2 * Copyright (C) 2015, 2018 "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 "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
47 can_bus_t::can_bus_t()
50 /// @brief Fills the CAN device map member with value from device
52 /// @param[in] mapping configuration section.
53 void can_bus_t::set_can_devices(json_object *mapping)
57 AFB_ERROR("Can't initialize CAN buses with this empty mapping.");
61 struct json_object_iterator it = json_object_iter_begin(mapping);
62 struct json_object_iterator end = json_object_iter_end(mapping);
63 while (! json_object_iter_equal(&it, &end)) {
64 can_devices_mapping_.push_back(std::make_pair(
65 json_object_iter_peek_name(&it),
66 json_object_get_string(json_object_iter_peek_value(&it))
68 json_object_iter_next(&it);
72 /// @brief Take a decoded message to determine if its value complies with the desired
75 /// @param[in] vehicle_message - The decoded message to be analyzed.
76 /// @param[in] can_subscription - the subscription which will be notified depending
77 /// on its filtering values. Filtering values are stored in the event_filtermember.
79 /// @return True if the value is compliant with event filter values, false if not...
80 bool can_bus_t::apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription)
83 if(is_valid(vehicle_message))
85 float min = can_subscription->get_min();
86 float max = can_subscription->get_max();
87 double value = get_numerical_from_DynamicField(vehicle_message);
88 send = (value < min || value > max) ? false : true;
93 /// @brief Will make the decoding operation on a classic CAN message. It will not
94 /// handle CAN commands nor diagnostic messages that have their own method to get
97 /// It will add to the vehicle_message queue the decoded message and tell the event push
98 /// thread to process it.
100 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
102 /// @return How many signals has been decoded.
103 void can_bus_t::process_signals(std::shared_ptr<message_t> message, map_subscription& s)
105 int subscription_id = message->get_sub_id();
106 openxc_DynamicField decoded_message;
107 openxc_VehicleMessage vehicle_message;
109 if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
112 // First we have to found which signal_t it is
113 std::shared_ptr<low_can_subscription_t> sig = s[subscription_id];
115 decoded_message = decoder_t::translate_signal(*sig->get_signal(), message, &send);
116 openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
117 vehicle_message = build_VehicleMessage(s_message, message->get_timestamp());
119 if(send && apply_filter(vehicle_message, sig))
121 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
122 push_new_vehicle_message(subscription_id, vehicle_message);
123 AFB_DEBUG("%s CAN signals processed.", sig->get_name().c_str());
128 /// @brief Will make the decoding operation on a diagnostic CAN message.Then it find the subscribed signal
129 /// corresponding and will add the vehicle_message to the queue of event to pushed before notifying
130 /// the event push thread to process it.
132 /// @param[in] manager - the diagnostic manager object that handle diagnostic communication
133 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
135 /// @return How many signals has been decoded.
136 void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, std::shared_ptr<message_t> message, map_subscription& s)
138 int subscription_id = message->get_sub_id();
140 openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(message);
141 if (message->get_timestamp())
142 vehicle_message.timestamp = message->get_timestamp();
143 if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
144 s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
146 if (apply_filter(vehicle_message, s[subscription_id]))
148 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
149 push_new_vehicle_message(subscription_id, vehicle_message);
150 AFB_DEBUG("%s CAN signals processed.", s[subscription_id]->get_name().c_str());
155 /// @brief thread to decoding raw CAN messages.
157 /// Depending on the nature of message, if arbitration ID matches ID for a diagnostic response
158 /// then decoding a diagnostic message else use classic CAN signals decoding functions.
160 /// It will take from the can_message_q_ queue the next can message to process then it search
161 /// about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
162 /// subscription has been made. Can message will be decoded using translate_signal that will pass it to the
163 /// corresponding decoding function if there is one assigned for that signal. If not, it will be the default
164 /// noopDecoder function that will operate on it.
166 /// TODO: make diagnostic messages parsing optionnal.
