CAN-binder/low-can-binding/can/can-bus.hpp

   1 /*
   2  * Copyright (C) 2015, 2016, 2017 "IoT.bzh"
   3  * Author "Romain Forlot" <romain.forlot@iot.bzh>
   4  * Author "Loïc Collignon" <loic.collignon@iot.bzh>
   5  *
   6  * Licensed under the Apache License, Version 2.0 (the "License");
   7  * you may not use this file except in compliance with the License.
   8  * You may obtain a copy of the License at
   9  *
  10  *       http://www.apache.org/licenses/LICENSE-2.0
  11  *
  12  * Unless required by applicable law or agreed to in writing, software
  13  * distributed under the License is distributed on an "AS IS" BASIS,
  14  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  15  * See the License for the specific language governing permissions and
  16  * limitations under the License.
  17  */
  18
  19 #pragma once
  20
  21 #include <mutex>
  22 #include <queue>
  23 #include <thread>
  24 #include <linux/can.h>
  25 #include <condition_variable>
  26
  27 #include "openxc.pb.h"
  28 #include "can-message.hpp"
  29 #include "../utils/config-parser.hpp"
  30 #include "../binding/low-can-hat.hpp"
  31
  32 // TODO actual max is 32 but dropped to 24 for memory considerations
  33 #define MAX_ACCEPTANCE_FILTERS 24
  34 // TODO this takes up a ton of memory
  35 #define MAX_DYNAMIC_MESSAGE_COUNT 12
  36
  37 #define CAN_ACTIVE_TIMEOUT_S 30
  38
  39 class diagnostic_manager_t;
  40
  41 /// @brief Object used to handle decoding and manage event queue to be pushed.
  42 ///
  43 /// This object is also used to initialize can_bus_dev_t object after reading
  44 /// json conf file describing the CAN devices to use. Thus, those object will read
  45 /// on the device the CAN frame and push them into the can_bus_t can_message_q_ queue.
  46 ///
  47 /// That queue will be later used to be decoded and pushed to subscribers.
  48 class can_bus_t
  49 {
  50 private:
  51         utils::config_parser_t conf_file_; ///< configuration file handle used to initialize can_bus_dev_t objects.
  52
  53         int process_can_signals(const can_message_t& can_message);
  54         int process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message);
  55
  56         void can_decode_message();
  57         std::thread th_decoding_; ///< thread that'll handle decoding a can frame
  58         bool is_decoding_ = false; ///< boolean member controling thread while loop
  59
  60         void can_event_push();
  61         std::thread th_pushing_; ///< thread that'll handle pushing decoded can frame to subscribers
  62         bool is_pushing_ = false; ///< boolean member controling thread while loop
  63
  64         std::condition_variable new_can_message_cv_; ///< condition_variable use to wait until there is a new CAN message to read
  65         std::mutex can_message_mutex_; ///< mutex protecting the can_message_q_ queue.
  66         std::queue <can_message_t> can_message_q_; ///< queue that'll store can_message_t to decoded
  67
  68         std::condition_variable new_decoded_can_message_; ///< condition_variable use to wait until there is a new vehicle message to read from the queue vehicle_message_q_
  69         std::mutex decoded_can_message_mutex_;  ///< mutex protecting the vehicle_message_q_ queue.
  70         std::queue <openxc_VehicleMessage> vehicle_message_q_; ///< queue that'll store openxc_VehicleMessage to pushed
  71
  72         std::vector<std::pair<std::string, std::string> > can_devices_;
  73 public:
  74         explicit can_bus_t(utils::config_parser_t conf_file);
  75         can_bus_t(can_bus_t&&);
  76
  77         void set_can_devices();
  78         int get_can_device_index(const std::string& bus_name) const;
  79         const std::string get_can_device_name(const std::string& id_name) const;
  80
  81         void start_threads();
  82         void stop_threads();
  83
  84         can_message_t next_can_message();
  85         void push_new_can_message(const can_message_t& can_msg);
  86         std::mutex& get_can_message_mutex();
  87         std::condition_variable& get_new_can_message_cv();
  88
  89         openxc_VehicleMessage next_vehicle_message();
  90         void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
  91 };