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 Listen for all device sockets and fill can_messages_queue with them.
  51 /// Reading blocks until message arrive on listened sockets.
  52 ///
  53 /// @return 0 if ok -1 if not
  54 int can_bus_t::can_reader()
  55 {
  56         fd_set rfds;
  57         int sock_max = INVALID_SOCKET;
  58
  59         FD_ZERO(&rfds);
  60
  61         for(auto& can_dev : can_devices_)
  62         {
  63                 FD_SET(can_dev.second->get_socket().socket(), &rfds);
  64                 if (sock_max < can_dev.second->get_socket().socket())
  65                         sock_max = can_dev.second->get_socket().socket();
  66         }
  67
  68         int ret;
  69         while(is_reading_)
  70         {
  71                 ret = select(sock_max + 1, &rfds, nullptr, nullptr, nullptr);
  72
  73                 if(ret == -1)
  74                         perror("select()");
  75                 else if(ret > 0)
  76                 {
  77                         for(const auto& s: can_devices_)
  78                         {
  79                                 if(FD_ISSET(s.second->get_socket().socket(), &rfds))
  80                                 {
  81                                         can_message_t msg;
  82                                         s.second->get_socket() >> msg;
  83                                         std::lock_guard<std::mutex> can_message_lock(get_can_message_mutex());
  84                                         { push_new_can_message(msg); }
  85                                         get_new_can_message_cv().notify_one();
  86                                         }
  87                                 }
  88                 }
  89                 else
  90                         printf("Timeout\n");
  91         }
  92         return 0;
  93 }
  94
  95 /// @brief Will make the decoding operation on a classic CAN message. It will not
  96 /// handle CAN commands nor diagnostic messages that have their own method to get
  97 /// this happens.
  98 ///
  99 /// It will add to the vehicle_message queue the decoded message and tell the event push
 100 /// thread to process it.
 101 ///
 102 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
 103 ///
 104 /// @return How many signals has been decoded.
 105 int can_bus_t::process_can_signals(can_message_t& can_message)
 106 {
 107         int processed_signals = 0;
 108         struct utils::signals_found signals;
 109         openxc_DynamicField search_key, decoded_message;
 110         openxc_VehicleMessage vehicle_message;
 111         configuration_t& conf = configuration_t::instance();
 112         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 113
 114         // First we have to found which can_signal_t it is
 115         search_key = build_DynamicField((double)can_message.get_id());
 116         signals = sm.find_signals(search_key);
 117
 118         // Decoding the message ! Don't kill the messenger !
 119         for(auto& sig : signals.can_signals)
 120         {
 121                 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 122                 std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals();
 123
 124                 // DEBUG message to make easier debugger STL containers...
 125                 //DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[sig.generic_name]));
 126                 //DEBUG(binder_interface, "Operator[] key string: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[std::string(sig.generic_name)]));
 127                 //DEBUG(binder_interface, "Nb elt matched char: %d", (int)s.count(sig.generic_name));
 128                 //DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.generic_name));
 129                 if( s.find(sig->get_name()) != s.end() && afb_event_is_valid(s[sig->get_name()]))
 130                 {
 131                         bool send = true;
 132                         decoded_message = decoder_t::translateSignal(*sig, can_message, conf.get_can_signals(), &send);
 133
 134                         if(send)
 135                         {
 136                                 openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
 137                                 vehicle_message = build_VehicleMessage(s_message);
 138
 139                                 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 140                                 push_new_vehicle_message(vehicle_message);
 141                         }
 142                         processed_signals++;
 143                 }
 144         }
 145
 146         DEBUG(binder_interface, "%s: %d/%d CAN signals processed.", __FUNCTION__, processed_signals, (int)signals.can_signals.size());
 147         return processed_signals;
 148 }
 149
 150 /// @brief Will make the decoding operation on a diagnostic CAN message.Then it find the subscribed signal
 151 /// corresponding and will add the vehicle_message to the queue of event to pushed before notifying
 152 /// the event push thread to process it.
 153 ///
 154 /// @param[in] manager - the diagnostic manager object that handle diagnostic communication
 155 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
 156 ///
 157 /// @return How many signals has been decoded.
 158 int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message)
 159 {
 160         int processed_signals = 0;
 161
 162         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 163
 164         std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 165         std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals();
 166
 167         openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
 168         if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
 169                 (s.find(vehicle_message.simple_message.name) != s.end() && afb_event_is_valid(s[vehicle_message.simple_message.name])))
 170         {
 171                 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 172                 push_new_vehicle_message(vehicle_message);
 173                 processed_signals++;
 174         }
 175
 176         return processed_signals;
 177 }
 178
 179 /// @brief thread to decoding raw CAN messages.
