2 * Copyright (C) 2015, 2016, 2017, 2018, 2019 "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>
27 #include "openxc.pb.h"
28 #include "message/can-message.hpp"
29 #include "../binding/low-can-subscription.hpp"
31 #define CAN_ACTIVE_TIMEOUT_S 30
33 class diagnostic_manager_t;
35 /// @brief Object used to handle decoding and manage event queue to be pushed.
37 /// This object is also used to initialize can_bus_dev_t object after reading
38 /// json conf file describing the CAN devices to use. Thus, those object will read
39 /// on the device the CAN frame and push them into the can_bus_t can_message_q_ queue.
41 /// That queue will later be decoded and pushed to subscribers.
45 bool apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription);
46 void process_signals(std::shared_ptr<message_t> message, map_subscription& s);
47 void process_diagnostic_signals(diagnostic_manager_t& manager, std::shared_ptr<message_t> can_message, map_subscription& s);
49 void can_decode_message();
50 std::thread th_decoding_; ///< thread that will handle decoding a can frame
51 bool is_decoding_ = false; ///< boolean member controling thread while loop
53 void can_event_push();
54 std::thread th_pushing_; ///< thread that will handle pushing decoded can frame to subscribers
55 bool is_pushing_ = false; ///< boolean member controling thread while loop
57 std::condition_variable new_can_message_cv_; ///< condition_variable use to wait until there is a new CAN message to read
58 std::mutex can_message_mutex_; ///< mutex protecting the can_message_q_ queue.
59 std::queue <std::shared_ptr<message_t>> can_message_q_; ///< queue that will store can_message_t to be decoded
61 std::condition_variable new_decoded_can_message_; ///< condition_variable use to wait until there is a new vehicle message
62 /// to read from the queue vehicle_message_q_
63 std::mutex decoded_can_message_mutex_; ///< mutex protecting the vehicle_message_q_ queue.
64 std::queue <std::pair<int, openxc_VehicleMessage> > vehicle_message_q_; ///< queue that will store openxc_VehicleMessage to be pushed
66 std::vector<std::pair<std::string, std::string> > can_devices_mapping_; ///< can_devices_mapping_ - holds a mapping between logical CAN devices names and linux CAN devices names.
69 can_bus_t(can_bus_t&&);
72 void set_can_devices(json_object *mapping);
74 int get_can_device_index(const std::string& bus_name) const;
75 const std::string get_can_device_name(const std::string& id_name) const;
80 std::shared_ptr<message_t> next_can_message();
81 void push_new_can_message(std::shared_ptr<message_t> can_msg);
82 std::mutex& get_can_message_mutex();
83 std::condition_variable& get_new_can_message_cv();
85 std::pair<int, openxc_VehicleMessage> next_vehicle_message();
86 void push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg);