src/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 "can/can-bus.hpp"
  19
  20 #include <map>
  21 #include <cerrno>
  22 #include <vector>
  23 #include <string>
  24 #include <fcntl.h>
  25 #include <unistd.h>
  26 #include <net/if.h>
  27 #include <sys/ioctl.h>
  28 #include <sys/socket.h>
  29 #include <json-c/json.h>
  30 #include <linux/can/raw.h>
  31
  32 #include "can/can-decoder.hpp"
  33 #include "utils/openxc-utils.hpp"
  34 #include "obd2/diagnostic-manager.hpp"
  35
  36 extern "C"
  37 {
  38         #include <afb/afb-binding.h>
  39 }
  40
  41 /********************************************************************************
  42 *
  43 *               can_bus_t method implementation
  44 *
  45 *********************************************************************************/
  46 /**
  47 * @brief Class constructor
  48 *
  49 * @param struct afb_binding_interface *interface between daemon and binding
  50 * @param int file handle to the json configuration file.
  51 */
  52 can_bus_t::can_bus_t(int conf_file)
  53         : conf_file_{conf_file}
  54 {
  55 }
  56
  57 /**
  58 * @brief thread to decoding raw CAN messages.
  59 *
  60 * @desc It will take from the can_message_q_ queue the next can message to process then it will search
  61 *  about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
  62 *  subscription has been made. Can message will be decoded using translateSignal that will pass it to the
  63 *  corresponding decoding function if there is one assigned for that signal. If not, it will be the default
  64 *  noopDecoder function that will operate on it.
  65 */
  66 void can_bus_t::can_decode_message()
  67 {
  68         can_message_t can_message;
  69         std::vector <CanSignal*> signals;
  70         openxc_VehicleMessage vehicle_message;
  71         openxc_DynamicField search_key, decoded_message;
  72
  73         decoder_t decoder;
  74
  75         while(is_decoding_)
  76         {
  77                 std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
  78                 new_can_message_cv_.wait(can_message_lock);
  79                 can_message = next_can_message();
  80
  81                 /* First we have to found which CanSignal it is */
  82                 search_key = build_DynamicField((double)can_message.get_id());
  83                 signals.clear();
  84                 find_can_signals(search_key, signals);
  85
  86                 /* Decoding the message ! Don't kill the messenger ! */
  87                 for(auto& sig : signals)
  88                 {
  89                         std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
  90                         std::map<std::string, struct afb_event>& s = get_subscribed_signals();
  91
  92                         /* DEBUG message to make easier debugger STL containers...
  93                         DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[sig.generic_name]));
  94                         DEBUG(binder_interface, "Operator[] key string: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[std::string(sig.generic_name)]));
  95                         DEBUG(binder_interface, "Nb elt matched char: %d", (int)s.count(sig.generic_name));
  96                         DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.generic_name))); */
  97                         if( s.find(sig->generic_name) != s.end() && afb_event_is_valid(s[sig->generic_name]))
  98                         {
  99                                 decoded_message = decoder.translateSignal(*sig, can_message, get_can_signals());
 100
 101                                 openxc_SimpleMessage s_message = build_SimpleMessage(sig->generic_name, decoded_message);
 102                                 vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message);
 103
 104                                 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 105                                 push_new_vehicle_message(vehicle_message);
 106                                 new_decoded_can_message_.notify_one();
 107                         }
 108                 }
 109         }
 110 }
 111
 112 /**
 113 * @brief thread to push events to suscribers. It will read subscribed_signals map to look
 114 * which are events that has to be pushed.
 115 */
 116 void can_bus_t::can_event_push()
 117 {
 118         openxc_VehicleMessage v_message;
 119         openxc_SimpleMessage s_message;
 120         json_object* jo;
 121
 122         while(is_pushing_)
 123         {
 124                 std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 125                 new_decoded_can_message_.wait(decoded_can_message_lock);
 126                 v_message = next_vehicle_message();
 127
 128                 s_message = get_simple_message(v_message);
 129                 {
 130                         std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
 131                         std::map<std::string, struct afb_event>& s = get_subscribed_signals();
 132                         if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)]))
 133                         {
 134                                 jo = json_object_new_object();
 135                                 jsonify_simple(s_message, jo);
 136                                 afb_event_push(s[std::string(s_message.name)], jo);
 137                         }
 138                 }
 139         }
 140 }
 141
 142 /**
 143         * @brief Will initialize threads that will decode
 144         *  and push subscribed events.
