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         bool send = false;
  51         if(is_valid(vehicle_message))
  52         {
  53                 float min = std::isnan(can_subscription->get_min()) ? -INFINITY : can_subscription->get_min();
  54                 float max = std::isnan(can_subscription->get_max()) ? INFINITY : can_subscription->get_max();
  55                 double value = get_numerical_from_DynamicField(vehicle_message);
  56                 send = (value < min && value > max) ? false : true;
  57         }
  58         return send;
  59 }
  60
  61 /// @brief Will make the decoding operation on a classic CAN message. It will not
  62 /// handle CAN commands nor diagnostic messages that have their own method to get
  63 /// this happens.
  64 ///
  65 /// It will add to the vehicle_message queue the decoded message and tell the event push
  66 /// thread to process it.
  67 ///
  68 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
  69 ///
  70 /// @return How many signals has been decoded.
  71 void can_bus_t::process_can_signals(const can_message_t& can_message)
  72 {
  73         int subscription_id = can_message.get_sub_id();
  74         openxc_DynamicField decoded_message;
  75         openxc_VehicleMessage vehicle_message;
  76         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
  77
  78         {
  79                 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
  80                 std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
  81
  82                 // First we have to found which can_signal_t it is
  83                 std::shared_ptr<low_can_subscription_t> sig = s[subscription_id];
  84
  85                 if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
  86                 {
  87                         bool send = true;
  88                         decoded_message = decoder_t::translateSignal(*sig->get_can_signal(), can_message, application_t::instance().get_all_can_signals(), &send);
  89                         openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
  90                         vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp());
  91
  92                         if(send && apply_filter(vehicle_message, sig))
  93                         {
  94                                 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
  95                                 push_new_vehicle_message(subscription_id, vehicle_message);
  96                                 DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__,  sig->get_name().c_str());
  97                         }
  98                 }
  99         }
 100 }
 101
 102 /// @brief Will make the decoding operation on a diagnostic CAN message.Then it find the subscribed signal
 103 /// corresponding and will add the vehicle_message to the queue of event to pushed before notifying
 104 /// the event push thread to process it.
 105 ///
 106 /// @param[in] manager - the diagnostic manager object that handle diagnostic communication
 107 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
 108 ///
 109 /// @return How many signals has been decoded.
 110 void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message)
 111 {
 112         int subscription_id = can_message.get_sub_id();
 113
 114         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 115
 116         {
 117                 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 118                 std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
 119
 120                 openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
 121                 if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
 122                         s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
 123                 {
 124                         if (apply_filter(vehicle_message, s[subscription_id]))
 125                         {
 126                                 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 127                                 push_new_vehicle_message(subscription_id, vehicle_message);
 128                                 DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__,  s[subscription_id]->get_name().c_str());
 129                         }
 130                 }
 131         }
 132 }
 133
 134 /// @brief thread to decoding raw CAN messages.
 135 ///
 136 ///  Depending on the nature of message, if arbitration ID matches ID for a diagnostic response
 137 ///  then decoding a diagnostic message else use classic CAN signals decoding functions.
 138 ///
 139 /// It will take from the can_message_q_ queue the next can message to process then it search
 140 ///  about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
 141 ///  subscription has been made. Can message will be decoded using translateSignal that will pass it to the
 142 ///  corresponding decoding function if there is one assigned for that signal. If not, it will be the default
 143 ///  noopDecoder function that will operate on it.
 144 ///
 145 ///  TODO: make diagnostic messages parsing optionnal.
 146 void can_bus_t::can_decode_message()
 147 {
 148         while(is_decoding_)
 149         {
 150                 {
 151                         std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
 152                         new_can_message_cv_.wait(can_message_lock);
 153                         while(!can_message_q_.empty())
 154                         {
 155                                 const can_message_t can_message = next_can_message();
 156
 157                                 if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
 158                                         process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), can_message);
 159                                 else
 160                                         process_can_signals(can_message);
 161                         }
 162                 }
 163                 new_decoded_can_message_.notify_one();
 164         }
 165 }
 166
 167 /// @brief thread to push events to suscribers. It will read subscribed_signals map to look
 168 /// which are events that has to be pushed.
 169 void can_bus_t::can_event_push()
 170 {
 171         std::pair<int, openxc_VehicleMessage> v_message;
 172         openxc_SimpleMessage s_message;
 173         json_object* jo;
 174         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 175
 176         while(is_pushing_)
 177         {
 178                 std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 179                 new_decoded_can_message_.wait(decoded_can_message_lock);
 180                 while(!vehicle_message_q_.empty())
 181                 {
 182                         v_message = next_vehicle_message();
 183                         s_message = get_simple_message(v_message.second);
 184                         {
 185                                 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 186                                 std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
 187                                 if(s.find(v_message.first) != s.end() && afb_event_is_valid(s[v_message.first]->get_event()))
 188                                 {
 189                                         jo = json_object_new_object();
 190                                         jsonify_simple(s_message, jo);
 191                                         if(afb_event_push(s[v_message.first]->get_event(), jo) == 0)
 192                                         {
 193                                                 if(v_message.second.has_diagnostic_response)
 194                                                         {on_no_clients(s[v_message.first], v_message.second.diagnostic_response.pid);}
 195                                                 on_no_clients(s[v_message.first]);
 196                                         }
 197                                 }
 198                         }
 199                 }
 200         }
 201 }
 202
 203 /// @brief Will initialize threads that will decode
 204 ///  and push subscribed events.
