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.
25 #include <sys/ioctl.h>
26 #include <sys/socket.h>
27 #include <json-c/json.h>
28 #include <linux/can/raw.h>
30 #include "can-bus.hpp"
32 #include "can-signals.hpp"
33 #include "can-decoder.hpp"
34 #include "../configuration.hpp"
35 #include "../utils/signals.hpp"
36 #include "../utils/openxc-utils.hpp"
40 #include <afb/afb-binding.h>
43 /// @brief Class constructor
45 /// @param[in] conf_file - handle to the json configuration file.
46 can_bus_t::can_bus_t(utils::config_parser_t conf_file)
47 : conf_file_{conf_file}
50 std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::can_devices_;
52 /// @brief Will make the decoding operation on a classic CAN message. It will not
53 /// handle CAN commands nor diagnostic messages that have their own method to get
56 /// It will add to the vehicle_message queue the decoded message and tell the event push
57 /// thread to process it.
59 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
61 /// @return How many signals has been decoded.
62 int can_bus_t::process_can_signals(can_message_t& can_message)
64 int processed_signals = 0;
65 std::vector <can_signal_t*> signals;
66 openxc_DynamicField search_key, decoded_message;
67 openxc_VehicleMessage vehicle_message;
69 // First we have to found which can_signal_t it is
70 search_key = build_DynamicField((double)can_message.get_id());
71 configuration_t::instance().find_can_signals(search_key, signals);
73 // Decoding the message ! Don't kill the messenger !
74 for(auto& sig : signals)
76 std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
77 std::map<std::string, struct afb_event>& s = get_subscribed_signals();
79 // DEBUG message to make easier debugger STL containers...
80 //DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[sig.generic_name]));
81 //DEBUG(binder_interface, "Operator[] key string: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[std::string(sig.generic_name)]));
82 //DEBUG(binder_interface, "Nb elt matched char: %d", (int)s.count(sig.generic_name));
83 //DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.generic_name));
84 if( s.find(sig->get_name()) != s.end() && afb_event_is_valid(s[sig->get_name()]))
86 decoded_message = decoder_t::translateSignal(*sig, can_message, configuration_t::instance().get_can_signals());
88 openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
89 vehicle_message = build_VehicleMessage(s_message);
91 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
92 push_new_vehicle_message(vehicle_message);
97 DEBUG(binder_interface, "process_can_signals: %d/%d CAN signals processed.", processed_signals, (int)signals.size());
98 return processed_signals;
101 /// @brief Will make the decoding operation on a diagnostic CAN message.Then it find the subscribed signal
102 /// corresponding and will add the vehicle_message to the queue of event to pushed before notifying
103 /// the event push thread to process it.
105 /// @param[in] manager - the diagnostic manager object that handle diagnostic communication
106 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
108 /// @return How many signals has been decoded.
109 int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message)
111 int processed_signals = 0;
113 std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
114 std::map<std::string, struct afb_event>& s = get_subscribed_signals();
116 openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
117 if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
118 (s.find(vehicle_message.simple_message.name) != s.end() && afb_event_is_valid(s[vehicle_message.simple_message.name])))
120 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
121 push_new_vehicle_message(vehicle_message);
125 return processed_signals;
128 /// @brief thread to decoding raw CAN messages.
130 /// Depending on the nature of message, if arbitration ID matches ID for a diagnostic response
131 /// then decoding a diagnostic message else use classic CAN signals decoding functions.
133 /// It will take from the can_message_q_ queue the next can message to process then it search
134 /// about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
135 /// subscription has been made. Can message will be decoded using translateSignal that will pass it to the
136 /// corresponding decoding function if there is one assigned for that signal. If not, it will be the default
137 /// noopDecoder function that will operate on it.
139 /// TODO: make diagnostic messages parsing optionnal.
140 void can_bus_t::can_decode_message()
142 can_message_t can_message;
147 std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
148 new_can_message_cv_.wait(can_message_lock);
149 while(!can_message_q_.empty())
151 can_message = next_can_message();
153 if(configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
154 process_diagnostic_signals(configuration_t::instance().get_diagnostic_manager(), can_message);
156 process_can_signals(can_message);
159 new_decoded_can_message_.notify_one();
163 /// @brief thread to push events to suscribers. It will read subscribed_signals map to look
164 /// which are events that has to be pushed.