 180 ///
 181 ///  Depending on the nature of message, if arbitration ID matches ID for a diagnostic response
 182 ///  then decoding a diagnostic message else use classic CAN signals decoding functions.
 183 ///
 184 /// It will take from the can_message_q_ queue the next can message to process then it search
 185 ///  about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
 186 ///  subscription has been made. Can message will be decoded using translateSignal that will pass it to the
 187 ///  corresponding decoding function if there is one assigned for that signal. If not, it will be the default
 188 ///  noopDecoder function that will operate on it.
 189 ///
 190 ///  TODO: make diagnostic messages parsing optionnal.
 191 void can_bus_t::can_decode_message()
 192 {
 193         can_message_t can_message;
 194
 195         while(is_decoding_)
 196         {
 197                 {
 198                         std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
 199                         new_can_message_cv_.wait(can_message_lock);
 200                         while(!can_message_q_.empty())
 201                         {
 202                                 can_message = next_can_message();
 203
 204                                 if(configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
 205                                         process_diagnostic_signals(configuration_t::instance().get_diagnostic_manager(), can_message);
 206                                 else
 207                                         process_can_signals(can_message);
 208                         }
 209                 }
 210                 new_decoded_can_message_.notify_one();
 211         }
 212 }
 213
 214 /// @brief thread to push events to suscribers. It will read subscribed_signals map to look
 215 /// which are events that has to be pushed.
 216 void can_bus_t::can_event_push()
 217 {
 218         openxc_VehicleMessage v_message;
 219         openxc_SimpleMessage s_message;
 220         json_object* jo;
 221         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 222
 223         while(is_pushing_)
 224         {
 225                 std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 226                 new_decoded_can_message_.wait(decoded_can_message_lock);
 227                 while(!vehicle_message_q_.empty())
 228                 {
 229                         v_message = next_vehicle_message();
 230
 231                         s_message = get_simple_message(v_message);
 232                         {
 233                                 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 234                                 std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals();
 235                                 if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)]))
 236                                 {
 237                                         jo = json_object_new_object();
 238                                         jsonify_simple(s_message, jo);
 239                                         if(afb_event_push(s[std::string(s_message.name)], jo) == 0)
 240                                                 on_no_clients(std::string(s_message.name));
 241                                 }
 242                         }
 243                 }
 244         }
 245 }
 246
 247 /// @brief Will initialize threads that will decode
 248 ///  and push subscribed events.
 249 void can_bus_t::start_threads()
 250 {
 251         is_reading_ = true;
 252         th_reading_ = std::thread(&can_bus_t::can_reader, this);
 253         if(!th_reading_.joinable())
 254                 is_reading_ = false;
 255
 256         is_decoding_ = true;
 257         th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
 258         if(!th_decoding_.joinable())
 259                 is_decoding_ = false;
 260
 261         is_pushing_ = true;
 262         th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
 263         if(!th_pushing_.joinable())
 264                 is_pushing_ = false;
 265 }
 266
 267 /// @brief Will stop all threads holded by can_bus_t object
 268 ///  which are decoding and pushing then will wait that's
 269 /// they'll finish their job.
 270 void can_bus_t::stop_threads()
 271 {
 272         is_reading_ = false;
 273         is_decoding_ = false;
 274         is_pushing_ = false;
 275 }
 276
 277 /// @brief Will initialize can_bus_dev_t objects after reading
 278 /// the configuration file passed in the constructor. All CAN buses
 279 /// Initialized here will be added to a vector holding them for
 280 /// inventory and later access.
 281 ///
 282 /// That will initialize CAN socket reading too using a new thread.
 283 ///
 284 /// @return 0 if ok, other if not.
