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 /**
  54  * @brief Will make the decoding operation on a classic CAN message. It will not
  55  * handle CAN commands nor diagnostic messages that have their own method to get
  56  * this happens.
  57  *
  58  * It will add to the vehicle_message queue the decoded message and tell the event push
  59  * thread to process it.
  60  *
  61  * @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
  62  *
  63  * @return How many signals has been decoded.
  64  */
  65 int can_bus_t::process_can_signals(can_message_t& can_message)
  66 {
  67         int processed_signals = 0;
  68         std::vector <can_signal_t*> signals;
  69         openxc_DynamicField search_key, decoded_message;
  70         openxc_VehicleMessage vehicle_message;
  71
  72         /* First we have to found which can_signal_t it is */
  73         search_key = build_DynamicField((double)can_message.get_id());
  74         signals.clear();
  75         configuration_t::instance().find_can_signals(search_key, signals);
  76
  77         /* Decoding the message ! Don't kill the messenger ! */
  78         for(auto& sig : signals)
  79         {
  80                 std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
  81                 std::map<std::string, struct afb_event>& s = get_subscribed_signals();
  82
  83                 /* DEBUG message to make easier debugger STL containers...
  84                 DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[sig.generic_name]));
  85                 DEBUG(binder_interface, "Operator[] key string: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[std::string(sig.generic_name)]));
  86                 DEBUG(binder_interface, "Nb elt matched char: %d", (int)s.count(sig.generic_name));
  87                 DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.generic_name)));*/
  88                 if( s.find(sig->get_name()) != s.end() && afb_event_is_valid(s[sig->get_name()]))
  89                 {
  90                         decoded_message = decoder_t::translateSignal(*sig, can_message, configuration_t::instance().get_can_signals());
  91
  92                         openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_generic_name(), decoded_message);
  93                         vehicle_message = build_VehicleMessage(s_message);
  94
  95                         std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
  96                         push_new_vehicle_message(vehicle_message);
  97                         new_decoded_can_message_.notify_one();
  98                         processed_signals++;
  99                 }
 100         }
 101
 102         DEBUG(binder_interface, "process_can_signals: %d/%d CAN signals processed.", processed_signals, (int)signals.size());
 103         return processed_signals;
 104 }
 105
 106 /**
 107  * @brief Will make the decoding operation on a diagnostic CAN message.It will add to
 108  * the vehicle_message queue the decoded message and tell the event push thread to process it.
 109  *
 110  * @param[in] entry - an active_diagnostic_request_t object that made the request
 111  * about that diagnostic CAN message.
 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(active_diagnostic_request_t* entry, const can_message_t& can_message)
 117 {
 118         int processed_signals = 0;
 119         openxc_VehicleMessage vehicle_message;
 120
 121         diagnostic_manager_t& manager = configuration_t::instance().get_diagnostic_manager();
 122
 123         std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
 124         std::map<std::string, struct afb_event>& s = get_subscribed_signals();
 125
 126         if( s.find(entry->get_name()) != s.end() && afb_event_is_valid(s[entry->get_name()]))
 127         {
 128                 if(manager.get_can_bus_dev() == entry->get_can_bus_dev() && entry->get_in_flight())
 129                 {
 130                         DiagnosticResponse response = diagnostic_receive_can_frame(
 131                                         // TODO: openXC todo task: eek, is bus address and array index this tightly coupled?
 132                                         &manager.get_shims(),
 133                                         entry->get_handle(), can_message.get_id(), can_message.get_data(), can_message.get_length());
 134                         if(response.completed && entry->get_handle()->completed)
 135                         {
 136                                 if(entry->get_handle()->success)
 137                                 {
 138                                         vehicle_message = manager.relay_diagnostic_response(entry, response);
 139                                         std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 140                                         push_new_vehicle_message(vehicle_message);
 141                                         new_decoded_can_message_.notify_one();
 142                                         processed_signals++;
 143                                 }
 144                                 else
 145                                         DEBUG(binder_interface, "process_diagnostic_signals: Fatal error sending or receiving diagnostic request");
 146                         }
 147                         else if(!response.completed && response.multi_frame)
 148                                 // Reset the timeout clock while completing the multi-frame receive
 149                                 entry->get_timeout_clock().tick();
 150                 }
 151         }
 152
 153         return processed_signals;
 154 }
 155
 156 /**
 157 * @brief thread to decoding raw CAN messages.
 158 *
 159 * @desc It will take from the can_message_q_ queue the next can message to process then it will search
 160 *  about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
 161 *  subscription has been made. Can message will be decoded using translateSignal that will pass it to the
 162 *  corresponding decoding function if there is one assigned for that signal. If not, it will be the default
 163 *  noopDecoder function that will operate on it.
 164 *
 165 *  Depending on the nature of message, if id match a diagnostic request corresponding id for a response
 166 *  then decoding a diagnostic message else use classic CAN signals decoding functions.
 167 *
 168 *  TODO: make diagnostic messages parsing optionnal.
 169 */
 170 void can_bus_t::can_decode_message()
 171 {
 172         can_message_t can_message;
 173
 174         while(is_decoding_)
 175         {
 176                 std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
 177                 new_can_message_cv_.wait(can_message_lock);
 178                 can_message = next_can_message();
 179
 180                 active_diagnostic_request_t* adr = configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message);
 181                 if(adr != nullptr)
 182                         process_diagnostic_signals(adr, can_message);
 183                 else
 184                         process_can_signals(can_message);
 185         }
 186 }
 187
 188 /**
 189 * @brief thread to push events to suscribers. It will read subscribed_signals map to look
 190 * which are events that has to be pushed.
 191 */
 192 void can_bus_t::can_event_push()
 193 {
 194         openxc_VehicleMessage v_message;
 195         openxc_SimpleMessage s_message;
 196         json_object* jo;
 197
 198         while(is_pushing_)
 199         {
 200                 std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 201                 new_decoded_can_message_.wait(decoded_can_message_lock);
 202                 v_message = next_vehicle_message();
 203
 204                 s_message = get_simple_message(v_message);
 205                 {
 206                         std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
 207                         std::map<std::string, struct afb_event>& s = get_subscribed_signals();
 208                         if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)]))
 209                         {
 210                                 jo = json_object_new_object();
 211                                 jsonify_simple(s_message, jo);
 212                                 afb_event_push(s[std::string(s_message.name)], jo);
 213                         }
 214                 }
 215         }
 216 }
 217
 218 /**
 219 * @brief Will initialize threads that will decode
 220 *  and push subscribed events.
 221 */
 222 void can_bus_t::start_threads()
 223 {
 224         is_decoding_ = true;
 225         th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
 226         if(!th_decoding_.joinable())
 227                 is_decoding_ = false;
 228
 229         is_pushing_ = true;
 230         th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
 231         if(!th_pushing_.joinable())
 232                 is_pushing_ = false;
 233 }
 234
 235 /**
 236 * @brief Will stop all threads holded by can_bus_t object
 237 *  which are decoding and pushing then will wait that's
 238 * they'll finish their job.
 239 */
 240 void can_bus_t::stop_threads()
 241 {
 242         is_decoding_ = false;
 243         is_pushing_ = false;
 244 }
 245
 246 /**
 247 * @brief Will initialize can_bus_dev_t objects after reading
 248 * the configuration file passed in the constructor. All CAN buses
 249 * Initialized here will be added to a vector holding them for
 250 * inventory and later access.
 251 *
 252 * That will initialize CAN socket reading too using a new thread.
 253 */
 254 int can_bus_t::init_can_dev()
 255 {
 256         std::vector<std::string> devices_name;
 257         int i;
 258         size_t t;
 259
 260         devices_name = read_conf();
 261
 262         if (! devices_name.empty())
 263         {
 264                 t = devices_name.size();
 265                 i=0;
 266
 267                 for(const auto& device : devices_name)
 268                 {
 269                         can_devices_.push_back(std::make_shared<can_bus_dev_t>(device, i));
 270                         if (can_devices_[i]->open() == 0)
 271                         {
 272                                 DEBUG(binder_interface, "Start reading thread");
 273                                 NOTICE(binder_interface, "%s device opened and reading", device.c_str());
 274                                 can_devices_[i]->start_reading(*this);
 275                         }
 276                         else
 277                                 ERROR(binder_interface, "Can't open device %s", device.c_str());
 278                         i++;
 279                 }
 280
 281                 NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
 282                 return 0;
 283         }
 284         ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read from configuration file. Did you specify canbus JSON object ?");
 285         return 1;
 286 }
 287
 288 /**
 289 * @brief read the conf_file_ and will parse json objects
 290 * in it searching for canbus objects devices name.
