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