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