 145         */
 146 void can_bus_t::start_threads()
 147 {
 148         is_decoding_ = true;
 149         th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
 150         if(!th_decoding_.joinable())
 151                 is_decoding_ = false;
 152
 153         is_pushing_ = true;
 154         th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
 155         if(!th_pushing_.joinable())
 156                 is_pushing_ = false;
 157 }
 158
 159 /**
 160 * @brief Will stop all threads holded by can_bus_t object
 161 *  which are decoding and pushing then will wait that's
 162 * they'll finish their job.
 163 */
 164 void can_bus_t::stop_threads()
 165 {
 166         is_decoding_ = false;
 167         is_pushing_ = false;
 168 }
 169
 170 /**
 171 * @brief Will initialize can_bus_dev_t objects after reading
 172 * the configuration file passed in the constructor.
 173 */
 174 int can_bus_t::init_can_dev()
 175 {
 176         std::vector<std::string> devices_name;
 177         int i;
 178         size_t t;
 179
 180         devices_name = read_conf();
 181
 182         if (! devices_name.empty())
 183         {
 184                 t = devices_name.size();
 185                 i=0;
 186
 187                 for(const auto& device : devices_name)
 188                 {
 189                         can_devices_m_[device] = std::make_shared<can_bus_dev_t>(device);
 190                         if (can_devices_m_[device]->open() == 0)
 191                         {
 192                                 i++;
 193                                 DEBUG(binder_interface, "Start reading thread");
 194                                 NOTICE(binder_interface, "%s device opened and reading", device.c_str());
 195                                 can_devices_m_[device]->start_reading(*this);
 196                         }
 197                         else
 198                                 ERROR(binder_interface, "Can't open device %s", device.c_str());
 199                 }
 200
 201                 NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
 202                 return 0;
 203         }
 204         ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read from configuration file. Did you specify canbus JSON object ?");
 205         return 1;
 206 }
 207
 208 /**
 209 * @brief read the conf_file_ and will parse json objects
 210 * in it searching for canbus objects devices name.
 211 *
 212 * @return Vector of can bus device name string.
 213 */
 214 std::vector<std::string> can_bus_t::read_conf()
 215 {
 216         std::vector<std::string> ret;
 217         json_object *jo, *canbus;
 218         int n, i;
 219         const char* taxi;
 220
 221         FILE *fd = fdopen(conf_file_, "r");
 222         if (fd)
 223         {
 224                 std::string fd_conf_content;
 225                 std::fseek(fd, 0, SEEK_END);
 226                 fd_conf_content.resize(std::ftell(fd));
 227                 std::rewind(fd);
 228                 std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
 229                 std::fclose(fd);
 230
 231                 DEBUG(binder_interface, "Configuration file content : %s", fd_conf_content.c_str());
 232                 jo = json_tokener_parse(fd_conf_content.c_str());
 233
 234                 if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
 235                 {/**
 236 * @brief Telling if the pushing thread is running
 237 *  This is the boolean value on which the while loop
 238 *  take its condition. Set it to false will stop the
 239 *  according thread.
 240 *
 241 * @return true if pushing thread is running, false if not.
