2 * Copyright (C) 2015, 2016 "IoT.bzh"
3 * Author "Romain Forlot" <romain.forlot@iot.bzh>
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
9 * http://www.apache.org/licenses/LICENSE-2.0
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.
25 #include <sys/ioctl.h>
26 #include <sys/socket.h>
27 #include <json-c/json.h>
28 #include <linux/can/raw.h>
30 #include "can-bus.hpp"
32 #include "can-signals.hpp"
33 #include "can-decoder.hpp"
34 #include "../configuration.hpp"
35 #include "../utils/signals.hpp"
36 #include "../utils/openxc-utils.hpp"
40 #include <afb/afb-binding.h>
44 * @brief Class constructor
46 * @param struct afb_binding_interface *interface between daemon and binding
47 * @param int file handle to the json configuration file.
49 can_bus_t::can_bus_t(int conf_file)
50 : conf_file_{conf_file}
54 std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::can_devices_;
57 * @brief Will make the decoding operation on a classic CAN message. It will not
58 * handle CAN commands nor diagnostic messages that have their own method to get
61 * It will add to the vehicle_message queue the decoded message and tell the event push
62 * thread to process it.
64 * @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
66 * @return How many signals has been decoded.
68 int can_bus_t::process_can_signals(can_message_t& can_message)
70 int processed_signals = 0;
71 std::vector <can_signal_t*> signals;
72 openxc_DynamicField search_key, decoded_message;
73 openxc_VehicleMessage vehicle_message;
75 /* First we have to found which can_signal_t it is */
76 search_key = build_DynamicField((double)can_message.get_id());
77 configuration_t::instance().find_can_signals(search_key, signals);
79 /* Decoding the message ! Don't kill the messenger ! */
80 for(auto& sig : signals)
82 std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
83 std::map<std::string, struct afb_event>& s = get_subscribed_signals();
85 /* DEBUG message to make easier debugger STL containers...
86 DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[sig.generic_name]));
87 DEBUG(binder_interface, "Operator[] key string: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[std::string(sig.generic_name)]));
88 DEBUG(binder_interface, "Nb elt matched char: %d", (int)s.count(sig.generic_name));
89 DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.generic_name)));*/
90 if( s.find(sig->get_name()) != s.end() && afb_event_is_valid(s[sig->get_name()]))
92 decoded_message = decoder_t::translateSignal(*sig, can_message, configuration_t::instance().get_can_signals());
94 openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
95 vehicle_message = build_VehicleMessage(s_message);
97 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
98 push_new_vehicle_message(vehicle_message);
99 new_decoded_can_message_.notify_one();
104 DEBUG(binder_interface, "process_can_signals: %d/%d CAN signals processed.", processed_signals, (int)signals.size());
105 return processed_signals;
109 * @brief Will make the decoding operation on a diagnostic CAN message.It will add to
110 * the vehicle_message queue the decoded message and tell the event push thread to process it.
112 * @param[in] manager - the diagnostic manager object that handle diagnostic communication
113 * @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
115 * @return How many signals has been decoded.
117 int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message)
119 int processed_signals = 0;
121 std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
122 std::map<std::string, struct afb_event>& s = get_subscribed_signals();
124 openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
125 if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
126 (s.find(vehicle_message.simple_message.name) != s.end() && afb_event_is_valid(s[vehicle_message.simple_message.name])))
128 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
129 push_new_vehicle_message(vehicle_message);
130 new_decoded_can_message_.notify_one();
134 return processed_signals;
138 * @brief thread to decoding raw CAN messages.
140 * @desc It will take from the can_message_q_ queue the next can message to process then it will search
141 * about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
142 * subscription has been made. Can message will be decoded using translateSignal that will pass it to the
143 * corresponding decoding function if there is one assigned for that signal. If not, it will be the default
144 * noopDecoder function that will operate on it.
146 * Depending on the nature of message, if id match a diagnostic request corresponding id for a response
147 * then decoding a diagnostic message else use classic CAN signals decoding functions.
149 * TODO: make diagnostic messages parsing optionnal.
151 void can_bus_t::can_decode_message()
153 can_message_t can_message;
157 std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
158 new_can_message_cv_.wait(can_message_lock);
159 can_message = next_can_message();
161 if(configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
162 process_diagnostic_signals(configuration_t::instance().get_diagnostic_manager(), can_message);
164 process_can_signals(can_message);
169 * @brief thread to push events to suscribers. It will read subscribed_signals map to look
170 * which are events that has to be pushed.
