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 /// @brief Class constructor
  37 ///
  38 /// @param[in] conf_file - handle to the json configuration file.
  39 can_bus_t::can_bus_t(utils::config_parser_t conf_file)
  40         : conf_file_{conf_file}
  41 {}
  42
  43 bool can_bus_t::apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription)
  44 {
  45         bool send = false;
  46         if(is_valid(vehicle_message))
  47         {
  48                 float min = std::isnan(can_subscription->get_min()) ? -INFINITY : can_subscription->get_min();
  49                 float max = std::isnan(can_subscription->get_max()) ? INFINITY : can_subscription->get_max();
  50                 double value = get_numerical_from_DynamicField(vehicle_message);
  51                 send = (value < min && value > max) ? false : true;
  52         }
  53         return send;
  54 }
  55
  56 /// @brief Will make the decoding operation on a classic CAN message. It will not
  57 /// handle CAN commands nor diagnostic messages that have their own method to get
  58 /// this happens.
  59 ///
  60 /// It will add to the vehicle_message queue the decoded message and tell the event push
  61 /// thread to process it.
  62 ///
  63 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
  64 ///
  65 /// @return How many signals has been decoded.
  66 void can_bus_t::process_can_signals(const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
  67 {
  68         int subscription_id = can_message.get_sub_id();
  69         openxc_DynamicField decoded_message;
  70         openxc_VehicleMessage vehicle_message;
  71
  72         // First we have to found which can_signal_t it is
  73         std::shared_ptr<low_can_subscription_t> sig = s[subscription_id];
  74
  75         if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
  76         {
  77                 bool send = true;
  78                 decoded_message = decoder_t::translateSignal(*sig->get_can_signal(), can_message, application_t::instance().get_all_can_signals(), &send);
  79                 openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
  80                 vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp());
  81
  82                 if(send && apply_filter(vehicle_message, sig))
  83                 {
  84                         std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
  85                         push_new_vehicle_message(subscription_id, vehicle_message);
  86                         DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__,  sig->get_name().c_str());
  87                 }
  88         }
  89 }
  90
  91 /// @brief Will make the decoding operation on a diagnostic CAN message.Then it find the subscribed signal
  92 /// corresponding and will add the vehicle_message to the queue of event to pushed before notifying
  93 /// the event push thread to process it.
  94 ///
  95 /// @param[in] manager - the diagnostic manager object that handle diagnostic communication
  96 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
  97 ///
  98 /// @return How many signals has been decoded.
  99 void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
 100 {
 101         int subscription_id = can_message.get_sub_id();
 102
 103         openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
 104         if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
 105                 s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
 106         {
 107                 if (apply_filter(vehicle_message, s[subscription_id]))
 108                 {
 109                         std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 110                         push_new_vehicle_message(subscription_id, vehicle_message);
 111                         DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__,  s[subscription_id]->get_name().c_str());
 112                 }
 113         }
 114 }
 115
 116 /// @brief thread to decoding raw CAN messages.
 117 ///
 118 ///  Depending on the nature of message, if arbitration ID matches ID for a diagnostic response
 119 ///  then decoding a diagnostic message else use classic CAN signals decoding functions.
 120 ///
 121 /// It will take from the can_message_q_ queue the next can message to process then it search
 122 ///  about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
 123 ///  subscription has been made. Can message will be decoded using translateSignal that will pass it to the
 124 ///  corresponding decoding function if there is one assigned for that signal. If not, it will be the default
 125 ///  noopDecoder function that will operate on it.
 126 ///
 127 ///  TODO: make diagnostic messages parsing optionnal.
 128 void can_bus_t::can_decode_message()
 129 {
 130         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 131
 132         while(is_decoding_)
 133         {
 134                 std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
 135                 new_can_message_cv_.wait(can_message_lock);
 136                 while(!can_message_q_.empty())
 137                 {
 138                         const can_message_t can_message = next_can_message();
 139                         can_message_lock.unlock();
 140
 141                         {
 142                                 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 143                                 std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
 144                                 if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
 145                                         {process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), can_message, s);}
 146                                 else
 147                                         {process_can_signals(can_message, s);}
 148                         }
 149                         can_message_lock.lock();
 150                 }
 151         new_decoded_can_message_.notify_one();
 152         can_message_lock.unlock();
 153         }
 154 }
 155
 156 /// @brief thread to push events to suscribers. It will read subscribed_signals map to look
 157 /// which are events that has to be pushed.