 242 */
 243
 244                         ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
 245                         ret.clear();
 246                 }
 247                 else if (json_object_get_type(canbus) != json_type_array)
 248                 {
 249                         taxi = json_object_get_string(canbus);
 250                         DEBUG(binder_interface, "Can bus found: %s", taxi);
 251                         ret.push_back(std::string(taxi));
 252                 }
 253                 else
 254                 {
 255                         n = json_object_array_length(canbus);
 256                         for (i = 0 ; i < n ; i++)
 257                                 ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
 258                 }
 259                 return ret;
 260         }
 261         ERROR(binder_interface, "Problem at reading the conf file");
 262         ret.clear();
 263         return ret;
 264 }
 265
 266 /**
 267 * @brief return new_can_message_cv_ member
 268 *
 269 * @return  return new_can_message_cv_ member
 270 */
 271 std::condition_variable& can_bus_t::get_new_can_message_cv()
 272 {
 273         return new_can_message_cv_;
 274 }
 275
 276 /**
 277 * @brief return can_message_mutex_ member
 278 *
 279 * @return  return can_message_mutex_ member
 280 */
 281 std::mutex& can_bus_t::get_can_message_mutex()
 282 {
 283         return can_message_mutex_;
 284 }
 285
 286 /**
 287 * @brief Return first can_message_t on the queue
 288 *
 289 * @return a can_message_t
 290 */
 291 can_message_t can_bus_t::next_can_message()
 292 {
 293         can_message_t can_msg;
 294
 295         if(!can_message_q_.empty())
 296         {
 297                 can_msg = can_message_q_.front();
 298                 can_message_q_.pop();
 299                 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(),
 300                         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]);
 301                 return can_msg;
 302         }
 303
 304         return can_msg;
 305 }
 306
 307 /**
 308 * @brief Push a can_message_t into the queue
 309 *
 310 * @param the const reference can_message_t object to push into the queue
 311 */
 312 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
 313 {
 314         can_message_q_.push(can_msg);
 315 }
 316
 317 /**
 318 * @brief Return first openxc_VehicleMessage on the queue
 319 *
 320 * @return a openxc_VehicleMessage containing a decoded can message
 321 */
 322 openxc_VehicleMessage can_bus_t::next_vehicle_message()
 323 {
 324         openxc_VehicleMessage v_msg;
 325
 326         if(! vehicle_message_q_.empty())
 327         {
 328                 v_msg = vehicle_message_q_.front();
 329                 vehicle_message_q_.pop();
 330                 DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
 331                 return v_msg;
 332         }
 333
 334         return v_msg;
 335 }
 336
 337 /**
 338 * @brief Push a openxc_VehicleMessage into the queue
 339 *
 340 * @param the const reference openxc_VehicleMessage object to push into the queue
 341 */
 342 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
 343 {
 344         vehicle_message_q_.push(v_msg);
 345 }
 346
 347 /**
 348 * @brief Return a map with the can_bus_dev_t initialized
 349 *
 350 * @return map can_bus_dev_m_ map
 351 */
 352 std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::get_can_devices()
 353 {
 354         return can_devices_m_;
 355 }
 356
 357 /********************************************************************************
 358 *
 359 *               can_bus_dev_t method implementation
 360 *
 361 *********************************************************************************/
 362 /**
 363 * @brief Class constructor
 364 *
 365 * @param const string representing the device name into the linux /dev tree
 366 */
 367 can_bus_dev_t::can_bus_dev_t(const std::string& dev_name)
 368         : device_name_{dev_name}, can_socket_{-1}, diagnostic_manager_{diagnostic_manager_t(*this)}
 369 {}
 370
 371 /**
 372 * @brief Open the can socket and returning it
 373 *
 374 * @return
 375 */
 376 int can_bus_dev_t::open()
 377 {
 378         const int canfd_on = 1;
 379         const int timestamp_on = 1;
 380         struct ifreq ifr;
 381         struct timeval timeout;
 382
 383         DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_);
 384         if (can_socket_ >= 0)
 385                 return 0;
 386
 387         can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW);
 388         DEBUG(binder_interface, "CAN Handler socket correctly initialized : %d", can_socket_);
 389         if (can_socket_ < 0)
 390                 ERROR(binder_interface, "socket could not be created. Error was : %s", ::strerror(errno));
 391         else
 392         {
 393                 /* Set timeout for read */
 394                 ::setsockopt(can_socket_, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
 395                 /* Set timestamp for receveid frame */
 396                 if (::setsockopt(can_socket_, SOL_SOCKET, SO_TIMESTAMP, &timestamp_on, sizeof(timestamp_on)) < 0)
 397                         WARNING(binder_interface, "setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
 398                 DEBUG(binder_interface, "Switch CAN Handler socket to use fd mode");
 399                 /* try to switch the socket into CAN_FD mode */
 400                 if (::setsockopt(can_socket_, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
 401                 {
 402                         NOTICE(binder_interface, "Can not switch into CAN Extended frame format.");
 403                         is_fdmode_on_ = false;
 404                 } else {
 405                         DEBUG(binder_interface, "Correctly set up CAN socket to use FD frames.");
 406                         is_fdmode_on_ = true;
 407                 }
 408
 409                 /* Attempts to open a socket to CAN bus */
 410                 ::strcpy(ifr.ifr_name, device_name_.c_str());
 411                 DEBUG(binder_interface, "ifr_name is : %s", ifr.ifr_name);
 412                 if(::ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0)
 413                         ERROR(binder_interface, "ioctl failed. Error was : %s", strerror(errno));
 414                 else
 415                 {
 416                         txAddress_.can_family = AF_CAN;
 417                         txAddress_.can_ifindex = ifr.ifr_ifindex;
 418
 419                         /* And bind it to txAddress */
 420                         DEBUG(binder_interface, "Bind the socket");
 421                         if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
 422                                 ERROR(binder_interface, "Bind failed. %s", strerror(errno));
 423                         else
 424                                 return 0;
 425                 }
 426                 close();
 427         }
 428         return -1;
 429 }
 430
 431 /**
 432         * @brief Open the can socket and returning it
 433         *
 434         * @return
 435         */
 436 int can_bus_dev_t::close()
 437 {
 438         ::close(can_socket_);
 439         can_socket_ = -1;
 440         return can_socket_;
 441 }
 442
 443 /**
 444 * @brief Read the can socket and retrieve canfd_frame
 445 *
 446 * @param const struct afb_binding_interface* interface pointer. Used to be able to log
 447 *  using application framework logger.
