2 * Copyright (C) 2015, 2016 "IoT.bzh"
3 * Author "Romain Forlot" <romain.forlot@iot.bzh>
5 * Licensed under the Apache License, Version 2.0 (the "License");
6 * you may not use this file except in compliance with the License.
7 * You may obtain a copy of the License at
9 * http://www.apache.org/licenses/LICENSE-2.0
11 * Unless required by applicable law or agreed to in writing, software
12 * distributed under the License is distributed on an "AS IS" BASIS,
13 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
14 * See the License for the specific language governing permissions and
15 * limitations under the License.
19 #include <sys/socket.h>
20 #include <json-c/json.h>
21 #include <linux/can/raw.h>
28 #include "can-bus.hpp"
30 #include "can-signals.hpp"
31 #include "can-decoder.hpp"
32 #include "../binding/application.hpp"
33 #include "../utils/signals.hpp"
34 #include "../utils/openxc-utils.hpp"
38 #include <afb/afb-binding.h>
41 /// @brief Class constructor
43 /// @param[in] conf_file - handle to the json configuration file.
44 can_bus_t::can_bus_t(utils::config_parser_t conf_file)
45 : conf_file_{conf_file}
48 bool can_bus_t::apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription)
51 if(is_valid(vehicle_message))
53 float min = std::isnan(can_subscription->get_min()) ? -INFINITY : can_subscription->get_min();
54 float max = std::isnan(can_subscription->get_max()) ? INFINITY : can_subscription->get_max();
55 double value = get_numerical_from_DynamicField(vehicle_message);
56 send = (value < min && value > max) ? false : true;
61 /// @brief Will make the decoding operation on a classic CAN message. It will not
62 /// handle CAN commands nor diagnostic messages that have their own method to get
65 /// It will add to the vehicle_message queue the decoded message and tell the event push
66 /// thread to process it.
68 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
70 /// @return How many signals has been decoded.
71 void can_bus_t::process_can_signals(const can_message_t& can_message)
73 int subscription_id = can_message.get_sub_id();
74 openxc_DynamicField decoded_message;
75 openxc_VehicleMessage vehicle_message;
76 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
79 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
80 std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
82 // First we have to found which can_signal_t it is
83 std::shared_ptr<low_can_subscription_t> sig = s[subscription_id];
85 if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
88 decoded_message = decoder_t::translateSignal(*sig->get_can_signal(), can_message, application_t::instance().get_all_can_signals(), &send);
89 openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
90 vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp());
92 if(send && apply_filter(vehicle_message, sig))
94 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
95 push_new_vehicle_message(subscription_id, vehicle_message);
96 DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__, sig->get_name().c_str());
102 /// @brief Will make the decoding operation on a diagnostic CAN message.Then it find the subscribed signal
103 /// corresponding and will add the vehicle_message to the queue of event to pushed before notifying
104 /// the event push thread to process it.
106 /// @param[in] manager - the diagnostic manager object that handle diagnostic communication
107 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
109 /// @return How many signals has been decoded.
110 void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message)
112 int subscription_id = can_message.get_sub_id();
114 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
117 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
118 std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
120 openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
121 if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
122 s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
124 if (apply_filter(vehicle_message, s[subscription_id]))
126 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
127 push_new_vehicle_message(subscription_id, vehicle_message);
128 DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__, s[subscription_id]->get_name().c_str());
134 /// @brief thread to decoding raw CAN messages.
136 /// Depending on the nature of message, if arbitration ID matches ID for a diagnostic response
137 /// then decoding a diagnostic message else use classic CAN signals decoding functions.
139 /// It will take from the can_message_q_ queue the next can message to process then it search
140 /// about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
141 /// subscription has been made. Can message will be decoded using translateSignal that will pass it to the
142 /// corresponding decoding function if there is one assigned for that signal. If not, it will be the default
143 /// noopDecoder function that will operate on it.
145 /// TODO: make diagnostic messages parsing optionnal.
146 void can_bus_t::can_decode_message()
151 std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
152 new_can_message_cv_.wait(can_message_lock);
153 while(!can_message_q_.empty())
155 const can_message_t can_message = next_can_message();
157 if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
158 process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), can_message);
160 process_can_signals(can_message);
163 new_decoded_can_message_.notify_one();
167 /// @brief thread to push events to suscribers. It will read subscribed_signals map to look
168 /// which are events that has to be pushed.