 158 void can_bus_t::can_event_push()
 159 {
 160         openxc_SimpleMessage s_message;
 161         json_object* jo;
 162         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 163
 164         while(is_pushing_)
 165         {
 166                 std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 167                 new_decoded_can_message_.wait(decoded_can_message_lock);
 168                 while(!vehicle_message_q_.empty())
 169                 {
 170                         std::pair<int, openxc_VehicleMessage> v_message = next_vehicle_message();
 171                         decoded_can_message_lock.unlock();
 172                         {
 173                                 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 174                                 std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
 175                                 s_message = get_simple_message(v_message.second);
 176                                 if(s.find(v_message.first) != s.end() && afb_event_is_valid(s[v_message.first]->get_event()))
 177                                 {
 178                                         jo = json_object_new_object();
 179                                         jsonify_simple(s_message, jo);
 180                                         if(afb_event_push(s[v_message.first]->get_event(), jo) == 0)
 181                                         {
 182                                                 if(v_message.second.has_diagnostic_response)
 183                                                         {on_no_clients(s[v_message.first], v_message.second.diagnostic_response.pid, s);}
 184                                                 else
 185                                                         {on_no_clients(s[v_message.first], s);}
 186                                         }
 187                                 }
 188                         }
 189                         decoded_can_message_lock.lock();
 190                 }
 191                 decoded_can_message_lock.unlock();
 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         th_decoding_.detach();
 202
 203         is_pushing_ = true;
 204         th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
 205         th_pushing_.detach();
 206 }
 207
 208 /// @brief Will stop all threads holded by can_bus_t object
 209 ///  which are decoding and pushing then will wait that's
 210 /// they'll finish their job.
 211 void can_bus_t::stop_threads()
 212 {
 213         is_decoding_ = false;
 214         is_pushing_ = false;
 215 }
 216
 217 /// @brief return new_can_message_cv_ member
 218 ///
 219 /// @return  return new_can_message_cv_ member
 220 std::condition_variable& can_bus_t::get_new_can_message_cv()
 221 {
 222         return new_can_message_cv_;
 223 }
 224
 225 /// @brief return can_message_mutex_ member
 226 ///
 227 /// @return  return can_message_mutex_ member
 228 std::mutex& can_bus_t::get_can_message_mutex()
 229 {
 230         return can_message_mutex_;
 231 }
 232
 233 /// @brief Return first can_message_t on the queue
 234 ///
 235 /// @return a can_message_t
 236 const can_message_t can_bus_t::next_can_message()
 237 {
 238         can_message_t can_msg;
 239
 240         if(!can_message_q_.empty())
 241         {
 242                 can_msg = can_message_q_.front();
 243                 can_message_q_.pop();
 244                 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(),
 245                         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]);
 246                 return can_msg;
 247         }
 248
 249         return can_msg;
 250 }
 251
 252 /// @brief Push a can_message_t into the queue
 253 ///
 254 /// @param[in] can_msg - the const reference can_message_t object to push into the queue
 255 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
 256 {
 257         can_message_q_.push(can_msg);
 258 }
 259
 260 /// @brief Return first openxc_VehicleMessage on the queue
 261 ///
 262 /// @return a openxc_VehicleMessage containing a decoded can message
 263 std::pair<int, openxc_VehicleMessage> can_bus_t::next_vehicle_message()
 264 {
 265         std::pair<int, openxc_VehicleMessage> v_msg;
 266
 267         if(! vehicle_message_q_.empty())
 268         {
 269                 v_msg = vehicle_message_q_.front();
 270                 vehicle_message_q_.pop();
 271                 DEBUG(binder_interface, "%s: next vehicle message poped", __FUNCTION__);
 272                 return v_msg;
 273         }
 274
 275         return v_msg;
 276 }
 277
 278 /// @brief Push a openxc_VehicleMessage into the queue
 279 ///
 280 /// @param[in] v_msg - const reference openxc_VehicleMessage object to push into the queue
 281 void can_bus_t::push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg)
 282 {
 283         vehicle_message_q_.push(std::make_pair(subscription_id, v_msg));
 284 }
 285
 286 /// @brief Return the shared pointer on the can_bus_dev_t initialized
 287 /// with device_name "bus"
 288 ///
 289 /// @param[in] bus - CAN bus device name to retrieve.
 290 ///
 291 /// @return A shared pointer on an object can_bus_dev_t
 292 void can_bus_t::set_can_devices()
 293 {
 294         can_devices_ = conf_file_.get_devices_name();
 295
 296         if(can_devices_.empty())
 297         {
 298                 ERROR(binder_interface, "%s: No mapping found in config file: '%s'. Check it that it have a CANbus-mapping section.",
 299                         __FUNCTION__, conf_file_.filepath().c_str());
 300         }
 301 }
 302
 303 int can_bus_t::get_can_device_index(const std::string& bus_name) const
 304 {
 305         int i = 0;
 306         for(const auto& d: can_devices_)
 307         {
 308                 if(d.first == bus_name)
 309                         break;
 310                 i++;
 311         }
 312         return i;
 313 }
 314
 315 const std::string can_bus_t::get_can_device_name(const std::string& id_name) const
 316 {
 317         std::string ret;
 318         for(const auto& d: can_devices_)
 319         {
 320                 if(d.first == id_name)
 321                 {
 322                         ret = d.second;
 323                         break;
 324                 }
 325         }
 326         return ret;
 327 }