 448 */
 449 std::pair<struct canfd_frame&, size_t> can_bus_dev_t::read()
 450 {
 451         ssize_t nbytes;
 452         //int maxdlen;
 453         struct canfd_frame cfd;
 454
 455         /* Test that socket is really opened */
 456         if (can_socket_ < 0)
 457         {
 458                 ERROR(binder_interface, "read_can: Socket unavailable. Closing thread.");
 459                 is_running_ = false;
 460         }
 461
 462         nbytes = ::read(can_socket_, &cfd, CANFD_MTU);
 463
 464         /* if we did not fit into CAN sized messages then stop_reading. */
 465         if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
 466         {
 467                 if (errno == ENETDOWN)
 468                         ERROR(binder_interface, "read: %s CAN device down", device_name_);
 469                 ERROR(binder_interface, "read: Incomplete CAN(FD) frame");
 470                 ::memset(&cfd, 0, sizeof(cfd));
 471         }
 472
 473         DEBUG(binder_interface, "read: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", cfd.can_id, cfd.len,
 474                                                         cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]);
 475         return std::pair<struct canfd_frame&, size_t>(cfd, nbytes);
 476 }
 477
 478 /**
 479 * @brief start reading threads and set flag is_running_
 480 *
 481 * @param can_bus_t reference can_bus_t. it will be passed to the thread
 482 *  to allow using can_bus_t queue.
 483 */
 484 void can_bus_dev_t::start_reading(can_bus_t& can_bus)
 485 {
 486         DEBUG(binder_interface, "Launching reading thread");
 487         is_running_ = true;
 488         th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
 489         if(!th_reading_.joinable())
 490                 is_running_ = false;
 491 }
 492
 493 /**
 494 * @brief stop the reading thread setting flag is_running_ to false and
 495 * and wait that the thread finish its job.
 496 */
 497 void can_bus_dev_t::stop_reading()
 498 {
 499         is_running_ = false;
 500 }
 501
 502 /**
 503 *
 504 * @brief Thread function used to read the can socket.
 505 *
 506 * @param[in] can_bus_dev_t object to be used to read the can socket
 507 * @param[in] can_bus_t object used to fill can_message_q_ queue
 508 */
 509 void can_bus_dev_t::can_reader(can_bus_t& can_bus)
 510 {
 511         can_message_t can_message;
 512
 513         while(is_running_)
 514         {
 515                 can_message.convert_from_canfd_frame(read());
 516
 517                 {
 518                         std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex());
 519                         can_bus.push_new_can_message(can_message);
 520                 }
 521                 can_bus.get_new_can_message_cv().notify_one();
 522         }
 523 }
 524
 525 /**
 526 * @brief Send a can message from a can_message_t object.
 527 *
 528 * @param const can_message_t& can_msg: the can message object to send
 529 * @param const struct afb_binding_interface* interface pointer. Used to be able to log
 530 *  using application framework logger.
 531 */
 532 int can_bus_dev_t::send_can_message(can_message_t& can_msg)
 533 {
 534         ssize_t nbytes;
 535         canfd_frame f;
 536
 537         f = can_msg.convert_to_canfd_frame();
 538
 539         if(can_socket_ >= 0)
 540         {
 541                 nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0,
 542                                 (struct sockaddr*)&txAddress_, sizeof(txAddress_));
 543                 if (nbytes == -1)
 544                 {
 545                         ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
 546                         return -1;
 547                 }
 548                 return (int)nbytes;
 549         }
 550         else
 551         {
 552                 ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
 553                 open();
 554         }
 555         return 0;
 556 }