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         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
  73
  74         {
  75                 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
  76                 std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
  77
  78                 // First we have to found which can_signal_t it is
  79                 std::shared_ptr<low_can_subscription_t> sig = s[subscription_id];
  80
  81                 if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
  82                 {
  83                         bool send = true;
  84                         decoded_message = decoder_t::translateSignal(*sig->get_can_signal(), can_message, application_t::instance().get_all_can_signals(), &send);
  85                         openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
  86                         vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp());
  87
  88                         if(send && apply_filter(vehicle_message, sig))
  89                         {
  90                                 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
  91                                 push_new_vehicle_message(subscription_id, vehicle_message);
  92                                 DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__,  sig->get_name().c_str());
  93                         }
  94                 }
  95         }
  96 }
  97
  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.
 101 ///
 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.
 104 ///
 105 /// @return How many signals has been decoded.
 106 void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message)
 107 {
 108         int subscription_id = can_message.get_sub_id();
 109
 110         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 111
 112         {
 113                 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 114                 std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
 115
 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(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
 119                 {
 120                         if (apply_filter(vehicle_message, s[subscription_id]))
 121                         {
 122                                 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 123                                 push_new_vehicle_message(subscription_id, vehicle_message);
 124                                 DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__,  s[subscription_id]->get_name().c_str());
 125                         }
 126                 }
 127         }
 128 }
 129
 130 /// @brief thread to decoding raw CAN messages.
 131 ///
 132 ///  Depending on the nature of message, if arbitration ID matches ID for a diagnostic response
 133 ///  then decoding a diagnostic message else use classic CAN signals decoding functions.
 134 ///
 135 /// It will take from the can_message_q_ queue the next can message to process then it search
 136 ///  about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
 137 ///  subscription has been made. Can message will be decoded using translateSignal that will pass it to the
 138 ///  corresponding decoding function if there is one assigned for that signal. If not, it will be the default
 139 ///  noopDecoder function that will operate on it.
 140 ///
 141 ///  TODO: make diagnostic messages parsing optionnal.
 142 void can_bus_t::can_decode_message()
 143 {
 144         while(is_decoding_)
 145         {
 146                 {
 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())
 150                         {
 151                                 const can_message_t can_message = next_can_message();
 152
 153                                 if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
 154                                         process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), can_message);
 155                                 else
 156                                         process_can_signals(can_message);
 157                         }
 158                 }
 159                 new_decoded_can_message_.notify_one();
 160         }
 161 }
 162
 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()
 166 {
 167         std::pair<int, openxc_VehicleMessage> v_message;
 168         openxc_SimpleMessage s_message;
 169         json_object* jo;
 170         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 171
 172         while(is_pushing_)
 173         {
 174                 std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 175                 new_decoded_can_message_.wait(decoded_can_message_lock);
 176                 while(!vehicle_message_q_.empty())
 177                 {
 178                         v_message = next_vehicle_message();
 179                         s_message = get_simple_message(v_message.second);
 180                         {
 181                                 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 182                                 std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
 183                                 if(s.find(v_message.first) != s.end() && afb_event_is_valid(s[v_message.first]->get_event()))
 184                                 {
 185                                         jo = json_object_new_object();
 186                                         jsonify_simple(s_message, jo);
 187                                         if(afb_event_push(s[v_message.first]->get_event(), jo) == 0)
 188                                                 on_no_clients(std::string(s_message.name));
 189                                 }
 190                         }
 191                 }
 192         }
 193 }
 194
 195 /// @brief Will initialize threads that will decode
 196 ///  and push subscribed events.
 197 void can_bus_t::start_threads()
 198 {
 199         is_decoding_ = true;
 200         th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
 201         if(!th_decoding_.joinable())
 202                 is_decoding_ = false;
 203
 204         is_pushing_ = true;
 205         th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
 206         if(!th_pushing_.joinable())
 207                 is_pushing_ = false;
 208 }
 209
 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()
 214 {
 215         is_decoding_ = false;
 216         is_pushing_ = false;
 217 }
 218
 219 /// @brief return new_can_message_cv_ member
 220 ///
 221 /// @return  return new_can_message_cv_ member
 222 std::condition_variable& can_bus_t::get_new_can_message_cv()
 223 {
 224         return new_can_message_cv_;
 225 }
 226
 227 /// @brief return can_message_mutex_ member
 228 ///
 229 /// @return  return can_message_mutex_ member
 230 std::mutex& can_bus_t::get_can_message_mutex()
 231 {
 232         return can_message_mutex_;
 233 }
 234
 235 /// @brief Return first can_message_t on the queue
 236 ///
 237 /// @return a can_message_t
 238 const can_message_t can_bus_t::next_can_message()
 239 {
 240         can_message_t can_msg;
 241
 242         if(!can_message_q_.empty())
 243         {
 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]);
 248                 return can_msg;
 249         }
 250
 251         return can_msg;
 252 }
 253
 254 /// @brief Push a can_message_t into the queue
 255 ///
 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)
 258 {
 259         can_message_q_.push(can_msg);
 260 }
 261
 262 /// @brief Return first openxc_VehicleMessage on the queue
 263 ///
 264 /// @return a openxc_VehicleMessage containing a decoded can message
 265 std::pair<int, openxc_VehicleMessage> can_bus_t::next_vehicle_message()
 266 {
 267         std::pair<int, openxc_VehicleMessage> v_msg;
 268
 269         if(! vehicle_message_q_.empty())
 270         {
 271                 v_msg = vehicle_message_q_.front();
 272                 vehicle_message_q_.pop();
 273                 DEBUG(binder_interface, "%s: next vehicle message poped", __FUNCTION__);
 274                 return v_msg;
 275         }
 276
 277         return v_msg;
 278 }
 279
 280 /// @brief Push a openxc_VehicleMessage into the queue
 281 ///
 282 /// @param[in] v_msg - const reference openxc_VehicleMessage object to push into the queue
 283 void can_bus_t::push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg)
 284 {
 285         vehicle_message_q_.push(std::make_pair(subscription_id, v_msg));
 286 }
 287
 288 /// @brief Return the shared pointer on the can_bus_dev_t initialized
 289 /// with device_name "bus"
 290 ///
 291 /// @param[in] bus - CAN bus device name to retrieve.
 292 ///
 293 /// @return A shared pointer on an object can_bus_dev_t
 294 void can_bus_t::set_can_devices()
 295 {
 296         can_devices_ = conf_file_.get_devices_name();
 297
 298         if(can_devices_.empty())
 299         {
 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());
 302         }
 303 }
 304
 305 int can_bus_t::get_can_device_index(const std::string& bus_name) const
 306 {
 307         int i = 0;
 308         for(const auto& d: can_devices_)
 309         {
 310                 if(d.first == bus_name)
 311                         break;
 312                 i++;
 313         }
 314         return i;
 315 }
 316
 317 const std::string can_bus_t::get_can_device_name(const std::string& id_name) const
 318 {
 319         std::string ret;
 320         for(const auto& d: can_devices_)
 321         {
 322                 if(d.first == id_name)
 323                 {
 324                         ret = d.second;
 325                         break;
 326                 }
 327         }
 328         return ret;
 329 }