CAN-binder/low-can-binding/can/can-bus.cpp

   1 /*
   2  * Copyright (C) 2015, 2016 "IoT.bzh"
   3  * Author "Romain Forlot" <romain.forlot@iot.bzh>
   4  *
   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
   8  *
   9  *       http://www.apache.org/licenses/LICENSE-2.0
  10  *
  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.
  16  */
  17
  18 #include <net/if.h>
  19 #include <sys/socket.h>
  20 #include <json-c/json.h>
  21 #include <linux/can/raw.h>
  22 #include <map>
  23 #include <cerrno>
  24 #include <vector>
  25 #include <string>
  26 #include <algorithm>
  27
  28 #include "can-bus.hpp"
  29
  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"
  35
  36 extern "C"
  37 {
  38         #include <afb/afb-binding.h>
  39 }
  40
  41 /// @brief Class constructor
  42 ///
  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}
  46 {}
  47
  48 bool can_bus_t::apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription)
  49 {
  50         if(is_valid(vehicle_message))
  51         {
  52                 return true;
  53         }
  54         return false;
  55 }
  56
  57 /// @brief Will make the decoding operation on a classic CAN message. It will not
  58 /// handle CAN commands nor diagnostic messages that have their own method to get
  59 /// this happens.
  60 ///
  61 /// It will add to the vehicle_message queue the decoded message and tell the event push
  62 /// thread to process it.
  63 ///
  64 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
  65 ///
  66 /// @return How many signals has been decoded.
  67 void can_bus_t::process_can_signals(const can_message_t& can_message)
  68 {
  69         int subscription_id = can_message.get_sub_id();
  70         openxc_DynamicField decoded_message;
  71         openxc_VehicleMessage vehicle_message;
  72         application_t& conf = application_t::instance();
  73         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
  74
  75         {
  76                 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
  77                 std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s = sm.get_subscribed_signals();
  78
  79                 // First we have to found which can_signal_t it is
  80                 std::shared_ptr<low_can_subscription_t> sig = s[subscription_id].first;
  81
  82                 if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id].second))
  83                 {
  84                         bool send = true;
  85                         decoded_message = decoder_t::translateSignal(*sig->get_can_signal(), can_message, conf.get_all_can_signals(), &send);
  86                         openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_sig_name(), decoded_message);
  87                         vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp());
  88
  89                         if(send && apply_filter(vehicle_message, sig))
  90                         {
  91                                 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
  92                                 push_new_vehicle_message(subscription_id, vehicle_message);
  93                                 DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__,  sig->get_sig_name().c_str());
  94                         }
  95                 }
  96         }
  97 }
  98
  99 /// @brief Will make the decoding operation on a diagnostic CAN message.Then it find the subscribed signal
 100 /// corresponding and will add the vehicle_message to the queue of event to pushed before notifying
 101 /// the event push thread to process it.
 102 ///
 103 /// @param[in] manager - the diagnostic manager object that handle diagnostic communication
 104 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
 105 ///
 106 /// @return How many signals has been decoded.
 107 void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message)
 108 {
 109         int subscription_id = can_message.get_sub_id();
 110
 111         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 112
 113         {
 114                 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 115                 std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s = sm.get_subscribed_signals();
 116
 117                 openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
 118                 if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
 119                         s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id].second))
 120                 {
 121                         if (apply_filter(vehicle_message, s[subscription_id].first))
 122                         {
 123                                 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 124                                 push_new_vehicle_message(subscription_id, vehicle_message);
 125                                 DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__,  s[subscription_id].first->get_diag_name().c_str());
 126                         }
 127                 }
 128         }
 129 }
 130
 131 /// @brief thread to decoding raw CAN messages.
 132 ///
 133 ///  Depending on the nature of message, if arbitration ID matches ID for a diagnostic response
 134 ///  then decoding a diagnostic message else use classic CAN signals decoding functions.
 135 ///
 136 /// It will take from the can_message_q_ queue the next can message to process then it search
 137 ///  about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
 138 ///  subscription has been made. Can message will be decoded using translateSignal that will pass it to the
 139 ///  corresponding decoding function if there is one assigned for that signal. If not, it will be the default
 140 ///  noopDecoder function that will operate on it.
 141 ///
 142 ///  TODO: make diagnostic messages parsing optionnal.
 143 void can_bus_t::can_decode_message()
 144 {
 145         while(is_decoding_)
 146         {
 147                 {
 148                         std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
 149                         new_can_message_cv_.wait(can_message_lock);
 150                         while(!can_message_q_.empty())
 151                         {
 152                                 const can_message_t can_message = next_can_message();
 153
 154                                 if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
 155                                         process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), can_message);
 156                                 else
 157                                         process_can_signals(can_message);
 158                         }
 159                 }
 160                 new_decoded_can_message_.notify_one();
 161         }
 162 }
 163
 164 /// @brief thread to push events to suscribers. It will read subscribed_signals map to look
 165 /// which are events that has to be pushed.
