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Diffstat (limited to 'low-can-binding/can/can-bus.cpp')
| -rw-r--r-- | low-can-binding/can/can-bus.cpp | 398 |
1 files changed, 0 insertions, 398 deletions
diff --git a/low-can-binding/can/can-bus.cpp b/low-can-binding/can/can-bus.cpp deleted file mode 100644 index 33f58fd..0000000 --- a/low-can-binding/can/can-bus.cpp +++ /dev/null @@ -1,398 +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 <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-bus.hpp" - -#include "can-signals.hpp" -#include "can-decoder.hpp" -#include "../configuration.hpp" -#include "../utils/signals.hpp" -#include "../utils/openxc-utils.hpp" - -extern "C" -{ - #include <afb/afb-binding.h> -} - -/// @brief Class constructor -/// -/// @param[in] conf_file - handle to the json configuration file. -can_bus_t::can_bus_t(int conf_file) - : conf_file_{conf_file} -{ -} - -std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::can_devices_; - -/// @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. -int can_bus_t::process_can_signals(can_message_t& can_message) -{ - int processed_signals = 0; - std::vector <can_signal_t*> signals; - openxc_DynamicField search_key, decoded_message; - openxc_VehicleMessage vehicle_message; - - // First we have to found which can_signal_t it is - search_key = build_DynamicField((double)can_message.get_id()); - configuration_t::instance().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->get_name()) != s.end() && afb_event_is_valid(s[sig->get_name()])) - { - decoded_message = decoder_t::translateSignal(*sig, can_message, configuration_t::instance().get_can_signals()); - - openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message); - vehicle_message = build_VehicleMessage(s_message); - - std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(vehicle_message); - processed_signals++; - } - } - - DEBUG(binder_interface, "process_can_signals: %d/%d CAN signals processed.", processed_signals, (int)signals.size()); - return processed_signals; -} - -/// @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. -int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message) -{ - int processed_signals = 0; - - std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex()); - std::map<std::string, struct afb_event>& s = get_subscribed_signals(); - - 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(vehicle_message.simple_message.name) != s.end() && afb_event_is_valid(s[vehicle_message.simple_message.name]))) - { - std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(vehicle_message); - processed_signals++; - } - - return processed_signals; -} - -/// @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() -{ - can_message_t can_message; - - 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()) - { - can_message = next_can_message(); - - if(configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message)) - process_diagnostic_signals(configuration_t::instance().get_diagnostic_manager(), can_message); - else - process_can_signals(can_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); - while(!vehicle_message_q_.empty()) - { - 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); - if(afb_event_push(s[std::string(s_message.name)], jo) == 0) - on_no_clients(std::string(s_message.name)); - } - } - } - } -} - -/// @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); - 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. All CAN buses -/// Initialized here will be added to a vector holding them for -/// inventory and later access. -/// -/// That will initialize CAN socket reading too using a new thread. -/// -/// @return 0 if ok, other if not. -int can_bus_t::init_can_dev() -{ - std::vector<std::string> devices_name; - int i = 0; - size_t t; - - devices_name = read_conf(); - - if (! devices_name.empty()) - { - t = devices_name.size(); - - for(const auto& device : devices_name) - { - can_bus_t::can_devices_[device] = std::make_shared<can_bus_dev_t>(device, i); - if (can_bus_t::can_devices_[device]->open() == 0) - { - DEBUG(binder_interface, "Start reading thread"); - NOTICE(binder_interface, "%s device opened and reading", device.c_str()); - can_bus_t::can_devices_[device]->start_reading(*this); - i++; - } - else - { - ERROR(binder_interface, "Can't open device %s", device.c_str()); - return 1; - } - } - - NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, (int)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)) - { - 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_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 -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[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 -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[in] v_msg - 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 -const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const -{ - return can_bus_t::can_devices_; -} - -/// @brief Return the shared pointer on the can_bus_dev_t initialized -/// with device_name "bus" -/// -/// @param[in] bus - CAN bus device name to retrieve. -/// -/// @return A shared pointer on an object can_bus_dev_t -std::shared_ptr<can_bus_dev_t> can_bus_t::get_can_device(std::string bus) -{ - return can_bus_t::can_devices_[bus]; -} |