169 void can_bus_t::can_event_push()
171 std::pair<int, openxc_VehicleMessage> v_message;
172 openxc_SimpleMessage s_message;
174 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
178 std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
179 new_decoded_can_message_.wait(decoded_can_message_lock);
180 while(!vehicle_message_q_.empty())
182 v_message = next_vehicle_message();
183 s_message = get_simple_message(v_message.second);
185 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
186 std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
187 if(s.find(v_message.first) != s.end() && afb_event_is_valid(s[v_message.first]->get_event()))
189 jo = json_object_new_object();
190 jsonify_simple(s_message, jo);
191 if(afb_event_push(s[v_message.first]->get_event(), jo) == 0)
193 if(v_message.second.has_diagnostic_response)
194 {on_no_clients(s[v_message.first], v_message.second.diagnostic_response.pid);}
195 on_no_clients(s[v_message.first]);
203 /// @brief Will initialize threads that will decode
204 /// and push subscribed events.
205 void can_bus_t::start_threads()
208 th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
209 th_decoding_.detach();
212 th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
213 th_pushing_.detach();
216 /// @brief Will stop all threads holded by can_bus_t object
217 /// which are decoding and pushing then will wait that's
218 /// they'll finish their job.
219 void can_bus_t::stop_threads()
221 is_decoding_ = false;
225 /// @brief return new_can_message_cv_ member
227 /// @return return new_can_message_cv_ member
228 std::condition_variable& can_bus_t::get_new_can_message_cv()
230 return new_can_message_cv_;
233 /// @brief return can_message_mutex_ member
235 /// @return return can_message_mutex_ member
236 std::mutex& can_bus_t::get_can_message_mutex()
238 return can_message_mutex_;
241 /// @brief Return first can_message_t on the queue
243 /// @return a can_message_t
244 const can_message_t can_bus_t::next_can_message()
246 can_message_t can_msg;
248 if(!can_message_q_.empty())
250 can_msg = can_message_q_.front();
251 can_message_q_.pop();
252 DEBUG(binder_interface, "%s: Here is the next can message : id %X, length %X, data %02X%02X%02X%02X%02X%02X%02X%02X", __FUNCTION__, can_msg.get_id(), can_msg.get_length(),
253 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]);
260 /// @brief Push a can_message_t into the queue
262 /// @param[in] can_msg - the const reference can_message_t object to push into the queue
263 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
265 can_message_q_.push(can_msg);
268 /// @brief Return first openxc_VehicleMessage on the queue
270 /// @return a openxc_VehicleMessage containing a decoded can message
271 std::pair<int, openxc_VehicleMessage> can_bus_t::next_vehicle_message()
273 std::pair<int, openxc_VehicleMessage> v_msg;
275 if(! vehicle_message_q_.empty())
277 v_msg = vehicle_message_q_.front();
278 vehicle_message_q_.pop();
279 DEBUG(binder_interface, "%s: next vehicle message poped", __FUNCTION__);
286 /// @brief Push a openxc_VehicleMessage into the queue
288 /// @param[in] v_msg - const reference openxc_VehicleMessage object to push into the queue
289 void can_bus_t::push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg)
291 vehicle_message_q_.push(std::make_pair(subscription_id, v_msg));
294 /// @brief Return the shared pointer on the can_bus_dev_t initialized
295 /// with device_name "bus"
297 /// @param[in] bus - CAN bus device name to retrieve.
299 /// @return A shared pointer on an object can_bus_dev_t
300 void can_bus_t::set_can_devices()
302 can_devices_ = conf_file_.get_devices_name();
304 if(can_devices_.empty())
306 ERROR(binder_interface, "%s: No mapping found in config file: '%s'. Check it that it have a CANbus-mapping section.",
307 __FUNCTION__, conf_file_.filepath().c_str());
311 int can_bus_t::get_can_device_index(const std::string& bus_name) const
314 for(const auto& d: can_devices_)
316 if(d.first == bus_name)
323 const std::string can_bus_t::get_can_device_name(const std::string& id_name) const
326 for(const auto& d: can_devices_)
328 if(d.first == id_name)