diff options
Diffstat (limited to 'CAN-binder/low-can-binding/can/can-bus.cpp')
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus.cpp | 337 |
1 files changed, 0 insertions, 337 deletions
diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp deleted file mode 100644 index 6167335..0000000 --- a/CAN-binder/low-can-binding/can/can-bus.cpp +++ /dev/null @@ -1,337 +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 <net/if.h> -#include <sys/socket.h> -#include <json-c/json.h> -#include <linux/can/raw.h> -#include <map> -#include <cerrno> -#include <vector> -#include <string> -#include <algorithm> - -#include "can-bus.hpp" - -#include "can-signals.hpp" -#include "can-decoder.hpp" -#include "../binding/application.hpp" -#include "../utils/signals.hpp" -#include "../utils/openxc-utils.hpp" - -/// @brief Class constructor -/// -/// @param[in] conf_file - handle to the json configuration file. -can_bus_t::can_bus_t(utils::config_parser_t conf_file) - : conf_file_{conf_file} -{} - -/// @brief Take a decoded message to determine if its value comply with the wanted -/// filtering values. -/// -/// @param[in] vehicle_message - A decoded message to analyze -/// @param[in] can_subscription - the subscription which will be notified depending -/// on its filtering values. Filtering values are stored in the event_filtermember. -/// -/// @return True if the value is compliant with event filter values, false if not... -bool can_bus_t::apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription) -{ - bool send = false; - if(is_valid(vehicle_message)) - { - float min = std::isnan(can_subscription->get_min()) ? -INFINITY : can_subscription->get_min(); - float max = std::isnan(can_subscription->get_max()) ? INFINITY : can_subscription->get_max(); - double value = get_numerical_from_DynamicField(vehicle_message); - send = (value < min && value > max) ? false : true; - } - return send; -} - -/// @brief Will make the decoding operation on a classic CAN message. It will not -/// handle CAN commands nor diagnostic messages that have their own method to get -/// this happens. -/// -/// It will add to the vehicle_message queue the decoded message and tell the event push -/// thread to process it. -/// -/// @param[in] can_message - a single CAN message from the CAN socket read, to be decode. -/// -/// @return How many signals has been decoded. -void can_bus_t::process_can_signals(const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s) -{ - int subscription_id = can_message.get_sub_id(); - openxc_DynamicField decoded_message; - openxc_VehicleMessage vehicle_message; - - // First we have to found which can_signal_t it is - std::shared_ptr<low_can_subscription_t> sig = s[subscription_id]; - - if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event())) - { - bool send = true; - decoded_message = decoder_t::translateSignal(*sig->get_can_signal(), can_message, application_t::instance().get_all_can_signals(), &send); - openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message); - vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp()); - - if(send && apply_filter(vehicle_message, sig)) - { - std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(subscription_id, vehicle_message); - DEBUG("%s CAN signals processed.", sig->get_name().c_str()); - } - } -} - -/// @brief Will make the decoding operation on a diagnostic CAN message.Then it find the subscribed signal -/// corresponding and will add the vehicle_message to the queue of event to pushed before notifying -/// the event push thread to process it. -/// -/// @param[in] manager - the diagnostic manager object that handle diagnostic communication -/// @param[in] can_message - a single CAN message from the CAN socket read, to be decode. -/// -/// @return How many signals has been decoded. -void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s) -{ - int subscription_id = can_message.get_sub_id(); - - openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message); - if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) && - s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event())) - { - if (apply_filter(vehicle_message, s[subscription_id])) - { - std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(subscription_id, vehicle_message); - DEBUG("%s CAN signals processed.", s[subscription_id]->get_name().c_str()); - } - } -} - -/// @brief thread to decoding raw CAN messages. -/// -/// Depending on the nature of message, if arbitration ID matches ID for a diagnostic response -/// then decoding a diagnostic message else use classic CAN