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