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 <map>
  19 #include <cerrno>
  20 #include <vector>
  21 #include <string>
  22 #include <fcntl.h>
  23 #include <unistd.h>
  24 #include <net/if.h>
  25 #include <sys/ioctl.h>
  26 #include <sys/socket.h>
  27 #include <json-c/json.h>
  28 #include <linux/can/raw.h>
  29
  30 #include "can-bus.hpp"
  31
  32 #include "can-signals.hpp"
  33 #include "can-decoder.hpp"
  34 #include "../configuration.hpp"
  35 #include "../utils/signals.hpp"
  36 #include "../utils/openxc-utils.hpp"
  37
  38 extern "C"
  39 {
  40         #include <afb/afb-binding.h>
  41 }
  42
  43 /// @brief Class constructor
  44 ///
  45 /// @param[in] conf_file - handle to the json configuration file.
  46 can_bus_t::can_bus_t(int conf_file)
  47         : conf_file_{conf_file}
  48 {
  49 }
  50
  51 std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::can_devices_;
  52
  53 /// @brief Will make the decoding operation on a classic CAN message. It will not
  54 /// handle CAN commands nor diagnostic messages that have their own method to get
  55 /// this happens.
  56 ///
  57 /// It will add to the vehicle_message queue the decoded message and tell the event push
  58 /// thread to process it.
  59 ///
  60 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
  61 ///
  62 /// @return How many signals has been decoded.
  63 int can_bus_t::process_can_signals(can_message_t& can_message)
  64 {
  65         int processed_signals = 0;
  66         std::vector <can_signal_t*> signals;
  67         openxc_DynamicField search_key, decoded_message;
  68         openxc_VehicleMessage vehicle_message;
  69
  70         // First we have to found which can_signal_t it is
  71         search_key = build_DynamicField((double)can_message.get_id());
  72         configuration_t::instance().find_can_signals(search_key, signals);
  73
  74         // Decoding the message ! Don't kill the messenger !
  75         for(auto& sig : signals)
  76         {
  77                 std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
  78                 std::map<std::string, struct afb_event>& s = get_subscribed_signals();
  79
  80                 // DEBUG message to make easier debugger STL containers...
  81                 //DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[sig.generic_name]));
  82                 //DEBUG(binder_interface, "Operator[] key string: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[std::string(sig.generic_name)]));
  83                 //DEBUG(binder_interface, "Nb elt matched char: %d", (int)s.count(sig.generic_name));
  84                 //DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.generic_name));
  85                 if( s.find(sig->get_name()) != s.end() && afb_event_is_valid(s[sig->get_name()]))
  86                 {
  87                         decoded_message = decoder_t::translateSignal(*sig, can_message, configuration_t::instance().get_can_signals());
  88
  89                         openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
  90                         vehicle_message = build_VehicleMessage(s_message);
  91
  92                         std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
  93                         push_new_vehicle_message(vehicle_message);
  94                         processed_signals++;
  95                 }
  96         }
  97
  98         DEBUG(binder_interface, "process_can_signals: %d/%d CAN signals processed.", processed_signals, (int)signals.size());
  99         return processed_signals;
 100 }
 101
 102 /// @brief Will make the decoding operation on a diagnostic CAN message.Then it find the subscribed signal
 103 /// corresponding and will add the vehicle_message to the queue of event to pushed before notifying
 104 /// the event push thread to process it.
 105 ///
 106 /// @param[in] manager - the diagnostic manager object that handle diagnostic communication
 107 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
 108 ///
 109 /// @return How many signals has been decoded.
 110 int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message)
 111 {
 112         int processed_signals = 0;
 113
 114         std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
 115         std::map<std::string, struct afb_event>& s = get_subscribed_signals();
 116
 117         openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
 118         if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
 119                 (s.find(vehicle_message.simple_message.name) != s.end() && afb_event_is_valid(s[vehicle_message.simple_message.name])))
 120         {
 121                 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 122                 push_new_vehicle_message(vehicle_message);
 123                 processed_signals++;
 124         }
 125
 126         return processed_signals;
 127 }
 128
 129 /// @brief thread to decoding raw CAN messages.
 130 ///
 131 ///  Depending on the nature of message, if arbitration ID matches ID for a diagnostic response
 132 ///  then decoding a diagnostic message else use classic CAN signals decoding functions.