 166 void can_bus_t::can_event_push()
 167 {
 168         std::pair<int, openxc_VehicleMessage> v_message;
 169         openxc_SimpleMessage s_message;
 170         json_object* jo;
 171         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 172
 173         while(is_pushing_)
 174         {
 175                 std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 176                 new_decoded_can_message_.wait(decoded_can_message_lock);
 177                 while(!vehicle_message_q_.empty())
 178                 {
 179                         v_message = next_vehicle_message();
 180                         s_message = get_simple_message(v_message.second);
 181                         {
 182                                 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 183                                 std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s = sm.get_subscribed_signals();
 184                                 if(s.find(v_message.first) != s.end() && afb_event_is_valid(s[v_message.first].second))
 185                                 {
 186                                         jo = json_object_new_object();
 187                                         jsonify_simple(s_message, jo);
 188                                         if(afb_event_push(s[v_message.first].second, jo) == 0)
 189                                                 on_no_clients(std::string(s_message.name));
 190                                 }
 191                         }
 192                 }
 193         }
 194 }
 195
 196 /// @brief Will initialize threads that will decode
 197 ///  and push subscribed events.
 198 void can_bus_t::start_threads()
 199 {
 200         is_decoding_ = true;
 201         th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
 202         if(!th_decoding_.joinable())
 203                 is_decoding_ = false;
 204
 205         is_pushing_ = true;
 206         th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
 207         if(!th_pushing_.joinable())
 208                 is_pushing_ = false;
 209 }
 210
 211 /// @brief Will stop all threads holded by can_bus_t object
 212 ///  which are decoding and pushing then will wait that's
 213 /// they'll finish their job.
 214 void can_bus_t::stop_threads()
 215 {
 216         is_decoding_ = false;
 217         is_pushing_ = false;
 218 }
 219
 220 /// @brief return new_can_message_cv_ member
 221 ///
 222 /// @return  return new_can_message_cv_ member
 223 std::condition_variable& can_bus_t::get_new_can_message_cv()
 224 {
 225         return new_can_message_cv_;
 226 }
 227
 228 /// @brief return can_message_mutex_ member
 229 ///
 230 /// @return  return can_message_mutex_ member
 231 std::mutex& can_bus_t::get_can_message_mutex()
 232 {
 233         return can_message_mutex_;
 234 }
 235
 236 /// @brief Return first can_message_t on the queue
 237 ///
 238 /// @return a can_message_t
 239 const can_message_t can_bus_t::next_can_message()
 240 {
 241         can_message_t can_msg;
 242
 243         if(!can_message_q_.empty())
 244         {
 245                 can_msg = can_message_q_.front();
 246                 can_message_q_.pop();
 247                 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(),
 248                         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]);
 249                 return can_msg;
 250         }
 251
 252         return can_msg;
 253 }
 254
 255 /// @brief Push a can_message_t into the queue
 256 ///
 257 /// @param[in] can_msg - the const reference can_message_t object to push into the queue
 258 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
 259 {
 260         can_message_q_.push(can_msg);
 261 }
 262
 263 /// @brief Return first openxc_VehicleMessage on the queue
 264 ///
 265 /// @return a openxc_VehicleMessage containing a decoded can message
 266 std::pair<int, openxc_VehicleMessage> can_bus_t::next_vehicle_message()
 267 {
 268         std::pair<int, openxc_VehicleMessage> v_msg;
 269
 270         if(! vehicle_message_q_.empty())
 271         {
 272                 v_msg = vehicle_message_q_.front();
 273                 vehicle_message_q_.pop();
 274                 DEBUG(binder_interface, "%s: next vehicle message poped", __FUNCTION__);
 275                 return v_msg;
 276         }
 277
 278         return v_msg;
 279 }
 280
 281 /// @brief Push a openxc_VehicleMessage into the queue
 282 ///
 283 /// @param[in] v_msg - const reference openxc_VehicleMessage object to push into the queue
 284 void can_bus_t::push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg)
 285 {
 286         vehicle_message_q_.push(std::make_pair(subscription_id, v_msg));
 287 }
 288
 289 /// @brief Return the shared pointer on the can_bus_dev_t initialized
 290 /// with device_name "bus"
 291 ///
 292 /// @param[in] bus - CAN bus device name to retrieve.
 293 ///
 294 /// @return A shared pointer on an object can_bus_dev_t
 295 void can_bus_t::set_can_devices()
 296 {
 297         can_devices_ = conf_file_.get_devices_name();
 298
 299         if(can_devices_.empty())
 300         {
 301                 ERROR(binder_interface, "%s: No mapping found in config file: '%s'. Check it that it have a CANbus-mapping section.",
 302                         __FUNCTION__, conf_file_.filepath().c_str());
 303         }
 304 }
 305
 306 int can_bus_t::get_can_device_index(const std::string& bus_name) const
 307 {
 308         int i = 0;
 309         for(const auto& d: can_devices_)
 310         {
 311                 if(d.first == bus_name)
 312                         break;
 313                 i++;
 314         }
 315         return i;
 316 }
 317
 318 const std::string can_bus_t::get_can_device_name(const std::string& id_name) const
 319 {
 320         std::string ret;
 321         for(const auto& d: can_devices_)
 322         {
 323                 if(d.first == id_name)
 324                 {
 325                         ret = d.second;
 326                         break;
 327                 }
 328         }
 329         return ret;
 330 }