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 /// @brief Will make the decoding operation on a classic CAN message. It will not
49 /// handle CAN commands nor diagnostic messages that have their own method to get
52 /// It will add to the vehicle_message queue the decoded message and tell the event push
53 /// thread to process it.
55 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
57 /// @return How many signals has been decoded.
58 int can_bus_t::process_can_signals(const can_message_t& can_message)
60 int processed_signals = 0;
61 struct utils::signals_found signals;
62 openxc_DynamicField search_key, decoded_message;
63 openxc_VehicleMessage vehicle_message;
64 configuration_t& conf = configuration_t::instance();
65 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
67 // First we have to found which can_signal_t it is
68 search_key = build_DynamicField((double)can_message.get_id());
69 signals = sm.find_signals(search_key);
71 // Decoding the message ! Don't kill the messenger !
72 for(const auto& sig : signals.can_signals)
74 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
75 std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals();
77 if( s.find(sig->get_name()) != s.end() && afb_event_is_valid(s[sig->get_name()]))
80 decoded_message = decoder_t::translateSignal(*sig, can_message, conf.get_can_signals(), &send);
84 openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
85 vehicle_message = build_VehicleMessage(s_message);
87 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
88 push_new_vehicle_message(vehicle_message);
94 DEBUG(binder_interface, "%s: %d/%d CAN signals processed.", __FUNCTION__, processed_signals, (int)signals.can_signals.size());
95 return processed_signals;
98 /// @brief Will make the decoding operation on a diagnostic CAN message.Then it find the subscribed signal
99 /// corresponding and will add the vehicle_message to the queue of event to pushed before notifying
100 /// the event push thread to process it.
102 /// @param[in] manager - the diagnostic manager object that handle diagnostic communication
103 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
105 /// @return How many signals has been decoded.
106 int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message)
108 int processed_signals = 0;
110 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
112 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
113 std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals();
115 openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
116 if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
117 (s.find(vehicle_message.simple_message.name) != s.end() && afb_event_is_valid(s[vehicle_message.simple_message.name])))
119 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
120 push_new_vehicle_message(vehicle_message);
124 return processed_signals;
127 /// @brief thread to decoding raw CAN messages.
129 /// Depending on the nature of message, if arbitration ID matches ID for a diagnostic response
130 /// then decoding a diagnostic message else use classic CAN signals decoding functions.
132 /// It will take from the can_message_q_ queue the next can message to process then it search
133 /// about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
134 /// subscription has been made. Can message will be decoded using translateSignal that will pass it to the
135 /// corresponding decoding function if there is one assigned for that signal. If not, it will be the default
136 /// noopDecoder function that will operate on it.
138 /// TODO: make diagnostic messages parsing optionnal.
139 void can_bus_t::can_decode_message()
141 can_message_t can_message;
146 std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
147 new_can_message_cv_.wait(can_message_lock);
148 while(!can_message_q_.empty())
150 can_message = next_can_message();
152 if(configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
153 process_diagnostic_signals(configuration_t::instance().get_diagnostic_manager(), can_message);
155 process_can_signals(can_message);
158 new_decoded_can_message_.notify_one();
162 /// @brief thread to push events to suscribers. It will read subscribed_signals map to look
163 /// which are events that has to be pushed.
164 void can_bus_t::can_event_push()
166 openxc_VehicleMessage v_message;
167 openxc_SimpleMessage s_message;
169 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
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(sm.get_subscribed_signals_mutex());
182 std::map<std::string, struct afb_event>& s = sm.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 return new_can_message_cv_ member
221 /// @return return new_can_message_cv_ member
222 std::condition_variable& can_bus_t::get_new_can_message_cv()
224 return new_can_message_cv_;
227 /// @brief return can_message_mutex_ member
229 /// @return return can_message_mutex_ member
230 std::mutex& can_bus_t::get_can_message_mutex()
232 return can_message_mutex_;
235 /// @brief Return first can_message_t on the queue
237 /// @return a can_message_t
238 can_message_t can_bus_t::next_can_message()
240 can_message_t can_msg;
242 if(!can_message_q_.empty())
244 can_msg = can_message_q_.front();
245 can_message_q_.pop();
246 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(),
247 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]);
254 /// @brief Push a can_message_t into the queue
256 /// @param[in] can_msg - the const reference can_message_t object to push into the queue
257 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
259 can_message_q_.push(can_msg);
262 /// @brief Return first openxc_VehicleMessage on the queue
264 /// @return a openxc_VehicleMessage containing a decoded can message
265 openxc_VehicleMessage can_bus_t::next_vehicle_message()
267 openxc_VehicleMessage v_msg;
269 if(! vehicle_message_q_.empty())
271 v_msg = vehicle_message_q_.front();
272 vehicle_message_q_.pop();
273 DEBUG(binder_interface, "%s: next vehicle message poped", __FUNCTION__);
280 /// @brief Push a openxc_VehicleMessage into the queue
282 /// @param[in] v_msg - const reference openxc_VehicleMessage object to push into the queue
283 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
285 vehicle_message_q_.push(v_msg);
288 /// @brief Return the shared pointer on the can_bus_dev_t initialized
289 /// with device_name "bus"
291 /// @param[in] bus - CAN bus device name to retrieve.
293 /// @return A shared pointer on an object can_bus_dev_t
294 void can_bus_t::set_can_devices()
296 can_devices_ = conf_file_.get_devices_name();
298 if(can_devices_.empty())
300 ERROR(binder_interface, "%s: No mapping found in config file: '%s'. Check it that it have a CANbus-mapping section.",
301 __FUNCTION__, conf_file_.filepath().c_str());
305 int can_bus_t::get_can_device_index(const std::string& bus_name) const
308 for(const auto& d: can_devices_)
310 if(d.first == bus_name)
317 const std::string can_bus_t::get_can_device_name(const std::string& id_name) const
320 for(const auto& d: can_devices_)
322 if(d.first == id_name)