167 void can_bus_t::can_decode_message()
169 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
173 std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
174 new_can_message_cv_.wait(can_message_lock);
175 while(!can_message_q_.empty())
177 std::shared_ptr<message_t> message = next_can_message();
178 can_message_lock.unlock();
181 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
182 map_subscription& s = sm.get_subscribed_signals();
183 if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(message))
184 process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), message, s);
186 process_signals(message, s);
188 can_message_lock.lock();
190 new_decoded_can_message_.notify_one();
191 can_message_lock.unlock();
195 /// @brief thread to push events to suscribers. It will read subscribed_signals map to look
196 /// which are events that has to be pushed.
197 void can_bus_t::can_event_push()
200 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
204 std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
205 new_decoded_can_message_.wait(decoded_can_message_lock);
206 while(!vehicle_message_q_.empty())
208 std::pair<int, openxc_VehicleMessage> v_message = next_vehicle_message();
209 decoded_can_message_lock.unlock();
211 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
212 map_subscription& s = sm.get_subscribed_signals();
213 if(s.find(v_message.first) != s.end() && afb_event_is_valid(s[v_message.first]->get_event()))
215 jo = json_object_new_object();
216 jsonify_vehicle(v_message.second, s[v_message.first]->get_signal(), jo);
217 if(afb_event_push(s[v_message.first]->get_event(), jo) == 0)
219 if(v_message.second.has_diagnostic_response)
220 on_no_clients(s[v_message.first], v_message.second.diagnostic_response.pid, s);
222 on_no_clients(s[v_message.first], s);
226 decoded_can_message_lock.lock();
228 decoded_can_message_lock.unlock();
232 /// @brief Will initialize threads that will decode
233 /// and push subscribed events.
234 void can_bus_t::start_threads()
237 th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
238 th_decoding_.detach();
241 th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
242 th_pushing_.detach();
245 /// @brief Will stop all threads holded by can_bus_t object
246 /// which are decoding and pushing then will wait that's
247 /// they'll finish their job.
248 void can_bus_t::stop_threads()
250 is_decoding_ = false;
254 /// @brief return new_can_message_cv_ member
256 /// @return return new_can_message_cv_ member
257 std::condition_variable& can_bus_t::get_new_can_message_cv()
259 return new_can_message_cv_;
262 /// @brief return can_message_mutex_ member
264 /// @return return can_message_mutex_ member
265 std::mutex& can_bus_t::get_can_message_mutex()
267 return can_message_mutex_;
270 /// @brief Return first can_message_t on the queue
272 /// @return a can_message_t
273 std::shared_ptr<message_t> can_bus_t::next_can_message()
275 std::shared_ptr<message_t> msg;
277 if(!can_message_q_.empty())
279 msg = can_message_q_.front();
280 can_message_q_.pop();
281 std::string debug = msg->get_debug_message();
282 AFB_DEBUG(debug.c_str());
289 /// @brief Push a message_t into the queue
291 /// @param[in] msg - the const reference message_t object to push into the queue
292 void can_bus_t::push_new_can_message(std::shared_ptr<message_t> msg)
294 can_message_q_.push(msg);
297 /// @brief Return first openxc_VehicleMessage on the queue
299 /// @return a openxc_VehicleMessage containing a decoded can message
300 std::pair<int, openxc_VehicleMessage> can_bus_t::next_vehicle_message()
302 std::pair<int, openxc_VehicleMessage> v_msg;
304 if(! vehicle_message_q_.empty())
306 v_msg = vehicle_message_q_.front();
307 vehicle_message_q_.pop();
308 AFB_DEBUG("next vehicle message poped");
315 /// @brief Push a openxc_VehicleMessage into the queue
317 /// @param[in] v_msg - const reference openxc_VehicleMessage object to push into the queue
318 void can_bus_t::push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg)
320 vehicle_message_q_.push(std::make_pair(subscription_id, v_msg));
323 /// @brief Return the CAN device index from the map
324 /// map are sorted so index depend upon alphabetical sorting.
325 int can_bus_t::get_can_device_index(const std::string& bus_name) const
328 for(const auto& d: can_devices_mapping_)
330 if(d.first == bus_name)
337 /// @brief Return CAN device name from a logical CAN device name gotten from
338 /// the signals.json description file which comes from a CAN databases file in
340 const std::string can_bus_t::get_can_device_name(const std::string& id_name) const
342 std::string ret = "";
343 for(const auto& d: can_devices_mapping_)
345 if(d.first == id_name)