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 "../configuration.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 std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::can_devices_;
  49
  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
  52 /// this happens.
  53 ///
  54 /// It will add to the vehicle_message queue the decoded message and tell the event push
  55 /// thread to process it.
  56 ///
  57 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
  58 ///
  59 /// @return How many signals has been decoded.
  60 int can_bus_t::process_can_signals(can_message_t& can_message)
  61 {
  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();
  68
  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);
  72
  73         // Decoding the message ! Don't kill the messenger !
  74         for(auto& sig : signals.can_signals)
  75         {
  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();
  78
  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()]))
  85                 {
  86                         decoded_message = decoder_t::translateSignal(*sig, can_message, conf.get_can_signals());
  87
  88                         openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
  89                         vehicle_message = build_VehicleMessage(s_message);
  90
  91                         std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
  92                         push_new_vehicle_message(vehicle_message);
  93                         processed_signals++;
  94                 }
  95         }
  96
  97         DEBUG(binder_interface, "%s: %d/%d CAN signals processed.", __FUNCTION__, processed_signals, (int)signals.can_signals.size());
  98         return processed_signals;
  99 }
 100
 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.
 104 ///
 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.
 107 ///
 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)
 110 {
 111         int processed_signals = 0;
 112
 113         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 114
 115         std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 116         std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals();
 117
 118         openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
 119         if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
 120                 (s.find(vehicle_message.simple_message.name) != s.end() && afb_event_is_valid(s[vehicle_message.simple_message.name])))
 121         {
 122                 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 123                 push_new_vehicle_message(vehicle_message);
 124                 processed_signals++;
 125         }
 126
 127         return processed_signals;
 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         can_message_t can_message;
 145
 146         while(is_decoding_)
 147         {
 148                 {
 149                         std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
 150                         new_can_message_cv_.wait(can_message_lock);
 151                         while(!can_message_q_.empty())
 152                         {
 153                                 can_message = next_can_message();
 154
 155                                 if(configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
 156                                         process_diagnostic_signals(configuration_t::instance().get_diagnostic_manager(), can_message);
 157                                 else
 158                                         process_can_signals(can_message);
 159                         }
 160                 }
 161                 new_decoded_can_message_.notify_one();
 162         }
 163 }
 164
 165 /// @brief thread to push events to suscribers. It will read subscribed_signals map to look
 166 /// which are events that has to be pushed.
 167 void can_bus_t::can_event_push()
 168 {
 169         openxc_VehicleMessage v_message;
 170         openxc_SimpleMessage s_message;
 171         json_object* jo;
 172         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 173
 174         while(is_pushing_)
 175         {
 176                 std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 177                 new_decoded_can_message_.wait(decoded_can_message_lock);
 178                 while(!vehicle_message_q_.empty())
 179                 {
 180                         v_message = next_vehicle_message();
 181
 182                         s_message = get_simple_message(v_message);
 183                         {
 184                                 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 185                                 std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals();
 186                                 if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)]))
 187                                 {
 188                                         jo = json_object_new_object();
 189                                         jsonify_simple(s_message, jo);
 190                                         if(afb_event_push(s[std::string(s_message.name)], jo) == 0)
 191                                                 on_no_clients(std::string(s_message.name));
 192                                 }
 193                         }
 194                 }
 195         }
 196 }
 197
 198 /// @brief Will initialize threads that will decode
 199 ///  and push subscribed events.
 200 void can_bus_t::start_threads()
 201 {
 202         is_decoding_ = true;
 203         th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
 204         if(!th_decoding_.joinable())
 205                 is_decoding_ = false;
 206
 207         is_pushing_ = true;
 208         th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
 209         if(!th_pushing_.joinable())
 210                 is_pushing_ = false;
 211 }
 212
 213 /// @brief Will stop all threads holded by can_bus_t object
 214 ///  which are decoding and pushing then will wait that's
 215 /// they'll finish their job.
 216 void can_bus_t::stop_threads()
 217 {
 218         is_decoding_ = false;
 219         is_pushing_ = false;
 220 }
 221
 222 /// @brief Will initialize can_bus_dev_t objects after reading
 223 /// the configuration file passed in the constructor. All CAN buses
 224 /// Initialized here will be added to a vector holding them for
 225 /// inventory and later access.
 226 ///
 227 /// That will initialize CAN socket reading too using a new thread.
 228 ///
 229 /// @return 0 if ok, other if not.
