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/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(const 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(const 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                 if( s.find(sig->get_name()) != s.end() && afb_event_is_valid(s[sig->get_name()]))
  80                 {
  81                         bool send = true;
  82                         decoded_message = decoder_t::translateSignal(*sig, can_message, conf.get_can_signals(), &send);
  83
  84                         if(send)
  85                         {
  86                                 openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
  87                                 vehicle_message = build_VehicleMessage(s_message);
  88
  89                                 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
  90                                 push_new_vehicle_message(vehicle_message);
  91                         }
  92                         processed_signals++;
  93                 }
  94         }
  95
  96         DEBUG(binder_interface, "%s: %d/%d CAN signals processed.", __FUNCTION__, processed_signals, (int)signals.can_signals.size());
  97         return processed_signals;
  98 }
  99
 100 /// @brief Will make the decoding operation on a diagnostic CAN message.Then it find the subscribed signal
 101 /// corresponding and will add the vehicle_message to the queue of event to pushed before notifying
 102 /// the event push thread to process it.
 103 ///
 104 /// @param[in] manager - the diagnostic manager object that handle diagnostic communication
 105 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
 106 ///
 107 /// @return How many signals has been decoded.
 108 int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message)
 109 {
 110         int processed_signals = 0;
 111
 112         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 113
 114         std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 115         std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals();
 116
 117         openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
 118         if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
 119                 (s.find(vehicle_message.simple_message.name) != s.end() && afb_event_is_valid(s[vehicle_message.simple_message.name])))
 120         {
 121                 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 122                 push_new_vehicle_message(vehicle_message);
 123                 processed_signals++;
 124         }
 125
 126         return processed_signals;
 127 }
 128
 129 /// @brief thread to decoding raw CAN messages.
 130 ///
 131 ///  Depending on the nature of message, if arbitration ID matches ID for a diagnostic response
 132 ///  then decoding a diagnostic message else use classic CAN signals decoding functions.
 133 ///
 134 /// It will take from the can_message_q_ queue the next can message to process then it search
 135 ///  about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
 136 ///  subscription has been made. Can message will be decoded using translateSignal that will pass it to the
 137 ///  corresponding decoding function if there is one assigned for that signal. If not, it will be the default
 138 ///  noopDecoder function that will operate on it.
 139 ///
 140 ///  TODO: make diagnostic messages parsing optionnal.
 141 void can_bus_t::can_decode_message()
 142 {
 143         can_message_t can_message;
 144
 145         while(is_decoding_)
 146         {
 147                 {
 148                         std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
 149                         new_can_message_cv_.wait(can_message_lock);
 150                         while(!can_message_q_.empty())
 151                         {
 152                                 can_message = next_can_message();
 153
 154                                 if(configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
 155                                         process_diagnostic_signals(configuration_t::instance().get_diagnostic_manager(), can_message);
 156                                 else
 157                                         process_can_signals(can_message);
 158                         }
 159                 }
 160                 new_decoded_can_message_.notify_one();
 161         }
 162 }
 163
 164 /// @brief thread to push events to suscribers. It will read subscribed_signals map to look
 165 /// which are events that has to be pushed.
 166 void can_bus_t::can_event_push()
 167 {
 168         openxc_VehicleMessage v_message;
 169         openxc_SimpleMessage s_message;
 170         json_object* jo;
 171         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 172
 173         while(is_pushing_)
 174         {
 175                 std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 176                 new_decoded_can_message_.wait(decoded_can_message_lock);
 177                 while(!vehicle_message_q_.empty())
 178                 {
 179                         v_message = next_vehicle_message();
 180
 181                         s_message = get_simple_message(v_message);
 182                         {
 183                                 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 184                                 std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals();
 185                                 if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)]))
 186                                 {
 187                                         jo = json_object_new_object();
 188                                         jsonify_simple(s_message, jo);
 189                                         if(afb_event_push(s[std::string(s_message.name)], jo) == 0)
 190                                                 on_no_clients(std::string(s_message.name));
 191                                 }
 192                         }
 193                 }
 194         }
 195 }
 196
 197 /// @brief Will initialize threads that will decode
 198 ///  and push subscribed events.
 199 void can_bus_t::start_threads()
 200 {
 201         is_decoding_ = true;
 202         th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
 203         if(!th_decoding_.joinable())
 204                 is_decoding_ = false;
 205
 206         is_pushing_ = true;
 207         th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
 208         if(!th_pushing_.joinable())
 209                 is_pushing_ = false;
 210 }
 211
 212 /// @brief Will stop all threads holded by can_bus_t object
 213 ///  which are decoding and pushing then will wait that's
 214 /// they'll finish their job.
 215 void can_bus_t::stop_threads()
 216 {
 217         is_decoding_ = false;
 218         is_pushing_ = false;
 219 }
 220
 221 /// @brief Will initialize can_bus_dev_t objects after reading
 222 /// the configuration file passed in the constructor. All CAN buses
 223 /// Initialized here will be added to a vector holding them for
 224 /// inventory and later access.
