vector<CanSignal>::const_iterator& sig_i) { - sd_event *event_loop; - sd_event_source *source; - int rc; + int ret; - if (CanBus_handler.socket < 0) + const auto& ss_i = subscribed_signals.find(sig_i); + if (ss_i != subscribed_signals.end()) { - return CanBus_handler.socket; + if(!afb_event_is_valid(ss_i->second)) + { + if(!subscribe) + { + NOTICE(interface, "Event isn't valid, it can't be unsubscribed."); + ret = 1; + } + else + { + ss_i->second = afb_daemon_make_event(interface->daemon, ss_i->first.genericName); + if (!afb_event_is_valid(ss_i->second)) + { + ERROR(interface, "Can't create an event, something goes wrong."); + ret = 0; + } + } + } } - - event_loop = afb_daemon_get_event_loop(interface->daemon); - rc = sd_event_add_io(event_loop, &source, CanBus_handler.socket, EPOLLIN, on_event, NULL); - if (rc < 0) - { - CanBus_handler.close(); - ERROR(interface, "Can't connect CAN bus %s to the event loop", CanBus_handler.device); - } else + else { - NOTICE(interface, "Connected CAN bus %s to the event loop", CanBus_handler.device); + subscribed_signals[sig_i] = afb_daemon_make_event(interface->daemon, sig_i->genericName); + if (!afb_event_is_valid(ss_i->second)) + { + ERROR(interface, "Can't create an event, something goes wrong."); + ret = 0; + } } - return rc; -} - */ - -/******************************************************************************** -* -* Subscription and unsubscription -* -*********************************************************************************/ - -static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, std::vector<CanSignal>::const_iterator& sig_i) - { - int ret; - - const auto& ss_i = subscribed_signals.find(sig_i); - if (ss_i != subscribed_signals.end()) - { - if(!afb_event_is_valid(ss_i->second)) - { - if(!subscribe) - { - NOTICE(interface, "Event isn't valid, it can't be unsubscribed."); - ret = 1; - } - else - { - ss_i->second = afb_daemon_make_event(afbitf->daemon, ss_i->first.genericName); - if (!afb_event_is_valid(ss_i->second)) - { - ERROR(interface, "Can't create an event, something goes wrong."); - ret = 0; - } - } - } - } - else - { - subscribed_signals[sig_i] = afb_daemon_make_event(afbitf->daemon, sig_i.genericName); - if (!afb_event_is_valid(ss_i->second)) - { - ERROR(interface, "Can't create an event, something goes wrong."); - ret = 0; - } - } - if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, subscribed_signals[sig_i])) < 0) { - ERROR(interface, "Operation goes wrong for signal: %s", sig_i.genericName); - ret = 0; + ERROR(interface, "Operation goes wrong for signal: %s", sig_i->genericName); + ret = 0; } - else - ret = 1; + else + ret = 1; return ret; - } +} -static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const std:vector<CanSignal>& signals) +static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const std::vector<CanSignal>& signals) { - std::vector<CanSignal>::iterator signal_i; - std::map <CanSignal, struct afb_event>::iterator s_signal_i; - int ret; + int ret; // TODO: lock the subscribed_signals when insert/remove for(const auto& signal_i : signals) { - ret = subscribe_unsubscribe_signal(request, subscribe, signal_i); - if(ret == 0) - return ret; + ret = subscribe_unsubscribe_signal(request, subscribe, signal_i); + if(ret == 0) + return ret; } } static int subscribe_unsubscribe_all(struct afb_req request, bool subscribe) { - int i, n, e; + int n, e; - n = sizeof OBD2_PIDS / sizeof * OBD2_PIDS; + n = obd2_handler.OBD2_PIDS.size(); e = 0; - for (i = 0 ; i < n ; i++) - e += !subscribe_unsubscribe_sig(request, subscribe, &OBD2_PIDS[i]); + for (const auto& pid : obd2_handler.OBD2_PIDS) + e += !subscribe_unsubscribe_signals(request, subscribe, pid); + return e == 0; } static int subscribe_unsubscribe_name(struct afb_req request, bool subscribe, const char *name) { - std::vector<CanSignal> sig; - int ret = 0; + std::vector<CanSignal> sig; + int ret = 0; - if (!strcmp(name, "*")) - ret = subscribe_unsubscribe_all(request, subscribe); + if (!::strcmp(name, "*")) + ret = subscribe_unsubscribe_all(request, subscribe); else { //if(obd2_handler_c.is_obd2_signal(name)) @@ -211,12 +150,12 @@ static int subscribe_unsubscribe_name(struct afb_req request, bool subscribe, co } else { - sig = find_can_signals(name); - if (sig.empty()) - ret = 0; - } - ret = subscribe_unsubscribe_signals(request, subscribe, sig); - } + sig = find_can_signals(name); + if (sig.empty()) + ret = 0; + } + ret = subscribe_unsubscribe_signals(request, subscribe, sig); + } return ret; } @@ -258,11 +197,11 @@ static void unsubscribe(struct afb_req request) { subscribe_unsubscribe(request, false); } + static const struct afb_verb_desc_v1 verbs[]= { - { .name= "subscribe", .session= AFB_SESSION_NONE, .callback= subscribe, .info= "subscribe to notification of CAN bus messages." }, - { .name= "unsubscribe", .session= AFB_SESSION_NONE, .callback= unsubscribe, .info= "unsubscribe a previous subscription." }, - {NULL} + { .name= "subscribe", .session= AFB_SESSION_NONE, .callback= subscribe, .info= "subscribe to notification of CAN bus messages." }, + { .name= "unsubscribe", .session= AFB_SESSION_NONE, .callback= unsubscribe, .info= "unsubscribe a previous subscription." } }; static const struct afb_binding binding_desc = { @@ -294,7 +233,12 @@ int afbBindingV1ServiceInit(struct afb_service service) fd_conf = afb_daemon_rootdir_open_locale(interface->daemon, "can_bus.json", O_RDONLY, NULL); /* Open CAN socket */ - can_bus_t can_bus_handler(interface, )); - CanBus_handler.open(); - CanBus_handler.start_threads(); + can_bus_t can_bus_handler(interface, fd_conf); + if(can_bus_handler.init_can_dev() == 0) + { + can_bus_handler.start_threads(); + return 0; + } + + return 1; } diff --git a/src/obd2.cpp b/src/obd2.cpp index 3563928..96b6c08 100644 --- a/src/obd2.cpp +++ b/src/obd2.cpp @@ -28,7 +28,7 @@ void shims_timer() /* * Will scan for supported Obd2 pids */ -obd2_handler_c::obd2_handler_c(afb_binding_interface *itf, can_bus_t cb) +obd2_handler_t::obd2_handler_t(afb_binding_interface *itf, can_bus_t cb) { can_bus_t can_bus = cb; DiagnosticShims shims = diagnostic_init_shims(shims_logger, can_bus.send_can_message, NULL); @@ -41,26 +41,26 @@ obd2_handler_c::obd2_handler_c(afb_binding_interface *itf, can_bus_t cb) } } -void obd2_handler_c::add_request(int pid) +void obd2_handler_t::add_request(int pid) { DiagnosticRequest request = { arbitration_id: OBD2_FUNCTIONAL_BROADCAST_ID, mode: 0x1, has_pid: true, pid: pid}; } -bool obd2_handler_c::is_obd2_request(DiagnosticRequest* request) +bool obd2_handler_t::is_obd2_request(DiagnosticRequest* request) { return request->mode == 0x1 && request->has_pid && request->pid < 0xff; } -bool obd2_handler_c::is_obd2_signal(const char *name) +bool obd2_handler_t::is_obd2_signal(const char *name) { if(fnmatch("obd2.*", name, NULL) == 0) return true; return false; } -bool obd2_handler_c::decode_obd2_response(DiagnosticResponse* responce) +bool obd2_handler_t::decode_obd2_response(DiagnosticResponse* responce) { return diagnostic_decode_obd2_pid(response); } diff --git a/src/obd2.hpp b/src/obd2.hpp index 72b41eb..b5bd0f8 100644 --- a/src/obd2.hpp +++ b/src/obd2.hpp @@ -87,7 +87,7 @@ float handleObd2Pid(const DiagnosticResponse* response, float parsedPayload); * Object to handle obd2 session with pre-scan of supported pid * then request them regularly */ -class obd2_handler_c { +class obd2_handler_t { private: public: @@ -144,4 +144,4 @@ class obd2_handler_c { * @return float number representing the requested value. */ bool decode_obd2_response(DiagnosticResponse* responce); -}
\ No newline at end of file +};
\ No newline at end of file diff --git a/src/timer.cpp b/src/timer.cpp new file mode 100644 index 0000000..70ce2b8 --- /dev/null +++ b/src/timer.cpp @@ -0,0 +1,29 @@ +/* + * 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. + */ + +inline unsigned long systemTimeMs() +{ + struct timeb t_msec; + unsigned long int timestamp_msec; + + if(!::ftime(&t_msec)) + { + timestamp_msec = ((unsigned long int) t_msec.time) * 1000ll + + (unsigned long int) t_msec.millitm; + } + return timestamp_msec; +}
\ No newline at end of file diff --git a/src/timer.hpp b/src/timer.hpp index 76eb51d..798baa2 100644 --- a/src/timer.hpp +++ b/src/timer.hpp @@ -17,17 +17,20 @@ #pragma once -//typedef unsigned long (*TimeFunction)(); +#include <sys/timeb.h> -/* Public: A frequency counting clock. +typedef unsigned long (*TimeFunction)(); + +/** + * @brief: A frequency counting clock. * * frequency - the clock frequency in Hz. * last_time - the last time (in milliseconds since startup) that the clock * ticked. - * time_function - a function returning current time in ms + * time_function - a function returning current time */ typedef struct { float frequency; unsigned long lastTick; TimeFunction timeFunction; -} FrequencyClock; +} FrequencyClock;
\ No newline at end of file |