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/application.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 subscription_id = can_message.get_sub_id();
61 int processed_signals = 0;
62 struct utils::signals_found signals;
63 openxc_DynamicField decoded_message;
64 openxc_VehicleMessage vehicle_message;
65 application_t& conf = application_t::instance();
66 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
69 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
70 std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s = sm.get_subscribed_signals();
72 // First we have to found which can_signal_t it is
73 std::shared_ptr<low_can_subscription_t> sig = s[subscription_id].first;
75 if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id].second))
78 decoded_message = decoder_t::translateSignal(*sig->get_can_signal(), can_message, conf.get_all_can_signals(), &send);
82 openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_sig_name(), decoded_message);
83 vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp());
85 push_new_vehicle_message(std::make_pair(can_message.get_sub_id(), vehicle_message));
86 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
92 DEBUG(binder_interface, "%s: %d/%d CAN signals processed.", __FUNCTION__, processed_signals, (int)signals.can_signals.size());
93 return processed_signals;
96 /// @brief Will make the decoding operation on a diagnostic CAN message.Then it find the subscribed signal
97 /// corresponding and will add the vehicle_message to the queue of event to pushed before notifying
98 /// the event push thread to process it.
100 /// @param[in] manager - the diagnostic manager object that handle diagnostic communication
101 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
103 /// @return How many signals has been decoded.
104 int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message)
106 int processed_signals = 0;
108 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
111 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
112 std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s = sm.get_subscribed_signals();
114 openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
115 if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
116 (s.find(can_message.get_sub_id()) != s.end() && afb_event_is_valid(s[can_message.get_sub_id()].second)))
118 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
119 push_new_vehicle_message(std::make_pair(can_message.get_sub_id(), 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()
144 std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
145 new_can_message_cv_.wait(can_message_lock);
146 while(!can_message_q_.empty())
148 const can_message_t can_message = next_can_message();
150 if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
151 process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), can_message);
153 process_can_signals(can_message);
156 new_decoded_can_message_.notify_one();
160 /// @brief thread to push events to suscribers. It will read subscribed_signals map to look
161 /// which are events that has to be pushed.
162 void can_bus_t::can_event_push()
164 std::pair<int, openxc_VehicleMessage> v_message;
165 openxc_SimpleMessage s_message;
167 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
171 std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
172 new_decoded_can_message_.wait(decoded_can_message_lock);
173 while(!vehicle_message_q_.empty())
175 v_message = next_vehicle_message();
176 s_message = get_simple_message(v_message.second);
178 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
179 std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s = sm.get_subscribed_signals();
180 if(s.find(v_message.first) != s.end() && afb_event_is_valid(s[v_message.first].second))
182 jo = json_object_new_object();
183 jsonify_simple(s_message, jo);
184 if(afb_event_push(s[v_message.first].second, jo) == 0)
185 on_no_clients(std::string(s_message.name));
192 /// @brief Will initialize threads that will decode
193 /// and push subscribed events.
194 void can_bus_t::start_threads()
197 th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
198 if(!th_decoding_.joinable())
199 is_decoding_ = false;
202 th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
203 if(!th_pushing_.joinable())
207 /// @brief Will stop all threads holded by can_bus_t object
208 /// which are decoding and pushing then will wait that's
209 /// they'll finish their job.
210 void can_bus_t::stop_threads()
212 is_decoding_ = false;
216 /// @brief return new_can_message_cv_ member
218 /// @return return new_can_message_cv_ member
219 std::condition_variable& can_bus_t::get_new_can_message_cv()
221 return new_can_message_cv_;
224 /// @brief return can_message_mutex_ member
226 /// @return return can_message_mutex_ member
227 std::mutex& can_bus_t::get_can_message_mutex()
229 return can_message_mutex_;
232 /// @brief Return first can_message_t on the queue
234 /// @return a can_message_t
235 const can_message_t can_bus_t::next_can_message()
237 can_message_t can_msg;
239 if(!can_message_q_.empty())
241 can_msg = can_message_q_.front();
242 can_message_q_.pop();
243 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(),
244 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]);
251 /// @brief Push a can_message_t into the queue
253 /// @param[in] can_msg - the const reference can_message_t object to push into the queue
254 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
256 can_message_q_.push(can_msg);
259 /// @brief Return first openxc_VehicleMessage on the queue
261 /// @return a openxc_VehicleMessage containing a decoded can message
262 std::pair<int, openxc_VehicleMessage> can_bus_t::next_vehicle_message()
264 std::pair<int, openxc_VehicleMessage> v_msg;
266 if(! vehicle_message_q_.empty())
268 v_msg = vehicle_message_q_.front();
269 vehicle_message_q_.pop();
270 DEBUG(binder_interface, "%s: next vehicle message poped", __FUNCTION__);
277 /// @brief Push a openxc_VehicleMessage into the queue
279 /// @param[in] v_msg - const reference openxc_VehicleMessage object to push into the queue
280 void can_bus_t::push_new_vehicle_message(const std::pair<int, openxc_VehicleMessage>& v_msg)
282 vehicle_message_q_.push(v_msg);
285 /// @brief Return the shared pointer on the can_bus_dev_t initialized
286 /// with device_name "bus"
288 /// @param[in] bus - CAN bus device name to retrieve.
290 /// @return A shared pointer on an object can_bus_dev_t
291 void can_bus_t::set_can_devices()
293 can_devices_ = conf_file_.get_devices_name();
295 if(can_devices_.empty())
297 ERROR(binder_interface, "%s: No mapping found in config file: '%s'. Check it that it have a CANbus-mapping section.",
298 __FUNCTION__, conf_file_.filepath().c_str());
302 int can_bus_t::get_can_device_index(const std::string& bus_name) const
305 for(const auto& d: can_devices_)
307 if(d.first == bus_name)
314 const std::string can_bus_t::get_can_device_name(const std::string& id_name) const
317 for(const auto& d: can_devices_)
319 if(d.first == id_name)