 225 ///
 226 /// That will initialize CAN socket reading too using a new thread.
 227 ///
 228 /// @return 0 if ok, other if not.
 229 int can_bus_t::init_can_dev()
 230 {
 231         std::vector<std::string> devices_name;
 232         int i = 0;
 233         size_t t;
 234
 235         if(conf_file_.check_conf())
 236         {
 237                 devices_name = conf_file_.get_devices_name();
 238                 if (! devices_name.empty())
 239                 {
 240                         t = devices_name.size();
 241
 242                         for(const auto& device : devices_name)
 243                         {
 244                                 can_bus_t::can_devices_[device] = std::make_shared<can_bus_dev_t>(device, i);
 245                                 if (can_bus_t::can_devices_[device]->open() >= 0)
 246                                 {
 247                                         can_bus_t::can_devices_[device]->configure();
 248                                         DEBUG(binder_interface, "%s: Start reading thread", __FUNCTION__);
 249                                         NOTICE(binder_interface, "%s: %s device opened and reading", __FUNCTION__, device.c_str());
 250                                         //can_bus_t::can_devices_[device]->start_reading(*this);
 251                                         i++;
 252                                 }
 253                                 else
 254                                 {
 255                                         ERROR(binder_interface, "%s: Can't open device %s", __FUNCTION__, device.c_str());
 256                                         return 1;
 257                                 }
 258                         }
 259                         NOTICE(binder_interface, "%s: Initialized %d/%d can bus device(s)", __FUNCTION__, i, (int)t);
 260                         return 0;
 261                 }
 262                 ERROR(binder_interface, "%s: Error at CAN device initialization. No devices read from configuration file", __FUNCTION__);
 263                 return 1;
 264         }
 265         ERROR(binder_interface, "%s: Can't read INI configuration file", __FUNCTION__);
 266         return 2;
 267 }
 268
 269 /// @brief return new_can_message_cv_ member
 270 ///
 271 /// @return  return new_can_message_cv_ member
 272 std::condition_variable& can_bus_t::get_new_can_message_cv()
 273 {
 274         return new_can_message_cv_;
 275 }
 276
 277 /// @brief return can_message_mutex_ member
 278 ///
 279 /// @return  return can_message_mutex_ member
 280 std::mutex& can_bus_t::get_can_message_mutex()
 281 {
 282         return can_message_mutex_;
 283 }
 284
 285 /// @brief Return first can_message_t on the queue
 286 ///
 287 /// @return a can_message_t
 288 can_message_t can_bus_t::next_can_message()
 289 {
 290         can_message_t can_msg;
 291
 292         if(!can_message_q_.empty())
 293         {
 294                 can_msg = can_message_q_.front();
 295                 can_message_q_.pop();
 296                 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(),
 297                         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]);
 298                 return can_msg;
 299         }
 300
 301         return can_msg;
 302 }
 303
 304 /// @brief Push a can_message_t into the queue
 305 ///
 306 /// @param[in] can_msg - the const reference can_message_t object to push into the queue
 307 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
 308 {
 309         can_message_q_.push(can_msg);
 310 }
 311
 312 /// @brief Return first openxc_VehicleMessage on the queue
 313 ///
 314 /// @return a openxc_VehicleMessage containing a decoded can message
 315 openxc_VehicleMessage can_bus_t::next_vehicle_message()
 316 {
 317         openxc_VehicleMessage v_msg;
 318
 319         if(! vehicle_message_q_.empty())
 320         {
 321                 v_msg = vehicle_message_q_.front();
 322                 vehicle_message_q_.pop();
 323                 DEBUG(binder_interface, "%s: next vehicle message poped", __FUNCTION__);
 324                 return v_msg;
 325         }
 326
 327         return v_msg;
 328 }
 329
 330 /// @brief Push a openxc_VehicleMessage into the queue
 331 ///
 332 /// @param[in] v_msg - const reference openxc_VehicleMessage object to push into the queue
 333 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
 334 {
 335         vehicle_message_q_.push(v_msg);
 336 }
 337
 338 /// @brief Return a map with the can_bus_dev_t initialized
 339 ///
 340 /// @return map can_bus_dev_m_ map
 341 const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const
 342 {
 343         return can_bus_t::can_devices_;
 344 }
 345
 346 /// @brief Return the shared pointer on the can_bus_dev_t initialized
 347 /// with device_name "bus"
 348 ///
 349 /// @param[in] bus - CAN bus device name to retrieve.
 350 ///
 351 /// @return A shared pointer on an object can_bus_dev_t
 352 std::shared_ptr<can_bus_dev_t> can_bus_t::get_can_device(std::string bus)
 353 {
 354         return can_bus_t::can_devices_[bus];
 355 }