 133 ///
 134 /// It will take from the can_message_q_ queue the next can message to process then it search
 135 ///  about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
 136 ///  subscription has been made. Can message will be decoded using translateSignal that will pass it to the
 137 ///  corresponding decoding function if there is one assigned for that signal. If not, it will be the default
 138 ///  noopDecoder function that will operate on it.
 139 ///
 140 ///  TODO: make diagnostic messages parsing optionnal.
 141 void can_bus_t::can_decode_message()
 142 {
 143         can_message_t can_message;
 144
 145         while(is_decoding_)
 146         {
 147                 {
 148                         std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
 149                         new_can_message_cv_.wait(can_message_lock);
 150                         while(!can_message_q_.empty())
 151                         {
 152                                 can_message = next_can_message();
 153
 154                                 if(configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
 155                                         process_diagnostic_signals(configuration_t::instance().get_diagnostic_manager(), can_message);
 156                                 else
 157                                         process_can_signals(can_message);
 158                         }
 159                 }
 160                 new_decoded_can_message_.notify_one();
 161         }
 162 }
 163
 164 /// @brief thread to push events to suscribers. It will read subscribed_signals map to look
 165 /// which are events that has to be pushed.
 166 void can_bus_t::can_event_push()
 167 {
 168         openxc_VehicleMessage v_message;
 169         openxc_SimpleMessage s_message;
 170         json_object* jo;
 171
 172         while(is_pushing_)
 173         {
 174                 std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 175                 new_decoded_can_message_.wait(decoded_can_message_lock);
 176                 while(!vehicle_message_q_.empty())
 177                 {
 178                         v_message = next_vehicle_message();
 179
 180                         s_message = get_simple_message(v_message);
 181                         {
 182                                 std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
 183                                 std::map<std::string, struct afb_event>& s = get_subscribed_signals();
 184                                 if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)]))
 185                                 {
 186                                         jo = json_object_new_object();
 187                                         jsonify_simple(s_message, jo);
 188                                         if(afb_event_push(s[std::string(s_message.name)], jo) == 0)
 189                                                 on_no_clients(std::string(s_message.name));
 190                                 }
 191                         }
 192                 }
 193         }
 194 }
 195
 196 /// @brief Will initialize threads that will decode
 197 ///  and push subscribed events.
 198 void can_bus_t::start_threads()
 199 {
 200         is_decoding_ = true;
 201         th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
 202         if(!th_decoding_.joinable())
 203                 is_decoding_ = false;
 204
 205         is_pushing_ = true;
 206         th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
 207         if(!th_pushing_.joinable())
 208                 is_pushing_ = false;
 209 }
 210
 211 /// @brief Will stop all threads holded by can_bus_t object
 212 ///  which are decoding and pushing then will wait that's
 213 /// they'll finish their job.
 214 void can_bus_t::stop_threads()
 215 {
 216         is_decoding_ = false;
 217         is_pushing_ = false;
 218 }
 219
 220 /// @brief Will initialize can_bus_dev_t objects after reading
 221 /// the configuration file passed in the constructor. All CAN buses
 222 /// Initialized here will be added to a vector holding them for
 223 /// inventory and later access.
 224 ///
 225 /// That will initialize CAN socket reading too using a new thread.
 226 ///
 227 /// @return 0 if ok, other if not.
 228 int can_bus_t::init_can_dev()
 229 {
 230         std::vector<std::string> devices_name;
 231         int i = 0;
 232         size_t t;
 233
 234         devices_name = read_conf();
 235
 236         if (! devices_name.empty())
 237         {
 238                 t = devices_name.size();
 239
 240                 for(const auto& device : devices_name)
 241                 {
 242                         can_bus_t::can_devices_[device] = std::make_shared<can_bus_dev_t>(device, i);
 243                         if (can_bus_t::can_devices_[device]->open() == 0)
 244                         {
 245                                 DEBUG(binder_interface, "Start reading thread");
 246                                 NOTICE(binder_interface, "%s device opened and reading", device.c_str());
 247                                 can_bus_t::can_devices_[device]->start_reading(*this);
 248                                 i++;
 249                         }
 250                         else
 251                         {
 252                                 ERROR(binder_interface, "Can't open device %s", device.c_str());
 253                                 return 1;
 254                         }
 255                 }
 256
 257                 NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, (int)t);
 258                 return 0;
 259         }
 260         ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read from configuration file. Did you specify canbus JSON object ?");
 261         return 1;
 262 }
 263
 264 /// @brief read the conf_file_ and will parse json objects
 265 /// in it searching for canbus objects devices name.
