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 "../configuration.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 std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::can_devices_;
50 /// @brief Listen for all device sockets and fill can_messages_queue with them.
51 /// Reading blocks until message arrive on listened sockets.
53 /// @return 0 if ok -1 if not
54 int can_bus_t::can_reader()
57 int sock_max = INVALID_SOCKET;
61 for(auto& can_dev : can_devices_)
63 FD_SET(can_dev.second->get_socket().socket(), &rfds);
64 if (sock_max < can_dev.second->get_socket().socket())
65 sock_max = can_dev.second->get_socket().socket();
71 ret = select(sock_max + 1, &rfds, nullptr, nullptr, nullptr);
77 for(const auto& s: can_devices_)
79 if(FD_ISSET(s.second->get_socket().socket(), &rfds))
82 s.second->get_socket() >> msg;
83 push_new_can_message(msg);
93 /// @brief Will make the decoding operation on a classic CAN message. It will not
94 /// handle CAN commands nor diagnostic messages that have their own method to get
97 /// It will add to the vehicle_message queue the decoded message and tell the event push
98 /// thread to process it.
100 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
102 /// @return How many signals has been decoded.
103 int can_bus_t::process_can_signals(can_message_t& can_message)
105 int processed_signals = 0;
106 struct utils::signals_found signals;
107 openxc_DynamicField search_key, decoded_message;
108 openxc_VehicleMessage vehicle_message;
109 configuration_t& conf = configuration_t::instance();
110 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
112 // First we have to found which can_signal_t it is
113 search_key = build_DynamicField((double)can_message.get_id());
114 signals = sm.find_signals(search_key);
116 // Decoding the message ! Don't kill the messenger !
117 for(auto& sig : signals.can_signals)
119 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
120 std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals();
122 // DEBUG message to make easier debugger STL containers...
123 //DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[sig.generic_name]));
124 //DEBUG(binder_interface, "Operator[] key string: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[std::string(sig.generic_name)]));
125 //DEBUG(binder_interface, "Nb elt matched char: %d", (int)s.count(sig.generic_name));
126 //DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.generic_name));
127 if( s.find(sig->get_name()) != s.end() && afb_event_is_valid(s[sig->get_name()]))
129 decoded_message = decoder_t::translateSignal(*sig, can_message, conf.get_can_signals());
131 openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
132 vehicle_message = build_VehicleMessage(s_message);
134 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
135 push_new_vehicle_message(vehicle_message);
140 DEBUG(binder_interface, "%s: %d/%d CAN signals processed.", __FUNCTION__, processed_signals, (int)signals.can_signals.size());
141 return processed_signals;
144 /// @brief Will make the decoding operation on a diagnostic CAN message.Then it find the subscribed signal
145 /// corresponding and will add the vehicle_message to the queue of event to pushed before notifying
146 /// the event push thread to process it.
148 /// @param[in] manager - the diagnostic manager object that handle diagnostic communication
149 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
151 /// @return How many signals has been decoded.
152 int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message)
154 int processed_signals = 0;
156 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
158 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
159 std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals();
161 openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
162 if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
163 (s.find(vehicle_message.simple_message.name) != s.end() && afb_event_is_valid(s[vehicle_message.simple_message.name])))
165 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
166 push_new_vehicle_message(vehicle_message);
170 return processed_signals;
173 /// @brief thread to decoding raw CAN messages.
175 /// Depending on the nature of message, if arbitration ID matches ID for a diagnostic response
176 /// then decoding a diagnostic message else use classic CAN signals decoding functions.
178 /// It will take from the can_message_q_ queue the next can message to process then it search
179 /// about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
180 /// subscription has been made. Can message will be decoded using translateSignal that will pass it to the
181 /// corresponding decoding function if there is one assigned for that signal. If not, it will be the default
182 /// noopDecoder function that will operate on it.
184 /// TODO: make diagnostic messages parsing optionnal.
185 void can_bus_t::can_decode_message()
187 can_message_t can_message;
192 std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
193 new_can_message_cv_.wait(can_message_lock);
194 while(!can_message_q_.empty())
196 can_message = next_can_message();
198 if(configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
199 process_diagnostic_signals(configuration_t::instance().get_diagnostic_manager(), can_message);
201 process_can_signals(can_message);
204 new_decoded_can_message_.notify_one();
208 /// @brief thread to push events to suscribers. It will read subscribed_signals map to look
209 /// which are events that has to be pushed.
210 void can_bus_t::can_event_push()
212 openxc_VehicleMessage v_message;
213 openxc_SimpleMessage s_message;
215 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
219 std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
220 new_decoded_can_message_.wait(decoded_can_message_lock);
221 while(!vehicle_message_q_.empty())
223 v_message = next_vehicle_message();
225 s_message = get_simple_message(v_message);
227 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
228 std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals();
229 if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)]))
231 jo = json_object_new_object();
232 jsonify_simple(s_message, jo);
233 if(afb_event_push(s[std::string(s_message.name)], jo) == 0)
234 on_no_clients(std::string(s_message.name));
241 /// @brief Will initialize threads that will decode
242 /// and push subscribed events.