 205 void can_bus_t::start_threads()
 206 {
 207         is_decoding_ = true;
 208         th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
 209         if(!th_decoding_.joinable())
 210                 is_decoding_ = false;
 211
 212         is_pushing_ = true;
 213         th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
 214         if(!th_pushing_.joinable())
 215                 is_pushing_ = false;
 216 }
 217
 218 /// @brief Will stop all threads holded by can_bus_t object
 219 ///  which are decoding and pushing then will wait that's
 220 /// they'll finish their job.
 221 void can_bus_t::stop_threads()
 222 {
 223         is_decoding_ = false;
 224         is_pushing_ = false;
 225 }
 226
 227 /// @brief return new_can_message_cv_ member
 228 ///
 229 /// @return  return new_can_message_cv_ member
 230 std::condition_variable& can_bus_t::get_new_can_message_cv()
 231 {
 232         return new_can_message_cv_;
 233 }
 234
 235 /// @brief return can_message_mutex_ member
 236 ///
 237 /// @return  return can_message_mutex_ member
 238 std::mutex& can_bus_t::get_can_message_mutex()
 239 {
 240         return can_message_mutex_;
 241 }
 242
 243 /// @brief Return first can_message_t on the queue
 244 ///
 245 /// @return a can_message_t
 246 const can_message_t can_bus_t::next_can_message()
 247 {
 248         can_message_t can_msg;
 249
 250         if(!can_message_q_.empty())
 251         {
 252                 can_msg = can_message_q_.front();
 253                 can_message_q_.pop();
 254                 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(),
 255                         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]);
 256                 return can_msg;
 257         }
 258
 259         return can_msg;
 260 }
 261
 262 /// @brief Push a can_message_t into the queue
 263 ///
 264 /// @param[in] can_msg - the const reference can_message_t object to push into the queue
 265 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
 266 {
 267         can_message_q_.push(can_msg);
 268 }
 269
 270 /// @brief Return first openxc_VehicleMessage on the queue
 271 ///
 272 /// @return a openxc_VehicleMessage containing a decoded can message
 273 std::pair<int, openxc_VehicleMessage> can_bus_t::next_vehicle_message()
 274 {
 275         std::pair<int, openxc_VehicleMessage> v_msg;
 276
 277         if(! vehicle_message_q_.empty())
 278         {
 279                 v_msg = vehicle_message_q_.front();
 280                 vehicle_message_q_.pop();
 281                 DEBUG(binder_interface, "%s: next vehicle message poped", __FUNCTION__);
 282                 return v_msg;
 283         }
 284
 285         return v_msg;
 286 }
 287
 288 /// @brief Push a openxc_VehicleMessage into the queue
 289 ///
 290 /// @param[in] v_msg - const reference openxc_VehicleMessage object to push into the queue
 291 void can_bus_t::push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg)
 292 {
 293         vehicle_message_q_.push(std::make_pair(subscription_id, v_msg));
 294 }
 295
 296 /// @brief Return the shared pointer on the can_bus_dev_t initialized
 297 /// with device_name "bus"
 298 ///
 299 /// @param[in] bus - CAN bus device name to retrieve.
 300 ///
 301 /// @return A shared pointer on an object can_bus_dev_t
 302 void can_bus_t::set_can_devices()
 303 {
 304         can_devices_ = conf_file_.get_devices_name();
 305
 306         if(can_devices_.empty())
 307         {
 308                 ERROR(binder_interface, "%s: No mapping found in config file: '%s'. Check it that it have a CANbus-mapping section.",
 309                         __FUNCTION__, conf_file_.filepath().c_str());
 310         }
 311 }
 312
 313 int can_bus_t::get_can_device_index(const std::string& bus_name) const
 314 {
 315         int i = 0;
 316         for(const auto& d: can_devices_)
 317         {
 318                 if(d.first == bus_name)
 319                         break;
 320                 i++;
 321         }
 322         return i;
 323 }
 324
 325 const std::string can_bus_t::get_can_device_name(const std::string& id_name) const
 326 {
 327         std::string ret;
 328         for(const auto& d: can_devices_)
 329         {
 330                 if(d.first == id_name)
 331                 {
 332                         ret = d.second;
 333                         break;
 334                 }
 335         }
 336         return ret;
 337 }