2 * Copyright (C) 2015, 2016, 2017 "IoT.bzh"
3 * Author "Romain Forlot" <romain.forlot@iot.bzh>
4 * Author "Loïc Collignon" <loic.collignon@iot.bzh>
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
10 * http://www.apache.org/licenses/LICENSE-2.0
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.
25 #include <linux/can.h>
26 #include <condition_variable>
28 #include "openxc.pb.h"
29 #include "can-message.hpp"
30 #include "../utils/config-parser.hpp"
31 #include "../binding/low-can-hat.hpp"
32 #include "../binding/low-can-cb.hpp"
34 // TODO actual max is 32 but dropped to 24 for memory considerations
35 #define MAX_ACCEPTANCE_FILTERS 24
36 // TODO this takes up a ton of memory
37 #define MAX_DYNAMIC_MESSAGE_COUNT 12
39 #define CAN_ACTIVE_TIMEOUT_S 30
41 class diagnostic_manager_t;
43 /// @brief Object used to handle decoding and manage event queue to be pushed.
45 /// This object is also used to initialize can_bus_dev_t object after reading
46 /// json conf file describing the CAN devices to use. Thus, those object will read
47 /// on the device the CAN frame and push them into the can_bus_t can_message_q_ queue.
49 /// That queue will be later used to be decoded and pushed to subscribers.
53 utils::config_parser_t conf_file_; ///< configuration file handle used to initialize can_bus_dev_t objects.
55 bool apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription);
56 void process_can_signals(const can_message_t& can_message);
57 void process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message);
59 void can_decode_message();
60 std::thread th_decoding_; ///< thread that'll handle decoding a can frame
61 bool is_decoding_ = false; ///< boolean member controling thread while loop
63 void can_event_push();
64 std::thread th_pushing_; ///< thread that'll handle pushing decoded can frame to subscribers
65 bool is_pushing_ = false; ///< boolean member controling thread while loop
67 std::condition_variable new_can_message_cv_; ///< condition_variable use to wait until there is a new CAN message to read
68 std::mutex can_message_mutex_; ///< mutex protecting the can_message_q_ queue.
69 std::queue <can_message_t> can_message_q_; ///< queue that'll store can_message_t to decoded
71 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_
72 std::mutex decoded_can_message_mutex_; ///< mutex protecting the vehicle_message_q_ queue.
73 std::queue <std::pair<int, openxc_VehicleMessage> > vehicle_message_q_; ///< queue that'll store openxc_VehicleMessage to pushed
75 std::vector<std::pair<std::string, std::string> > can_devices_;
77 explicit can_bus_t(utils::config_parser_t conf_file);
78 can_bus_t(can_bus_t&&);
80 void set_can_devices();
81 int get_can_device_index(const std::string& bus_name) const;
82 const std::string get_can_device_name(const std::string& id_name) const;
87 const can_message_t next_can_message();
88 void push_new_can_message(const can_message_t& can_msg);
89 std::mutex& get_can_message_mutex();
90 std::condition_variable& get_new_can_message_cv();
92 std::pair<int, openxc_VehicleMessage> next_vehicle_message();
93 void push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg);