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 <map>
  19 #include <cerrno>
  20 #include <vector>
  21 #include <string>
  22 #include <fcntl.h>
  23 #include <unistd.h>
  24 #include <net/if.h>
  25 #include <sys/ioctl.h>
  26 #include <sys/socket.h>
  27 #include <json-c/json.h>
  28 #include <linux/can/raw.h>
  29
  30 #include "can-bus.hpp"
  31
  32 #include "can-decoder.hpp"
  33 #include "../configuration.hpp"
  34 #include "../utils/signals.hpp"
  35 #include "../utils/openxc-utils.hpp"
  36
  37 extern "C"
  38 {
  39         #include <afb/afb-binding.h>
  40 }
  41
  42 /**
  43 * @brief Class constructor
  44 *
  45 * @param struct afb_binding_interface *interface between daemon and binding
  46 * @param int file handle to the json configuration file.
  47 */
  48 can_bus_t::can_bus_t(int conf_file)
  49         : conf_file_{conf_file}
  50 {
  51 }
  52
  53 std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::can_devices_;
  54
  55 /**
  56  * @brief Will make the decoding operation on a classic CAN message. It will not
  57  * handle CAN commands nor diagnostic messages that have their own method to get
  58  * this happens.
  59  *
  60  * It will add to the vehicle_message queue the decoded message and tell the event push
  61  * thread to process it.
  62  *
  63  * @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
  64  *
  65  * @return How many signals has been decoded.
  66  */
  67 int can_bus_t::process_can_signals(can_message_t& can_message)
  68 {
  69         int processed_signals = 0;
  70         std::vector <can_signal_t*> signals;
  71         openxc_DynamicField search_key, decoded_message;
  72         openxc_VehicleMessage vehicle_message;
  73
  74         /* First we have to found which can_signal_t it is */
  75         search_key = build_DynamicField((double)can_message.get_id());
  76         configuration_t::instance().find_can_signals(search_key, signals);
  77
  78         /* Decoding the message ! Don't kill the messenger ! */
  79         for(auto& sig : signals)
  80         {
  81                 std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
  82                 std::map<std::string, struct afb_event>& s = get_subscribed_signals();
  83
  84                 /* DEBUG message to make easier debugger STL containers...
  85                 DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[sig.generic_name]));
  86                 DEBUG(binder_interface, "Operator[] key string: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[std::string(sig.generic_name)]));
  87                 DEBUG(binder_interface, "Nb elt matched char: %d", (int)s.count(sig.generic_name));
  88                 DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.generic_name)));*/
  89                 if( s.find(sig->get_name()) != s.end() && afb_event_is_valid(s[sig->get_name()]))
  90                 {
  91                         decoded_message = decoder_t::translateSignal(*sig, can_message, configuration_t::instance().get_can_signals());
  92
  93                         openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_generic_name(), decoded_message);
  94                         vehicle_message = build_VehicleMessage(s_message);
  95
  96                         std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
  97                         push_new_vehicle_message(vehicle_message);
  98                         new_decoded_can_message_.notify_one();
  99                         processed_signals++;
 100                 }
 101         }
 102
 103         DEBUG(binder_interface, "process_can_signals: %d/%d CAN signals processed.", processed_signals, (int)signals.size());
 104         return processed_signals;
 105 }
 106
 107 /**
 108  * @brief Will make the decoding operation on a diagnostic CAN message.It will add to
 109  * the vehicle_message queue the decoded message and tell the event push thread to process it.
 110  *
 111  * @param[in] manager - the diagnostic manager object that handle diagnostic communication
 112  * @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
 113  *
 114  * @return How many signals has been decoded.
 115  */
 116 int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message)
 117 {
 118         int processed_signals = 0;
 119
 120         std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
 121         std::map<std::string, struct afb_event>& s = get_subscribed_signals();
 122
 123         openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
 124         if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
 125                 (s.find(vehicle_message.simple_message.name) != s.end() && afb_event_is_valid(s[vehicle_message.simple_message.name])))
 126         {
 127                 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 128                 push_new_vehicle_message(vehicle_message);
 129                 new_decoded_can_message_.notify_one();
 130                 processed_signals++;
 131         }
 132
 133         return processed_signals;
 134 }
 135
 136 /**
 137 * @brief thread to decoding raw CAN messages.