 230 int can_bus_t::init_can_dev()
 231 {
 232         std::vector<std::string> devices_name;
 233         int i = 0;
 234         size_t t;
 235
 236         if(conf_file_.check_conf())
 237         {
 238                 devices_name = conf_file_.get_devices_name();
 239                 if (! devices_name.empty())
 240                 {
 241                         t = devices_name.size();
 242
 243                         for(const auto& device : devices_name)
 244                         {
 245                                 can_bus_t::can_devices_[device] = std::make_shared<can_bus_dev_t>(device, i);
 246                                 if (can_bus_t::can_devices_[device]->open() >= 0)
 247                                 {
 248                                         can_bus_t::can_devices_[device]->configure();
 249                                         DEBUG(binder_interface, "%s: Start reading thread", __FUNCTION__);
 250                                         NOTICE(binder_interface, "%s: %s device opened and reading", __FUNCTION__, device.c_str());
 251                                         can_bus_t::can_devices_[device]->start_reading(*this);
 252                                         i++;
 253                                 }
 254                                 else
 255                                 {
 256                                         ERROR(binder_interface, "%s: Can't open device %s", __FUNCTION__, device.c_str());
 257                                         return 1;
 258                                 }
 259                         }
 260                         NOTICE(binder_interface, "%s: Initialized %d/%d can bus device(s)", __FUNCTION__, i, (int)t);
 261                         return 0;
 262                 }
 263                 ERROR(binder_interface, "%s: Error at CAN device initialization. No devices read from configuration file", __FUNCTION__);
 264                 return 1;
 265         }
 266         ERROR(binder_interface, "%s: Can't read INI configuration file", __FUNCTION__);
 267         return 2;
 268 }
 269
 270 /// @brief return new_can_message_cv_ member
 271 ///
 272 /// @return  return new_can_message_cv_ member
 273 std::condition_variable& can_bus_t::get_new_can_message_cv()
 274 {
 275         return new_can_message_cv_;
 276 }
 277
 278 /// @brief return can_message_mutex_ member
 279 ///
 280 /// @return  return can_message_mutex_ member
 281 std::mutex& can_bus_t::get_can_message_mutex()
 282 {
 283         return can_message_mutex_;
 284 }
 285
 286 /// @brief Return first can_message_t on the queue
 287 ///
 288 /// @return a can_message_t
 289 can_message_t can_bus_t::next_can_message()
 290 {
 291         can_message_t can_msg;
 292
 293         if(!can_message_q_.empty())
 294         {
 295                 can_msg = can_message_q_.front();
 296                 can_message_q_.pop();
 297                 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(),
 298                         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]);
 299                 return can_msg;
 300         }
 301
 302         return can_msg;
 303 }
 304
 305 /// @brief Push a can_message_t into the queue
 306 ///
 307 /// @param[in] can_msg - the const reference can_message_t object to push into the queue
 308 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
 309 {
 310         can_message_q_.push(can_msg);
 311 }
 312
 313 /// @brief Return first openxc_VehicleMessage on the queue
 314 ///
 315 /// @return a openxc_VehicleMessage containing a decoded can message
 316 openxc_VehicleMessage can_bus_t::next_vehicle_message()
 317 {
 318         openxc_VehicleMessage v_msg;
 319
 320         if(! vehicle_message_q_.empty())
 321         {
 322                 v_msg = vehicle_message_q_.front();
 323                 vehicle_message_q_.pop();
 324                 DEBUG(binder_interface, "%s: next vehicle message poped", __FUNCTION__);
 325                 return v_msg;
 326         }
 327
 328         return v_msg;
 329 }
 330
 331 /// @brief Push a openxc_VehicleMessage into the queue
 332 ///
 333 /// @param[in] v_msg - const reference openxc_VehicleMessage object to push into the queue
 334 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
 335 {
 336         vehicle_message_q_.push(v_msg);
 337 }
 338
 339 /// @brief Create a RX_SETUP receive job for the BCM socket of a CAN signal.
 340 ///
 341 /// @return 0 if ok -1 if not.
 342         int can_bus_t::create_rx_filter(const can_signal_t& s)
 343         {
 344                 const std::string& bus  = s.get_message().get_bus_name();
 345                 return can_bus_t::can_devices_[bus]->create_rx_filter(s);
 346         }
 347
 348 /// @brief Return a map with the can_bus_dev_t initialized
 349 ///
 350 /// @return map can_bus_dev_m_ map
 351 const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const
 352 {
 353         return can_bus_t::can_devices_;
 354 }
 355
 356 /// @brief Return the shared pointer on the can_bus_dev_t initialized
 357 /// with device_name "bus"
 358 ///
 359 /// @param[in] bus - CAN bus device name to retrieve.
 360 ///
 361 /// @return A shared pointer on an object can_bus_dev_t
 362 std::shared_ptr<can_bus_dev_t> can_bus_t::get_can_device(std::string bus)
 363 {
 364         return can_bus_t::can_devices_[bus];
 365 }