165 void can_bus_t::can_event_push()
167 openxc_VehicleMessage v_message;
168 openxc_SimpleMessage s_message;
173 std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
174 new_decoded_can_message_.wait(decoded_can_message_lock);
175 while(!vehicle_message_q_.empty())
177 v_message = next_vehicle_message();
179 s_message = get_simple_message(v_message);
181 std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
182 std::map<std::string, struct afb_event>& s = get_subscribed_signals();
183 if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)]))
185 jo = json_object_new_object();
186 jsonify_simple(s_message, jo);
187 if(afb_event_push(s[std::string(s_message.name)], jo) == 0)
188 on_no_clients(std::string(s_message.name));
195 /// @brief Will initialize threads that will decode
196 /// and push subscribed events.
197 void can_bus_t::start_threads()
200 th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
201 if(!th_decoding_.joinable())
202 is_decoding_ = false;
205 th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
206 if(!th_pushing_.joinable())
210 /// @brief Will stop all threads holded by can_bus_t object
211 /// which are decoding and pushing then will wait that's
212 /// they'll finish their job.
213 void can_bus_t::stop_threads()
215 is_decoding_ = false;
219 /// @brief Will initialize can_bus_dev_t objects after reading
220 /// the configuration file passed in the constructor. All CAN buses
221 /// Initialized here will be added to a vector holding them for
222 /// inventory and later access.
224 /// That will initialize CAN socket reading too using a new thread.
226 /// @return 0 if ok, other if not.
227 int can_bus_t::init_can_dev()
229 std::vector<std::string> devices_name;
233 if(conf_file_.check_conf())
235 devices_name = conf_file_.get_devices_name();
236 if (! devices_name.empty())
238 t = devices_name.size();
240 for(const auto& device : devices_name)
242 can_bus_t::can_devices_[device] = std::make_shared<can_bus_dev_t>(device, i);
243 if (can_bus_t::can_devices_[device]->open() == 0)
245 DEBUG(binder_interface, "Start reading thread");
246 NOTICE(binder_interface, "%s device opened and reading", device.c_str());
247 can_bus_t::can_devices_[device]->start_reading(*this);
252 ERROR(binder_interface, "Can't open device %s", device.c_str());
256 NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, (int)t);
259 ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read from configuration file");
262 ERROR(binder_interface, "init_can_dev: Can't read INI configuration file");
266 /// @brief return new_can_message_cv_ member
268 /// @return return new_can_message_cv_ member
269 std::condition_variable& can_bus_t::get_new_can_message_cv()
271 return new_can_message_cv_;
274 /// @brief return can_message_mutex_ member
276 /// @return return can_message_mutex_ member
277 std::mutex& can_bus_t::get_can_message_mutex()
279 return can_message_mutex_;
282 /// @brief Return first can_message_t on the queue
284 /// @return a can_message_t
285 can_message_t can_bus_t::next_can_message()
287 can_message_t can_msg;
289 if(!can_message_q_.empty())
291 can_msg = can_message_q_.front();
292 can_message_q_.pop();
293 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(),
294 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]);
301 /// @brief Push a can_message_t into the queue
303 /// @param[in] can_msg - the const reference can_message_t object to push into the queue
304 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
306 can_message_q_.push(can_msg);
309 /// @brief Return first openxc_VehicleMessage on the queue
311 /// @return a openxc_VehicleMessage containing a decoded can message
312 openxc_VehicleMessage can_bus_t::next_vehicle_message()
314 openxc_VehicleMessage v_msg;
316 if(! vehicle_message_q_.empty())
318 v_msg = vehicle_message_q_.front();
319 vehicle_message_q_.pop();
320 DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
327 /// @brief Push a openxc_VehicleMessage into the queue
329 /// @param[in] v_msg - const reference openxc_VehicleMessage object to push into the queue
330 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
332 vehicle_message_q_.push(v_msg);
335 /// @brief Return a map with the can_bus_dev_t initialized
337 /// @return map can_bus_dev_m_ map
338 const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const
340 return can_bus_t::can_devices_;
343 /// @brief Return the shared pointer on the can_bus_dev_t initialized
344 /// with device_name "bus"
346 /// @param[in] bus - CAN bus device name to retrieve.
348 /// @return A shared pointer on an object can_bus_dev_t
349 std::shared_ptr<can_bus_dev_t> can_bus_t::get_can_device(std::string bus)
351 return can_bus_t::can_devices_[bus];