 138 *
 139 * @desc It will take from the can_message_q_ queue the next can message to process then it will search
 140 *  about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
 141 *  subscription has been made. Can message will be decoded using translateSignal that will pass it to the
 142 *  corresponding decoding function if there is one assigned for that signal. If not, it will be the default
 143 *  noopDecoder function that will operate on it.
 144 *
 145 *  Depending on the nature of message, if id match a diagnostic request corresponding id for a response
 146 *  then decoding a diagnostic message else use classic CAN signals decoding functions.
 147 *
 148 *  TODO: make diagnostic messages parsing optionnal.
 149 */
 150 void can_bus_t::can_decode_message()
 151 {
 152         can_message_t can_message;
 153
 154         while(is_decoding_)
 155         {
 156                 std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
 157                 new_can_message_cv_.wait(can_message_lock);
 158                 can_message = next_can_message();
 159
 160                 if(configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
 161                         process_diagnostic_signals(configuration_t::instance().get_diagnostic_manager(), can_message);
 162                 else
 163                         process_can_signals(can_message);
 164         }
 165 }
 166
 167 /**
 168 * @brief thread to push events to suscribers. It will read subscribed_signals map to look
 169 * which are events that has to be pushed.
 170 */
 171 void can_bus_t::can_event_push()
 172 {
 173         openxc_VehicleMessage v_message;
 174         openxc_SimpleMessage s_message;
 175         json_object* jo;
 176
 177         while(is_pushing_)
 178         {
 179                 std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 180                 new_decoded_can_message_.wait(decoded_can_message_lock);
 181                 v_message = next_vehicle_message();
 182
 183                 s_message = get_simple_message(v_message);
 184                 {
 185                         std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
 186                         std::map<std::string, struct afb_event>& s = get_subscribed_signals();
 187                         if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)]))
 188                         {
 189                                 jo = json_object_new_object();
 190                                 jsonify_simple(s_message, jo);
 191                                 afb_event_push(s[std::string(s_message.name)], jo);
 192                         }
 193                 }
 194         }
 195 }
 196
 197 /**
 198 * @brief Will initialize threads that will decode
 199 *  and push subscribed events.
 200 */
 201 void can_bus_t::start_threads()
 202 {
 203         is_decoding_ = true;
 204         th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
 205         if(!th_decoding_.joinable())
 206                 is_decoding_ = false;
 207
 208         is_pushing_ = true;
 209         th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
 210         if(!th_pushing_.joinable())
 211                 is_pushing_ = false;
 212 }
 213
 214 /**
 215 * @brief Will stop all threads holded by can_bus_t object
 216 *  which are decoding and pushing then will wait that's
 217 * they'll finish their job.
 218 */
 219 void can_bus_t::stop_threads()
 220 {
 221         is_decoding_ = false;
 222         is_pushing_ = false;
 223 }
 224
 225 /**
 226 * @brief Will initialize can_bus_dev_t objects after reading
 227 * the configuration file passed in the constructor. All CAN buses
 228 * Initialized here will be added to a vector holding them for
 229 * inventory and later access.
 230 *
 231 * That will initialize CAN socket reading too using a new thread.
 232 */
 233 int can_bus_t::init_can_dev()
 234 {
 235         std::vector<std::string> devices_name;
 236         int i = 0;
 237         size_t t;
 238
 239         devices_name = read_conf();
 240
 241         if (! devices_name.empty())
 242         {
 243                 t = devices_name.size();
 244
 245                 for(const auto& device : devices_name)
 246                 {
 247                         can_bus_t::can_devices_[device] = std::make_shared<can_bus_dev_t>(device, i);
 248                         if (can_bus_t::can_devices_[device]->open() == 0)
 249                         {
 250                                 DEBUG(binder_interface, "Start reading thread");
 251                                 NOTICE(binder_interface, "%s device opened and reading", device.c_str());
 252                                 can_bus_t::can_devices_[device]->start_reading(*this);
 253                                 i++;
 254                         }
 255                         else
 256                                 ERROR(binder_interface, "Can't open device %s", device.c_str());
 257                 }
 258
 259                 NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
 260                 return 0;
 261         }
 262         ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read from configuration file. Did you specify canbus JSON object ?");
 263         return 1;
 264 }
 265
 266 /**
 267 * @brief read the conf_file_ and will parse json objects
 268 * in it searching for canbus objects devices name.
 269 *
 270 * @return Vector of can bus device name string.
