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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, 398 insertions, 0 deletions
diff --git a/low-can-binding/can/can-bus.cpp b/low-can-binding/can/can-bus.cpp new file mode 100644 index 0000000..33f58fd --- /dev/null +++ b/low-can-binding/can/can-bus.cpp @@ -0,0 +1,398 @@ +/* + * 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]; +} |