signals decoding functions. -/// -/// It will take from the can_message_q_ queue the next can message to process then it 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. -/// -/// TODO: make diagnostic messages parsing optionnal. -void can_bus_t::can_decode_message() -{ - utils::signals_manager_t& sm = utils::signals_manager_t::instance(); - - while(is_decoding_) - { - std::unique_lock<std::mutex> can_message_lock(can_message_mutex_); - new_can_message_cv_.wait(can_message_lock); - while(!can_message_q_.empty()) - { - const can_message_t can_message = next_can_message(); - can_message_lock.unlock(); - - { - std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); - std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals(); - if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message)) - {process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), can_message, s);} - else - {process_can_signals(can_message, s);} - } - can_message_lock.lock(); - } - new_decoded_can_message_.notify_one(); - can_message_lock.unlock(); - } -} - -/// @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_SimpleMessage s_message; - json_object* jo; - utils::signals_manager_t& sm = utils::signals_manager_t::instance(); - - 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); - while(!vehicle_message_q_.empty()) - { - std::pair<int, openxc_VehicleMessage> v_message = next_vehicle_message(); - decoded_can_message_lock.unlock(); - { - std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); - std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals(); - s_message = get_simple_message(v_message.second); - if(s.find(v_message.first) != s.end() && afb_event_is_valid(s[v_message.first]->get_event())) - { - jo = json_object_new_object(); - jsonify_simple(s_message, jo); - if(afb_event_push(s[v_message.first]->get_event(), jo) == 0) - { - if(v_message.second.has_diagnostic_response) - {on_no_clients(s[v_message.first], v_message.second.diagnostic_response.pid, s);} - else - {on_no_clients(s[v_message.first], s);} - } - } - } - decoded_can_message_lock.lock(); - } - decoded_can_message_lock.unlock(); - } -} - -/// @brief Will initialize threads that will decode -/// and push subscribed events. -void can_bus_t::start_threads() -{ - is_decoding_ = true; - th_decoding_ = std::thread(&can_bus_t::can_decode_message, this); - th_decoding_.detach(); - - is_pushing_ = true; - th_pushing_ = std::thread(&can_bus_t::can_event_push, this); - th_pushing_.detach(); -} - -/// @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 return new_can_message_cv_ member -/// -/// @return return new_can_message_cv_ 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 -const 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("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[in] can_msg - 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 -std::pair<int, openxc_VehicleMessage> can_bus_t::next_vehicle_message() -{ - std::pair<int, openxc_VehicleMessage> v_msg; - - if(! vehicle_message_q_.empty()) - { - v_msg = vehicle_message_q_.front(); - vehicle_message_q_.pop(); - DEBUG("next vehicle message poped"); - return v_msg; - } - - return v_msg; -} - -/// @brief Push a openxc_VehicleMessage into the queue -/// -/// @param[in] v_msg - const reference openxc_VehicleMessage object to push into the queue -void can_bus_t::push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg) -{ - vehicle_message_q_.push(std::make_pair(subscription_id, v_msg)); -} - -/// @brief Fills the CAN device map member with value from device -/// mapping configuration file read at initialization. -void can_bus_t::set_can_devices() -{ - can_devices_ = conf_file_.get_devices_name(); - - if(can_devices_.empty()) - { - ERROR("No mapping found in config file: '%s'. Check it that it have a CANbus-mapping section.", - conf_file_.filepath().c_str()); - } -} - - -/// @brief Return the CAN device index from the map -/// map are sorted so index depend upon alphabetical sorting. -int can_bus_t::get_can_device_index(const std::string& bus_name) const -{ - int i = 0; - for(const auto& d: can_devices_) - { - if(d.first == bus_name) - break; - i++; - } - return i; -} - -/// @brief Return CAN device name from a logical CAN device name gotten from -/// the signals.json description file which comes from a CAN databases file in -/// general. -const std::string can_bus_t::get_can_device_name(const std::string& id_name) const -{ - std::string ret; - for(const auto& d: can_devices_) - { - if(d.first == id_name) - { - ret = d.second; - break; - } - } - return ret; -} |