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 <utility>
  22 #include <mutex>
  23 #include <queue>
  24 #include <thread>
  25 #include <linux/can.h>
  26 #include <condition_variable>
  27
  28 #include "openxc.pb.h"
  29 #include "can-message.hpp"
  30 #include "../utils/config-parser.hpp"
  31 #include "../binding/low-can-subscription.hpp"
  32
  33 // TODO actual max is 32 but dropped to 24 for memory considerations
  34 #define MAX_ACCEPTANCE_FILTERS 24
  35 // TODO this takes up a ton of memory
  36 #define MAX_DYNAMIC_MESSAGE_COUNT 12
  37
  38 #define CAN_ACTIVE_TIMEOUT_S 30
  39
  40 class diagnostic_manager_t;
  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         bool apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription);
  55         void process_can_signals(const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
  56         void process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
  57
  58         void can_decode_message();
  59         std::thread th_decoding_; ///< thread that'll handle decoding a can frame
  60         bool is_decoding_ = false; ///< boolean member controling thread while loop
  61
  62         void can_event_push();
  63         std::thread th_pushing_; ///< thread that'll handle pushing decoded can frame to subscribers
  64         bool is_pushing_ = false; ///< boolean member controling thread while loop
  65
  66         std::condition_variable new_can_message_cv_; ///< condition_variable use to wait until there is a new CAN message to read
  67         std::mutex can_message_mutex_; ///< mutex protecting the can_message_q_ queue.
  68         std::queue <can_message_t> can_message_q_; ///< queue that'll store can_message_t to decoded
  69
  70         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_
  71         std::mutex decoded_can_message_mutex_;  ///< mutex protecting the vehicle_message_q_ queue.
  72         std::queue <std::pair<int, openxc_VehicleMessage> > vehicle_message_q_; ///< queue that'll store openxc_VehicleMessage to pushed
  73
  74         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.
  75 public:
  76         explicit can_bus_t(utils::config_parser_t conf_file);
  77         can_bus_t(can_bus_t&&);
  78
  79         void set_can_devices();
  80         int get_can_device_index(const std::string& bus_name) const;
  81         const std::string get_can_device_name(const std::string& id_name) const;
  82
  83         void start_threads();
  84         void stop_threads();
  85
  86         const can_message_t next_can_message();
  87         void push_new_can_message(const can_message_t& can_msg);
  88         std::mutex& get_can_message_mutex();
  89         std::condition_variable& get_new_can_message_cv();
  90
  91         std::pair<int, openxc_VehicleMessage> next_vehicle_message();
  92         void push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg);
  93 };