172 void can_bus_t::can_event_push()
174 openxc_VehicleMessage v_message;
175 openxc_SimpleMessage s_message;
180 std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
181 new_decoded_can_message_.wait(decoded_can_message_lock);
182 v_message = next_vehicle_message();
184 s_message = get_simple_message(v_message);
186 std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
187 std::map<std::string, struct afb_event>& s = get_subscribed_signals();
188 if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)]))
190 jo = json_object_new_object();
191 jsonify_simple(s_message, jo);
192 afb_event_push(s[std::string(s_message.name)], jo);
199 * @brief Will initialize threads that will decode
200 * and push subscribed events.
202 void can_bus_t::start_threads()
205 th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
206 if(!th_decoding_.joinable())
207 is_decoding_ = false;
210 th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
211 if(!th_pushing_.joinable())
216 * @brief Will stop all threads holded by can_bus_t object
217 * which are decoding and pushing then will wait that's
218 * they'll finish their job.
220 void can_bus_t::stop_threads()
222 is_decoding_ = false;
227 * @brief Will initialize can_bus_dev_t objects after reading
228 * the configuration file passed in the constructor. All CAN buses
229 * Initialized here will be added to a vector holding them for
230 * inventory and later access.
232 * That will initialize CAN socket reading too using a new thread.
234 int can_bus_t::init_can_dev()
236 std::vector<std::string> devices_name;
240 devices_name = read_conf();
242 if (! devices_name.empty())
244 t = devices_name.size();
246 for(const auto& device : devices_name)
248 can_bus_t::can_devices_[device] = std::make_shared<can_bus_dev_t>(device, i);
249 if (can_bus_t::can_devices_[device]->open() == 0)
251 DEBUG(binder_interface, "Start reading thread");
252 NOTICE(binder_interface, "%s device opened and reading", device.c_str());
253 can_bus_t::can_devices_[device]->start_reading(*this);
257 ERROR(binder_interface, "Can't open device %s", device.c_str());
260 NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
263 ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read from configuration file. Did you specify canbus JSON object ?");
268 * @brief read the conf_file_ and will parse json objects
269 * in it searching for canbus objects devices name.
271 * @return Vector of can bus device name string.
273 std::vector<std::string> can_bus_t::read_conf()
275 std::vector<std::string> ret;
276 json_object *jo, *canbus;
280 FILE *fd = fdopen(conf_file_, "r");
283 std::string fd_conf_content;
284 std::fseek(fd, 0, SEEK_END);
285 fd_conf_content.resize(std::ftell(fd));
287 std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
290 DEBUG(binder_interface, "Configuration file content : %s", fd_conf_content.c_str());
291 jo = json_tokener_parse(fd_conf_content.c_str());
293 if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
295 ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
298 else if (json_object_get_type(canbus) != json_type_array)
300 taxi = json_object_get_string(canbus);
301 DEBUG(binder_interface, "Can bus found: %s", taxi);
302 ret.push_back(std::string(taxi));
306 n = json_object_array_length(canbus);
307 for (i = 0 ; i < n ; i++)
308 ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
312 ERROR(binder_interface, "Problem at reading the conf file");
318 * @brief return new_can_message_cv_ member
320 * @return return new_can_message_cv_ member
322 std::condition_variable& can_bus_t::get_new_can_message_cv()
324 return new_can_message_cv_;
328 * @brief return can_message_mutex_ member
330 * @return return can_message_mutex_ member
332 std::mutex& can_bus_t::get_can_message_mutex()
334 return can_message_mutex_;
338 * @brief Return first can_message_t on the queue
340 * @return a can_message_t
342 can_message_t can_bus_t::next_can_message()
344 can_message_t can_msg;
346 if(!can_message_q_.empty())
348 can_msg = can_message_q_.front();
349 can_message_q_.pop();
350 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(),
351 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]);
359 * @brief Push a can_message_t into the queue
361 * @param the const reference can_message_t object to push into the queue
363 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
365 can_message_q_.push(can_msg);
369 * @brief Return first openxc_VehicleMessage on the queue
371 * @return a openxc_VehicleMessage containing a decoded can message
373 openxc_VehicleMessage can_bus_t::next_vehicle_message()
375 openxc_VehicleMessage v_msg;
377 if(! vehicle_message_q_.empty())
379 v_msg = vehicle_message_q_.front();
380 vehicle_message_q_.pop();
381 DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
389 * @brief Push a openxc_VehicleMessage into the queue
391 * @param the const reference openxc_VehicleMessage object to push into the queue
393 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
395 vehicle_message_q_.push(v_msg);
399 * @brief Return a map with the can_bus_dev_t initialized
401 * @return map can_bus_dev_m_ map
403 const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const
405 return can_bus_t::can_devices_;
409 * @brief Return the shared pointer on the can_bus_dev_t initialized
410 * with device_name "bus"
412 * @param[in] bus - CAN bus device name to retrieve.
414 * @return A shared pointer on an object can_bus_dev_t
416 std::shared_ptr<can_bus_dev_t> can_bus_t::get_can_device(std::string bus)
418 return can_bus_t::can_devices_[bus];