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/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 Will make the decoding operation on a classic CAN message. It will not
51 /// handle CAN commands nor diagnostic messages that have their own method to get
54 /// It will add to the vehicle_message queue the decoded message and tell the event push
55 /// thread to process it.
57 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
59 /// @return How many signals has been decoded.
60 int can_bus_t::process_can_signals(const can_message_t& can_message)
62 int processed_signals = 0;
63 struct utils::signals_found signals;
64 openxc_DynamicField search_key, decoded_message;
65 openxc_VehicleMessage vehicle_message;
66 configuration_t& conf = configuration_t::instance();
67 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
69 // First we have to found which can_signal_t it is
70 search_key = build_DynamicField((double)can_message.get_id());
71 signals = sm.find_signals(search_key);
73 // Decoding the message ! Don't kill the messenger !
74 for(auto& sig : signals.can_signals)
76 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
77 std::map<std::string, struct afb_event>& s = sm.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()]))
87 decoded_message = decoder_t::translateSignal(*sig, can_message, conf.get_can_signals(), &send);
91 openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
92 vehicle_message = build_VehicleMessage(s_message);
94 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
95 push_new_vehicle_message(vehicle_message);
101 DEBUG(binder_interface, "%s: %d/%d CAN signals processed.", __FUNCTION__, processed_signals, (int)signals.can_signals.size());
102 return processed_signals;
105 /// @brief Will make the decoding operation on a diagnostic CAN message.Then it find the subscribed signal
106 /// corresponding and will add the vehicle_message to the queue of event to pushed before notifying
107 /// the event push thread to process it.
109 /// @param[in] manager - the diagnostic manager object that handle diagnostic communication
110 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
112 /// @return How many signals has been decoded.
113 int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message)
115 int processed_signals = 0;
117 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
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 openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
123 if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
124 (s.find(vehicle_message.simple_message.name) != s.end() && afb_event_is_valid(s[vehicle_message.simple_message.name])))
126 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
127 push_new_vehicle_message(vehicle_message);
131 return processed_signals;
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()
148 can_message_t can_message;
153 std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
154 new_can_message_cv_.wait(can_message_lock);
155 while(!can_message_q_.empty())
157 can_message = next_can_message();
159 if(configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
160 process_diagnostic_signals(configuration_t::instance().get_diagnostic_manager(), can_message);
162 process_can_signals(can_message);
165 new_decoded_can_message_.notify_one();
169 /// @brief thread to push events to suscribers. It will read subscribed_signals map to look
170 /// which are events that has to be pushed.
171 void can_bus_t::can_event_push()
173 openxc_VehicleMessage v_message;
174 openxc_SimpleMessage s_message;
176 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
180 std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
181 new_decoded_can_message_.wait(decoded_can_message_lock);
182 while(!vehicle_message_q_.empty())
184 v_message = next_vehicle_message();
186 s_message = get_simple_message(v_message);
188 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
189 std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals();
190 if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)]))
192 jo = json_object_new_object();
193 jsonify_simple(s_message, jo);
194 if(afb_event_push(s[std::string(s_message.name)], jo) == 0)
195 on_no_clients(std::string(s_message.name));
202 /// @brief Will initialize threads that will decode
203 /// and push subscribed events.
204 void can_bus_t::start_threads()
207 th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
208 if(!th_decoding_.joinable())
209 is_decoding_ = false;
212 th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
213 if(!th_pushing_.joinable())
217 /// @brief Will stop all threads holded by can_bus_t object
218 /// which are decoding and pushing then will wait that's
219 /// they'll finish their job.
220 void can_bus_t::stop_threads()
222 is_decoding_ = false;
226 /// @brief Will initialize can_bus_dev_t objects after reading
227 /// the configuration file passed in the constructor. All CAN buses
228 /// Initialized here will be added to a vector holding them for
229 /// inventory and later access.
231 /// That will initialize CAN socket reading too using a new thread.
233 /// @return 0 if ok, other if not.
234 int can_bus_t::init_can_dev()
236 std::vector<std::string> devices_name;
240 if(conf_file_.check_conf())
242 devices_name = conf_file_.get_devices_name();
243 if (! devices_name.empty())
245 t = devices_name.size();
247 for(const auto& device : devices_name)
249 can_bus_t::can_devices_[device] = std::make_shared<can_bus_dev_t>(device, i);
250 if (can_bus_t::can_devices_[device]->open() >= 0)
252 can_bus_t::can_devices_[device]->configure();
253 DEBUG(binder_interface, "%s: Start reading thread", __FUNCTION__);
254 NOTICE(binder_interface, "%s: %s device opened and reading", __FUNCTION__, device.c_str());
255 //can_bus_t::can_devices_[device]->start_reading(*this);
260 ERROR(binder_interface, "%s: Can't open device %s", __FUNCTION__, device.c_str());
264 NOTICE(binder_interface, "%s: Initialized %d/%d can bus device(s)", __FUNCTION__, i, (int)t);
267 ERROR(binder_interface, "%s: Error at CAN device initialization. No devices read from configuration file", __FUNCTION__);
270 ERROR(binder_interface, "%s: Can't read INI configuration file", __FUNCTION__);
274 /// @brief return new_can_message_cv_ member
276 /// @return return new_can_message_cv_ member
277 std::condition_variable& can_bus_t::get_new_can_message_cv()
279 return new_can_message_cv_;
282 /// @brief return can_message_mutex_ member
284 /// @return return can_message_mutex_ member
285 std::mutex& can_bus_t::get_can_message_mutex()
287 return can_message_mutex_;
290 /// @brief Return first can_message_t on the queue
292 /// @return a can_message_t
293 can_message_t can_bus_t::next_can_message()
295 can_message_t can_msg;
297 if(!can_message_q_.empty())
299 can_msg = can_message_q_.front();
300 can_message_q_.pop();
301 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(),
302 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]);
309 /// @brief Push a can_message_t into the queue
311 /// @param[in] can_msg - the const reference can_message_t object to push into the queue
312 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
314 can_message_q_.push(can_msg);
317 /// @brief Return first openxc_VehicleMessage on the queue
319 /// @return a openxc_VehicleMessage containing a decoded can message
320 openxc_VehicleMessage can_bus_t::next_vehicle_message()
322 openxc_VehicleMessage v_msg;
324 if(! vehicle_message_q_.empty())
326 v_msg = vehicle_message_q_.front();
327 vehicle_message_q_.pop();
328 DEBUG(binder_interface, "%s: next vehicle message poped", __FUNCTION__);
335 /// @brief Push a openxc_VehicleMessage into the queue
337 /// @param[in] v_msg - const reference openxc_VehicleMessage object to push into the queue
338 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
340 vehicle_message_q_.push(v_msg);
343 /// @brief Return a map with the can_bus_dev_t initialized
345 /// @return map can_bus_dev_m_ map
346 const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const
348 return can_bus_t::can_devices_;
351 /// @brief Return the shared pointer on the can_bus_dev_t initialized
352 /// with device_name "bus"
354 /// @param[in] bus - CAN bus device name to retrieve.
356 /// @return A shared pointer on an object can_bus_dev_t
357 std::shared_ptr<can_bus_dev_t> can_bus_t::get_can_device(std::string bus)
359 return can_bus_t::can_devices_[bus];