 271 */
 272 std::vector<std::string> can_bus_t::read_conf()
 273 {
 274         std::vector<std::string> ret;
 275         json_object *jo, *canbus;
 276         int n, i;
 277         const char* taxi;
 278
 279         FILE *fd = fdopen(conf_file_, "r");
 280         if (fd)
 281         {
 282                 std::string fd_conf_content;
 283                 std::fseek(fd, 0, SEEK_END);
 284                 fd_conf_content.resize(std::ftell(fd));
 285                 std::rewind(fd);
 286                 std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
 287                 std::fclose(fd);
 288
 289                 DEBUG(binder_interface, "Configuration file content : %s", fd_conf_content.c_str());
 290                 jo = json_tokener_parse(fd_conf_content.c_str());
 291
 292                 if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
 293                 {
 294                         ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
 295                         ret.clear();
 296                 }
 297                 else if (json_object_get_type(canbus) != json_type_array)
 298                 {
 299                         taxi = json_object_get_string(canbus);
 300                         DEBUG(binder_interface, "Can bus found: %s", taxi);
 301                         ret.push_back(std::string(taxi));
 302                 }
 303                 else
 304                 {
 305                         n = json_object_array_length(canbus);
 306                         for (i = 0 ; i < n ; i++)
 307                                 ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
 308                 }
 309                 return ret;
 310         }
 311         ERROR(binder_interface, "Problem at reading the conf file");
 312         ret.clear();
 313         return ret;
 314 }
 315
 316 /**
 317 * @brief return new_can_message_cv_ member
 318 *
 319 * @return  return new_can_message_cv_ member
 320 */
 321 std::condition_variable& can_bus_t::get_new_can_message_cv()
 322 {
 323         return new_can_message_cv_;
 324 }
 325
 326 /**
 327 * @brief return can_message_mutex_ member
 328 *
 329 * @return  return can_message_mutex_ member
 330 */
 331 std::mutex& can_bus_t::get_can_message_mutex()
 332 {
 333         return can_message_mutex_;
 334 }
 335
 336 /**
 337 * @brief Return first can_message_t on the queue
 338 *
 339 * @return a can_message_t
 340 */
 341 can_message_t can_bus_t::next_can_message()
 342 {
 343         can_message_t can_msg;
 344
 345         if(!can_message_q_.empty())
 346         {
 347                 can_msg = can_message_q_.front();
 348                 can_message_q_.pop();
 349                 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(),
 350                         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]);
 351                 return can_msg;
 352         }
 353
 354         return can_msg;
 355 }
 356
 357 /**
 358 * @brief Push a can_message_t into the queue
 359 *
 360 * @param the const reference can_message_t object to push into the queue
 361 */
 362 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
 363 {
 364         can_message_q_.push(can_msg);
 365 }
 366
 367 /**
 368 * @brief Return first openxc_VehicleMessage on the queue
 369 *
 370 * @return a openxc_VehicleMessage containing a decoded can message
 371 */
 372 openxc_VehicleMessage can_bus_t::next_vehicle_message()
 373 {
 374         openxc_VehicleMessage v_msg;
 375
 376         if(! vehicle_message_q_.empty())
 377         {
 378                 v_msg = vehicle_message_q_.front();
 379                 vehicle_message_q_.pop();
 380                 DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
 381                 return v_msg;
 382         }
 383
 384         return v_msg;
 385 }
 386
 387 /**
 388 * @brief Push a openxc_VehicleMessage into the queue
 389 *
 390 * @param the const reference openxc_VehicleMessage object to push into the queue
 391 */
 392 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
 393 {
 394         vehicle_message_q_.push(v_msg);
 395 }
 396
 397 /**
 398 * @brief Return a map with the can_bus_dev_t initialized
 399 *
 400 * @return map can_bus_dev_m_ map
 401 */
 402 const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const
 403 {
 404         return can_bus_t::can_devices_;
 405 }
 406
 407 /**
 408 * @brief Return the shared pointer on the can_bus_dev_t initialized
 409 * with device_name "bus"
 410 *
 411 * @param[in] bus - CAN bus device name to retrieve.
 412 *
 413 * @return A shared pointer on an object can_bus_dev_t
 414 */
 415 std::shared_ptr<can_bus_dev_t> can_bus_t::get_can_device(std::string bus)
 416 {
 417         return can_bus_t::can_devices_[bus];
 418 }