 285 int can_bus_t::init_can_dev()
 286 {
 287         std::vector<std::string> devices_name;
 288         int i = 0;
 289         size_t t;
 290
 291         if(conf_file_.check_conf())
 292         {
 293                 devices_name = conf_file_.get_devices_name();
 294                 if (! devices_name.empty())
 295                 {
 296                         t = devices_name.size();
 297
 298                         for(const auto& device : devices_name)
 299                         {
 300                                 can_bus_t::can_devices_[device] = std::make_shared<can_bus_dev_t>(device, i);
 301                                 if (can_bus_t::can_devices_[device]->open() >= 0)
 302                                 {
 303                                         can_bus_t::can_devices_[device]->configure();
 304                                         DEBUG(binder_interface, "%s: Start reading thread", __FUNCTION__);
 305                                         NOTICE(binder_interface, "%s: %s device opened and reading", __FUNCTION__, device.c_str());
 306                                         //can_bus_t::can_devices_[device]->start_reading(*this);
 307                                         i++;
 308                                 }
 309                                 else
 310                                 {
 311                                         ERROR(binder_interface, "%s: Can't open device %s", __FUNCTION__, device.c_str());
 312                                         return 1;
 313                                 }
 314                         }
 315                         NOTICE(binder_interface, "%s: Initialized %d/%d can bus device(s)", __FUNCTION__, i, (int)t);
 316                         return 0;
 317                 }
 318                 ERROR(binder_interface, "%s: Error at CAN device initialization. No devices read from configuration file", __FUNCTION__);
 319                 return 1;
 320         }
 321         ERROR(binder_interface, "%s: Can't read INI configuration file", __FUNCTION__);
 322         return 2;
 323 }
 324
 325 /// @brief return new_can_message_cv_ member
 326 ///
 327 /// @return  return new_can_message_cv_ member
 328 std::condition_variable& can_bus_t::get_new_can_message_cv()
 329 {
 330         return new_can_message_cv_;
 331 }
 332
 333 /// @brief return can_message_mutex_ member
 334 ///
 335 /// @return  return can_message_mutex_ member
 336 std::mutex& can_bus_t::get_can_message_mutex()
 337 {
 338         return can_message_mutex_;
 339 }
 340
 341 /// @brief Return first can_message_t on the queue
 342 ///
 343 /// @return a can_message_t
 344 can_message_t can_bus_t::next_can_message()
 345 {
 346         can_message_t can_msg;
 347
 348         if(!can_message_q_.empty())
 349         {
 350                 can_msg = can_message_q_.front();
 351                 can_message_q_.pop();
 352                 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(),
 353                         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]);
 354                 return can_msg;
 355         }
 356
 357         return can_msg;
 358 }
 359
 360 /// @brief Push a can_message_t into the queue
 361 ///
 362 /// @param[in] can_msg - the const reference can_message_t object to push into the queue
 363 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
 364 {
 365         can_message_q_.push(can_msg);
 366 }
 367
 368 /// @brief Return first openxc_VehicleMessage on the queue
 369 ///
 370 /// @return a openxc_VehicleMessage containing a decoded can message
 371 openxc_VehicleMessage can_bus_t::next_vehicle_message()
 372 {
 373         openxc_VehicleMessage v_msg;
 374
 375         if(! vehicle_message_q_.empty())
 376         {
 377                 v_msg = vehicle_message_q_.front();
 378                 vehicle_message_q_.pop();
 379                 DEBUG(binder_interface, "%s: next vehicle message poped", __FUNCTION__);
 380                 return v_msg;
 381         }
 382
 383         return v_msg;
 384 }
 385
 386 /// @brief Push a openxc_VehicleMessage into the queue
 387 ///
 388 /// @param[in] v_msg - const reference openxc_VehicleMessage object to push into the queue
 389 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
 390 {
 391         vehicle_message_q_.push(v_msg);
 392 }
 393
 394 /// @brief Create a RX_SETUP receive job for the BCM socket of a CAN signal.
 395 ///
 396 /// @return 0 if ok -1 if not.
 397         int can_bus_t::create_rx_filter(const can_signal_t& s)
 398         {
 399                 const std::string& bus  = s.get_message().get_bus_name();
 400                 return can_bus_t::can_devices_[bus]->create_rx_filter(s);
 401         }
 402
 403 /// @brief Return a map with the can_bus_dev_t initialized
 404 ///
 405 /// @return map can_bus_dev_m_ map
 406 const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const
 407 {
 408         return can_bus_t::can_devices_;
 409 }
 410
 411 /// @brief Return the shared pointer on the can_bus_dev_t initialized
 412 /// with device_name "bus"
 413 ///
 414 /// @param[in] bus - CAN bus device name to retrieve.
 415 ///
 416 /// @return A shared pointer on an object can_bus_dev_t
 417 std::shared_ptr<can_bus_dev_t> can_bus_t::get_can_device(std::string bus)
 418 {
 419         return can_bus_t::can_devices_[bus];
 420 }