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 "can-bus-dev.hpp"
  30 #include "../utils/config-parser.hpp"
  31 #include "../diagnostic/active-diagnostic-request.hpp"
  32
  33 #include "../low-can-binding.hpp"
  34
  35 // TODO actual max is 32 but dropped to 24 for memory considerations
  36 #define MAX_ACCEPTANCE_FILTERS 24
  37 // TODO this takes up a ton of memory
  38 #define MAX_DYNAMIC_MESSAGE_COUNT 12
  39
  40 #define CAN_ACTIVE_TIMEOUT_S 30
  41
  42 /// @brief Object used to handle decoding and manage event queue to be pushed.
  43 ///
  44 /// This object is also used to initialize can_bus_dev_t object after reading
  45 /// json conf file describing the CAN devices to use. Thus, those object will read
  46 /// on the device the CAN frame and push them into the can_bus_t can_message_q_ queue.
  47 ///
  48 /// That queue will be later used to be decoded and pushed to subscribers.
  49 class can_bus_t
  50 {
  51 private:
  52         utils::config_parser_t& conf_file_; ///< configuration file handle used to initialize can_bus_dev_t objects.
  53
  54         void can_decode_message();
  55         std::thread th_decoding_; ///< thread that'll handle decoding a can frame
  56         bool is_decoding_ = false; ///< boolean member controling thread while loop
  57
  58         void can_event_push();
  59         std::thread th_pushing_; ///< thread that'll handle pushing decoded can frame to subscribers
  60         bool is_pushing_ = false; ///< boolean member controling thread while loop
  61
  62         std::condition_variable new_can_message_cv_; ///< condition_variable use to wait until there is a new CAN message to read
  63         std::mutex can_message_mutex_; ///< mutex protecting the can_message_q_ queue.
  64         std::queue <can_message_t> can_message_q_; ///< queue that'll store can_message_t to decoded
  65
  66         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_
  67         std::mutex decoded_can_message_mutex_;  ///< mutex protecting the vehicle_message_q_ queue.
  68         std::queue <openxc_VehicleMessage> vehicle_message_q_; ///< queue that'll store openxc_VehicleMessage to pushed
  69
  70         static std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_devices_; ///< Can device map containing all can_bus_dev_t objects initialized during init_can_dev function
  71
  72 public:
  73         can_bus_t(utils::config_parser_t conf_file);
  74         can_bus_t(can_bus_t&&);
  75
  76         int init_can_dev();
  77         std::vector<std::string> read_conf();
  78
  79         void start_threads();
  80         void stop_threads();
  81
  82         int process_can_signals(can_message_t& can_message);
  83         int process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message);
  84
  85         can_message_t next_can_message();
  86         void push_new_can_message(const can_message_t& can_msg);
  87         std::mutex& get_can_message_mutex();
  88         std::condition_variable& get_new_can_message_cv();
  89
  90         openxc_VehicleMessage next_vehicle_message();
  91         void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
  92
  93         const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& get_can_devices() const;
  94         static std::shared_ptr<can_bus_dev_t> get_can_device(std::string bus);
  95 };