 266 ///
 267 /// @return Vector of can bus device name string.
 268 std::vector<std::string> can_bus_t::read_conf()
 269 {
 270         std::vector<std::string> ret;
 271         json_object *jo, *canbus;
 272         int n, i;
 273         const char* taxi;
 274
 275         FILE *fd = fdopen(conf_file_, "r");
 276         if (fd)
 277         {
 278                 std::string fd_conf_content;
 279                 std::fseek(fd, 0, SEEK_END);
 280                 fd_conf_content.resize(std::ftell(fd));
 281                 std::rewind(fd);
 282                 std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
 283                 std::fclose(fd);
 284
 285                 DEBUG(binder_interface, "Configuration file content : %s", fd_conf_content.c_str());
 286                 jo = json_tokener_parse(fd_conf_content.c_str());
 287
 288                 if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
 289                 {
 290                         ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
 291                         ret.clear();
 292                 }
 293                 else if (json_object_get_type(canbus) != json_type_array)
 294                 {
 295                         taxi = json_object_get_string(canbus);
 296                         DEBUG(binder_interface, "Can bus found: %s", taxi);
 297                         ret.push_back(std::string(taxi));
 298                 }
 299                 else
 300                 {
 301                         n = json_object_array_length(canbus);
 302                         for (i = 0 ; i < n ; i++)
 303                                 ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
 304                 }
 305                 return ret;
 306         }
 307         ERROR(binder_interface, "Problem at reading the conf file");
 308         ret.clear();
 309         return ret;
 310 }
 311
 312 /// @brief return new_can_message_cv_ member
 313 ///
 314 /// @return  return new_can_message_cv_ member
 315 std::condition_variable& can_bus_t::get_new_can_message_cv()
 316 {
 317         return new_can_message_cv_;
 318 }
 319
 320 /// @brief return can_message_mutex_ member
 321 ///
 322 /// @return  return can_message_mutex_ member
 323 std::mutex& can_bus_t::get_can_message_mutex()
 324 {
 325         return can_message_mutex_;
 326 }
 327
 328 /// @brief Return first can_message_t on the queue
 329 ///
 330 /// @return a can_message_t
 331 can_message_t can_bus_t::next_can_message()
 332 {
 333         can_message_t can_msg;
 334
 335         if(!can_message_q_.empty())
 336         {
 337                 can_msg = can_message_q_.front();
 338                 can_message_q_.pop();
 339                 DEBUG(binder_interface, "next_can_message: 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(),
 340                         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]);
 341                 return can_msg;
 342         }
 343
 344         return can_msg;
 345 }
 346
 347 /// @brief Push a can_message_t into the queue
 348 ///
 349 /// @param[in] can_msg - the const reference can_message_t object to push into the queue
 350 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
 351 {
 352         can_message_q_.push(can_msg);
 353 }
 354
 355 /// @brief Return first openxc_VehicleMessage on the queue
 356 ///
 357 /// @return a openxc_VehicleMessage containing a decoded can message
 358 openxc_VehicleMessage can_bus_t::next_vehicle_message()
 359 {
 360         openxc_VehicleMessage v_msg;
 361
 362         if(! vehicle_message_q_.empty())
 363         {
 364                 v_msg = vehicle_message_q_.front();
 365                 vehicle_message_q_.pop();
 366                 DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
 367                 return v_msg;
 368         }
 369
 370         return v_msg;
 371 }
 372
 373 /// @brief Push a openxc_VehicleMessage into the queue
 374 ///
 375 /// @param[in] v_msg - const reference openxc_VehicleMessage object to push into the queue
 376 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
 377 {
 378         vehicle_message_q_.push(v_msg);
 379 }
 380
 381 /// @brief Return a map with the can_bus_dev_t initialized
 382 ///
 383 /// @return map can_bus_dev_m_ map
 384 const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const
 385 {
 386         return can_bus_t::can_devices_;
 387 }
 388
 389 /// @brief Return the shared pointer on the can_bus_dev_t initialized
 390 /// with device_name "bus"
 391 ///
 392 /// @param[in] bus - CAN bus device name to retrieve.
 393 ///
 394 /// @return A shared pointer on an object can_bus_dev_t
 395 std::shared_ptr<can_bus_dev_t> can_bus_t::get_can_device(std::string bus)
 396 {
 397         return can_bus_t::can_devices_[bus];
 398 }