243 void can_bus_t::start_threads()
246 th_reading_ = std::thread(&can_bus_t::can_reader, this);
247 if(!th_reading_.joinable())
251 th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
252 if(!th_decoding_.joinable())
253 is_decoding_ = false;
256 th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
257 if(!th_pushing_.joinable())
261 /// @brief Will stop all threads holded by can_bus_t object
262 /// which are decoding and pushing then will wait that's
263 /// they'll finish their job.
264 void can_bus_t::stop_threads()
267 is_decoding_ = false;
271 /// @brief Will initialize can_bus_dev_t objects after reading
272 /// the configuration file passed in the constructor. All CAN buses
273 /// Initialized here will be added to a vector holding them for
274 /// inventory and later access.
276 /// That will initialize CAN socket reading too using a new thread.
278 /// @return 0 if ok, other if not.
279 int can_bus_t::init_can_dev()
281 std::vector<std::string> devices_name;
285 if(conf_file_.check_conf())
287 devices_name = conf_file_.get_devices_name();
288 if (! devices_name.empty())
290 t = devices_name.size();
292 for(const auto& device : devices_name)
294 can_bus_t::can_devices_[device] = std::make_shared<can_bus_dev_t>(device, i);
295 if (can_bus_t::can_devices_[device]->open() >= 0)
297 can_bus_t::can_devices_[device]->configure();
298 DEBUG(binder_interface, "%s: Start reading thread", __FUNCTION__);
299 NOTICE(binder_interface, "%s: %s device opened and reading", __FUNCTION__, device.c_str());
300 //can_bus_t::can_devices_[device]->start_reading(*this);
305 ERROR(binder_interface, "%s: Can't open device %s", __FUNCTION__, device.c_str());
309 NOTICE(binder_interface, "%s: Initialized %d/%d can bus device(s)", __FUNCTION__, i, (int)t);
312 ERROR(binder_interface, "%s: Error at CAN device initialization. No devices read from configuration file", __FUNCTION__);
315 ERROR(binder_interface, "%s: Can't read INI configuration file", __FUNCTION__);
319 /// @brief return new_can_message_cv_ member
321 /// @return return new_can_message_cv_ member
322 std::condition_variable& can_bus_t::get_new_can_message_cv()
324 return new_can_message_cv_;
327 /// @brief return can_message_mutex_ member
329 /// @return return can_message_mutex_ member
330 std::mutex& can_bus_t::get_can_message_mutex()
332 return can_message_mutex_;
335 /// @brief Return first can_message_t on the queue
337 /// @return a can_message_t
338 can_message_t can_bus_t::next_can_message()
340 can_message_t can_msg;
342 if(!can_message_q_.empty())
344 can_msg = can_message_q_.front();
345 can_message_q_.pop();
346 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(),
347 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]);
354 /// @brief Push a can_message_t into the queue
356 /// @param[in] can_msg - the const reference can_message_t object to push into the queue
357 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
359 can_message_q_.push(can_msg);
362 /// @brief Return first openxc_VehicleMessage on the queue
364 /// @return a openxc_VehicleMessage containing a decoded can message
365 openxc_VehicleMessage can_bus_t::next_vehicle_message()
367 openxc_VehicleMessage v_msg;
369 if(! vehicle_message_q_.empty())
371 v_msg = vehicle_message_q_.front();
372 vehicle_message_q_.pop();
373 DEBUG(binder_interface, "%s: next vehicle message poped", __FUNCTION__);
380 /// @brief Push a openxc_VehicleMessage into the queue
382 /// @param[in] v_msg - const reference openxc_VehicleMessage object to push into the queue
383 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
385 vehicle_message_q_.push(v_msg);
388 /// @brief Create a RX_SETUP receive job for the BCM socket of a CAN signal.
390 /// @return 0 if ok -1 if not.
391 int can_bus_t::create_rx_filter(const can_signal_t& s)
393 const std::string& bus = s.get_message().get_bus_name();
394 return can_bus_t::can_devices_[bus]->create_rx_filter(s);
397 /// @brief Return a map with the can_bus_dev_t initialized
399 /// @return map can_bus_dev_m_ map
400 const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const
402 return can_bus_t::can_devices_;
405 /// @brief Return the shared pointer on the can_bus_dev_t initialized
406 /// with device_name "bus"
408 /// @param[in] bus - CAN bus device name to retrieve.
410 /// @return A shared pointer on an object can_bus_dev_t
411 std::shared_ptr<can_bus_dev_t> can_bus_t::get_can_device(std::string bus)
413 return can_bus_t::can_devices_[bus];