2 * Copyright (C) 2015, 2016, 2017 "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>
28 #include "openxc.pb.h"
29 #include "can-message.hpp"
30 #include "../utils/config-parser.hpp"
31 #include "../binding/low-can-subscription.hpp"
33 #define CAN_ACTIVE_TIMEOUT_S 30
35 class diagnostic_manager_t;
37 /// @brief Object used to handle decoding and manage event queue to be pushed.
39 /// This object is also used to initialize can_bus_dev_t object after reading
40 /// json conf file describing the CAN devices to use. Thus, those object will read
41 /// on the device the CAN frame and push them into the can_bus_t can_message_q_ queue.
43 /// That queue will later be decoded and pushed to subscribers.
47 utils::config_parser_t conf_file_; ///< configuration file handle used to initialize can_bus_dev_t objects.
49 bool apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription);
50 void process_can_signals(const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
51 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);
53 void can_decode_message();
54 std::thread th_decoding_; ///< thread that will handle decoding a can frame
55 bool is_decoding_ = false; ///< boolean member controling thread while loop
57 void can_event_push();
58 std::thread th_pushing_; ///< thread that will handle pushing decoded can frame to subscribers
59 bool is_pushing_ = false; ///< boolean member controling thread while loop
61 std::condition_variable new_can_message_cv_; ///< condition_variable use to wait until there is a new CAN message to read
62 std::mutex can_message_mutex_; ///< mutex protecting the can_message_q_ queue.
63 std::queue <can_message_t> can_message_q_; ///< queue that will store can_message_t to be decoded
65 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_
66 std::mutex decoded_can_message_mutex_; ///< mutex protecting the vehicle_message_q_ queue.
67 std::queue <std::pair<int, openxc_VehicleMessage> > vehicle_message_q_; ///< queue that will store openxc_VehicleMessage to be pushed
69 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.
71 explicit can_bus_t(utils::config_parser_t conf_file);
72 can_bus_t(can_bus_t&&);
75 void set_can_devices();
76 int get_can_device_index(const std::string& bus_name) const;
77 const std::string get_can_device_name(const std::string& id_name) const;
82 const can_message_t next_can_message();
83 void push_new_can_message(const can_message_t& can_msg);
84 std::mutex& get_can_message_mutex();
85 std::condition_variable& get_new_can_message_cv();
87 std::pair<int, openxc_VehicleMessage> next_vehicle_message();
88 void push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg);