2 * Copyright (C) 2015, 2016 "IoT.bzh"
3 * Author "Romain Forlot" <romain.forlot@iot.bzh>
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
9 * http://www.apache.org/licenses/LICENSE-2.0
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.
19 #include <sys/socket.h>
20 #include <json-c/json.h>
21 #include <linux/can/raw.h>
28 #include "can-bus.hpp"
30 #include "can-signals.hpp"
31 #include "can-decoder.hpp"
32 #include "../binding/application.hpp"
33 #include "../utils/signals.hpp"
34 #include "../utils/openxc-utils.hpp"
36 /// @brief Class destructor
38 /// @param[in] conf_file - Stop threads and unlock them to correctly finish them
39 /// even without any activity on the CAN bus.
40 can_bus_t::~can_bus_t()
43 new_can_message_cv_.notify_one();
46 /// @brief Class constructor
48 /// @param[in] conf_file - handle to the json configuration file.
49 can_bus_t::can_bus_t(utils::config_parser_t conf_file)
50 : conf_file_{conf_file}
53 /// @brief Take a decoded message to determine if its value complies with the desired
56 /// @param[in] vehicle_message - The decoded message to be analyzed.
57 /// @param[in] can_subscription - the subscription which will be notified depending
58 /// on its filtering values. Filtering values are stored in the event_filtermember.
60 /// @return True if the value is compliant with event filter values, false if not...
61 bool can_bus_t::apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription)
64 if(is_valid(vehicle_message))
66 float min = can_subscription->get_min();
67 float max = can_subscription->get_max();
68 double value = get_numerical_from_DynamicField(vehicle_message);
69 send = (value < min || value > max) ? false : true;
74 /// @brief Will make the decoding operation on a classic CAN message. It will not
75 /// handle CAN commands nor diagnostic messages that have their own method to get
78 /// It will add to the vehicle_message queue the decoded message and tell the event push
79 /// thread to process it.
81 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
83 /// @return How many signals has been decoded.
84 void can_bus_t::process_can_signals(const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
86 int subscription_id = can_message.get_sub_id();
87 openxc_DynamicField decoded_message;
88 openxc_VehicleMessage vehicle_message;
90 // First we have to found which can_signal_t it is
91 std::shared_ptr<low_can_subscription_t> sig = s[subscription_id];
93 if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
96 decoded_message = decoder_t::translate_signal(*sig->get_can_signal(), can_message, &send);
97 openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
98 vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp());
100 if(send && apply_filter(vehicle_message, sig))
102 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
103 push_new_vehicle_message(subscription_id, vehicle_message);
104 AFB_DEBUG("%s CAN signals processed.", sig->get_name().c_str());
109 /// @brief Will make the decoding operation on a diagnostic CAN message.Then it find the subscribed signal
110 /// corresponding and will add the vehicle_message to the queue of event to pushed before notifying
111 /// the event push thread to process it.
113 /// @param[in] manager - the diagnostic manager object that handle diagnostic communication
114 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
116 /// @return How many signals has been decoded.
117 void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
119 int subscription_id = can_message.get_sub_id();
121 openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
122 if (can_message.get_timestamp())
123 {vehicle_message.timestamp = can_message.get_timestamp();}
124 if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
125 s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
127 if (apply_filter(vehicle_message, s[subscription_id]))
129 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
130 push_new_vehicle_message(subscription_id, vehicle_message);
131 AFB_DEBUG("%s CAN signals processed.", s[subscription_id]->get_name().c_str());
136 /// @brief thread to decoding raw CAN messages.
138 /// Depending on the nature of message, if arbitration ID matches ID for a diagnostic response
139 /// then decoding a diagnostic message else use classic CAN signals decoding functions.
141 /// It will take from the can_message_q_ queue the next can message to process then it search
142 /// about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
143 /// subscription has been made. Can message will be decoded using translate_signal that will pass it to the
144 /// corresponding decoding function if there is one assigned for that signal. If not, it will be the default
145 /// noopDecoder function that will operate on it.
147 /// TODO: make diagnostic messages parsing optionnal.
148 void can_bus_t::can_decode_message()
150 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
154 std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
155 new_can_message_cv_.wait(can_message_lock);
156 while(!can_message_q_.empty())
158 const can_message_t can_message = next_can_message();
159 can_message_lock.unlock();
162 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
163 std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
164 if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
165 {process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), can_message, s);}
167 {process_can_signals(can_message, s);}
169 can_message_lock.lock();
171 new_decoded_can_message_.notify_one();
172 can_message_lock.unlock();
176 /// @brief thread to push events to suscribers. It will read subscribed_signals map to look
177 /// which are events that has to be pushed.
178 void can_bus_t::can_event_push()
181 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
185 std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
186 new_decoded_can_message_.wait(decoded_can_message_lock);
187 while(!vehicle_message_q_.empty())
189 std::pair<int, openxc_VehicleMessage> v_message = next_vehicle_message();
190 decoded_can_message_lock.unlock();
192 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
193 std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
194 if(s.find(v_message.first) != s.end() && afb_event_is_valid(s[v_message.first]->get_event()))
196 jo = json_object_new_object();
197 jsonify_vehicle(v_message.second, jo);
198 if(afb_event_push(s[v_message.first]->get_event(), jo) == 0)
200 if(v_message.second.has_diagnostic_response)
201 {on_no_clients(s[v_message.first], v_message.second.diagnostic_response.pid, s);}
203 {on_no_clients(s[v_message.first], s);}
207 decoded_can_message_lock.lock();
209 decoded_can_message_lock.unlock();
213 /// @brief Will initialize threads that will decode
214 /// and push subscribed events.
215 void can_bus_t::start_threads()
218 th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
219 th_decoding_.detach();
222 th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
223 th_pushing_.detach();
226 /// @brief Will stop all threads holded by can_bus_t object
227 /// which are decoding and pushing then will wait that's
228 /// they'll finish their job.
229 void can_bus_t::stop_threads()
231 is_decoding_ = false;
235 /// @brief return new_can_message_cv_ member
237 /// @return return new_can_message_cv_ member
238 std::condition_variable& can_bus_t::get_new_can_message_cv()
240 return new_can_message_cv_;
243 /// @brief return can_message_mutex_ member
245 /// @return return can_message_mutex_ member
246 std::mutex& can_bus_t::get_can_message_mutex()
248 return can_message_mutex_;
251 /// @brief Return first can_message_t on the queue
253 /// @return a can_message_t
254 const can_message_t can_bus_t::next_can_message()
256 can_message_t can_msg;
258 if(!can_message_q_.empty())
260 can_msg = can_message_q_.front();
261 can_message_q_.pop();
262 AFB_DEBUG("Here is the next can message : id %X, length %X, data %02X%02X%02X%02X%02X%02X%02X%02X", can_msg.get_id(), can_msg.get_length(),
263 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]);
270 /// @brief Push a can_message_t into the queue
272 /// @param[in] can_msg - the const reference can_message_t object to push into the queue
273 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
275 can_message_q_.push(can_msg);
278 /// @brief Return first openxc_VehicleMessage on the queue
280 /// @return a openxc_VehicleMessage containing a decoded can message
281 std::pair<int, openxc_VehicleMessage> can_bus_t::next_vehicle_message()
283 std::pair<int, openxc_VehicleMessage> v_msg;
285 if(! vehicle_message_q_.empty())
287 v_msg = vehicle_message_q_.front();
288 vehicle_message_q_.pop();
289 AFB_DEBUG("next vehicle message poped");
296 /// @brief Push a openxc_VehicleMessage into the queue
298 /// @param[in] v_msg - const reference openxc_VehicleMessage object to push into the queue
299 void can_bus_t::push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg)
301 vehicle_message_q_.push(std::make_pair(subscription_id, v_msg));
304 /// @brief Fills the CAN device map member with value from device
305 /// mapping configuration file read at initialization.
306 void can_bus_t::set_can_devices()
308 if(conf_file_.check_conf())
310 can_devices_mapping_ = conf_file_.get_devices_name();
312 if(can_devices_mapping_.empty())
314 AFB_ERROR("No mapping found in config file: '%s'. Check it that it have a CANbus-mapping section.",
315 conf_file_.filepath().c_str());
321 /// @brief Return the CAN device index from the map
322 /// map are sorted so index depend upon alphabetical sorting.
323 int can_bus_t::get_can_device_index(const std::string& bus_name) const
326 for(const auto& d: can_devices_mapping_)
328 if(d.first == bus_name)
335 /// @brief Return CAN device name from a logical CAN device name gotten from
336 /// the signals.json description file which comes from a CAN databases file in
338 const std::string can_bus_t::get_can_device_name(const std::string& id_name) const
340 std::string ret = "";
341 for(const auto& d: can_devices_mapping_)
343 if(d.first == id_name)