diff options
Diffstat (limited to 'src/can-bus.cpp')
| -rw-r--r-- | src/can-bus.cpp | 158 |
1 files changed, 123 insertions, 35 deletions
diff --git a/src/can-bus.cpp b/src/can-bus.cpp index 29cadba..84cbaaa 100644 --- a/src/can-bus.cpp +++ b/src/can-bus.cpp @@ -44,11 +44,89 @@ can_bus_t::can_bus_t(int& conf_file) { } +void can_bus_t::can_decode_message() +{ + can_message_t can_message; + std::vector <CanSignal> signals; + std::vector <CanSignal>::iterator signals_i; + openxc_VehicleMessage vehicle_message; + openxc_DynamicField search_key, decoded_message; + + decoder_t decoder; + + DEBUG(binder_interface, "Beginning of decoding thread."); + while(is_decoding()) + { + { + std::unique_lock<std::mutex> can_message_lock(can_message_mutex_); + new_can_message_.wait(can_message_lock); + can_message = next_can_message(); + } + + /* First we have to found which CanSignal it is */ + search_key = build_DynamicField((double)can_message.get_id()); + signals = find_can_signals(search_key); + + /* 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> subscribed_signals = get_subscribed_signals(); + const auto& it_event = subscribed_signals.find(sig.genericName); + + if(it_event != subscribed_signals.end() && afb_event_is_valid(it_event->second)) + { + decoded_message = decoder.translateSignal(sig, can_message, getSignals()); + + openxc_SimpleMessage s_message = build_SimpleMessage(sig.genericName, decoded_message); + vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message); + + std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); + push_new_vehicle_message(vehicle_message); + } + new_decoded_can_message_.notify_one(); + } + } + } +} + +void can_bus_t::can_event_push() +{ + openxc_VehicleMessage v_message; + openxc_SimpleMessage s_message; + json_object* jo; + + DEBUG(binder_interface, "Beginning of the pushing thread"); + 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); + 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> subscribed_signals = get_subscribed_signals(); + const auto& it_event = subscribed_signals.find(s_message.name); + if(it_event != subscribed_signals.end() && afb_event_is_valid(it_event->second)) + { + jo = json_object_new_object(); + jsonify_simple(s_message, jo); + afb_event_push(it_event->second, jo); + } + } + } +} + void can_bus_t::start_threads() { - th_decoding_ = std::thread(can_decode_message, std::ref(*this)); + th_decoding_ = std::thread(&can_bus_t::can_decode_message, this); is_decoding_ = true; - th_pushing_ = std::thread(can_event_push, std::ref(*this)); + th_pushing_ = std::thread(&can_bus_t::can_event_push, this); is_pushing_ = true; } @@ -56,6 +134,8 @@ void can_bus_t::stop_threads() { is_decoding_ = false; is_pushing_ = false; + th_decoding_.join(); + th_pushing_.join(); } bool can_bus_t::is_decoding() @@ -154,16 +234,6 @@ std::mutex& can_bus_t::get_can_message_mutex() return can_message_mutex_; } -std::condition_variable& can_bus_t::get_new_decoded_can_message() -{ - return new_decoded_can_message_; -} - -std::mutex& can_bus_t::get_decoded_can_message_mutex() -{ - return decoded_can_message_mutex_; -} - can_message_t can_bus_t::next_can_message() { can_message_t can_msg; @@ -186,11 +256,6 @@ void can_bus_t::push_new_can_message(const can_message_t& can_msg) can_message_q_.push(can_msg); } -bool can_bus_t::has_can_message() const -{ - return has_can_message_; -} - openxc_VehicleMessage can_bus_t::next_vehicle_message() { openxc_VehicleMessage v_msg; @@ -214,11 +279,6 @@ void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg) has_vehicle_message_ = true; } -bool can_bus_t::has_vehicle_message() const -{ - return has_vehicle_message_; -} - /******************************************************************************** * * can_bus_dev_t method implementation @@ -226,50 +286,57 @@ bool can_bus_t::has_vehicle_message() const *********************************************************************************/ can_bus_dev_t::can_bus_dev_t(const std::string &dev_name) - : device_name_{dev_name} + : device_name_{dev_name}, can_socket_{-1} { } int can_bus_dev_t::open() { const int canfd_on = 1; + const int timestamp_on = 1; struct ifreq ifr; - struct timeval timeout = {1, 0}; + struct timeval timeout; DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_); if (can_socket_ >= 0) return 0; can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW); + DEBUG(binder_interface, "CAN Handler socket correctly initialized : %d", can_socket_); if (can_socket_ < 0) - { - ERROR(binder_interface, "socket could not be created"); - } + ERROR(binder_interface, "socket could not be created. Error was : %s", ::strerror(errno)); else { /* Set timeout for read */ ::setsockopt(can_socket_, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout)); + /* Set timestamp for receveid frame */ + if (::setsockopt(can_socket_, SOL_SOCKET, SO_TIMESTAMP, ×tamp_on, sizeof(timestamp_on)) < 0) + WARNING(binder_interface, "setsockopt SO_TIMESTAMP error: %s", ::strerror(errno)); + DEBUG(binder_interface, "Switch CAN Handler socket to use fd mode"); /* try to switch the socket into CAN_FD mode */ if (::setsockopt(can_socket_, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0) { NOTICE(binder_interface, "Can not switch into CAN Extended frame format."); is_fdmode_on_ = false; } else { + DEBUG(binder_interface, "Correctly set up CAN socket to use FD frames."); is_fdmode_on_ = true; } /* Attempts to open a socket to CAN bus */ ::strcpy(ifr.ifr_name, device_name_.c_str()); + DEBUG(binder_interface, "ifr_name is : %s", ifr.ifr_name); if(::ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0) - ERROR(binder_interface, "ioctl failed"); + ERROR(binder_interface, "ioctl failed. Error was : %s", strerror(errno)); else { txAddress_.can_family = AF_CAN; txAddress_.can_ifindex = ifr.ifr_ifindex; /* And bind it to txAddress */ + DEBUG(binder_interface, "Bind the socket"); if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0) - ERROR(binder_interface, "Bind failed"); + ERROR(binder_interface, "Bind failed. %s", strerror(errno)); else return 0; } @@ -322,18 +389,39 @@ canfd_frame can_bus_dev_t::read() return canfd_frame; } +bool can_bus_dev_t::is_running() +{ + return is_running_; +} + void can_bus_dev_t::start_reading(can_bus_t& can_bus) { - th_reading_ = std::thread(can_reader, std::ref(*this), std::ref(can_bus)); + DEBUG(binder_interface, "Launching reading thread"); + th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus)); is_running_ = true; } -/* - * Return is_running_ bool - */ -bool can_bus_dev_t::is_running() +void can_bus_dev_t::stop_reading() { - return is_running_; + is_running_ = false; + th_reading_.join(); +} + +void can_bus_dev_t::can_reader(can_bus_t& can_bus) +{ + can_message_t can_message; + + DEBUG(binder_interface, "Beginning of reading thread"); + while(is_running()) + { + can_message.convert_from_canfd_frame(read()); + + { + std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex()); + can_bus.push_new_can_message(can_message); + } + can_bus.get_new_can_message().notify_one(); + } } int can_bus_dev_t::send_can_message(can_message_t& can_msg) |