 291 *
 292 * @return Vector of can bus device name string.
 293 */
 294 std::vector<std::string> can_bus_t::read_conf()
 295 {
 296         std::vector<std::string> ret;
 297         json_object *jo, *canbus;
 298         int n, i;
 299         const char* taxi;
 300
 301         FILE *fd = fdopen(conf_file_, "r");
 302         if (fd)
 303         {
 304                 std::string fd_conf_content;
 305                 std::fseek(fd, 0, SEEK_END);
 306                 fd_conf_content.resize(std::ftell(fd));
 307                 std::rewind(fd);
 308                 std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
 309                 std::fclose(fd);
 310
 311                 DEBUG(binder_interface, "Configuration file content : %s", fd_conf_content.c_str());
 312                 jo = json_tokener_parse(fd_conf_content.c_str());
 313
 314                 if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
 315                 {
 316                         ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
 317                         ret.clear();
 318                 }
 319                 else if (json_object_get_type(canbus) != json_type_array)
 320                 {
 321                         taxi = json_object_get_string(canbus);
 322                         DEBUG(binder_interface, "Can bus found: %s", taxi);
 323                         ret.push_back(std::string(taxi));
 324                 }
 325                 else
 326                 {
 327                         n = json_object_array_length(canbus);
 328                         for (i = 0 ; i < n ; i++)
 329                                 ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
 330                 }
 331                 return ret;
 332         }
 333         ERROR(binder_interface, "Problem at reading the conf file");
 334         ret.clear();
 335         return ret;
 336 }
 337
 338 /**
 339 * @brief return new_can_message_cv_ member
 340 *
 341 * @return  return new_can_message_cv_ member
 342 */
 343 std::condition_variable& can_bus_t::get_new_can_message_cv()
 344 {
 345         return new_can_message_cv_;
 346 }
 347
 348 /**
 349 * @brief return can_message_mutex_ member
 350 *
 351 * @return  return can_message_mutex_ member
 352 */
 353 std::mutex& can_bus_t::get_can_message_mutex()
 354 {
 355         return can_message_mutex_;
 356 }
 357
 358 /**
 359 * @brief Return first can_message_t on the queue
 360 *
 361 * @return a can_message_t
 362 */
 363 can_message_t can_bus_t::next_can_message()
 364 {
 365         can_message_t can_msg;
 366
 367         if(!can_message_q_.empty())
 368         {
 369                 can_msg = can_message_q_.front();
 370                 can_message_q_.pop();
 371                 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(),
 372                         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]);
 373                 return can_msg;
 374         }
 375
 376         return can_msg;
 377 }
 378
 379 /**
 380 * @brief Push a can_message_t into the queue
 381 *
 382 * @param the const reference can_message_t object to push into the queue
 383 */
 384 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
 385 {
 386         can_message_q_.push(can_msg);
 387 }
 388
 389 /**
 390 * @brief Return first openxc_VehicleMessage on the queue
 391 *
 392 * @return a openxc_VehicleMessage containing a decoded can message
 393 */
 394 openxc_VehicleMessage can_bus_t::next_vehicle_message()
 395 {
 396         openxc_VehicleMessage v_msg;
 397
 398         if(! vehicle_message_q_.empty())
 399         {
 400                 v_msg = vehicle_message_q_.front();
 401                 vehicle_message_q_.pop();
 402                 DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
 403                 return v_msg;
 404         }
 405
 406         return v_msg;
 407 }
 408
 409 /**
 410 * @brief Push a openxc_VehicleMessage into the queue
 411 *
 412 * @param the const reference openxc_VehicleMessage object to push into the queue
 413 */
 414 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
 415 {
 416         vehicle_message_q_.push(v_msg);
 417 }
 418
 419 /**
 420 * @brief Return a map with the can_bus_dev_t initialized
 421 *
 422 * @return map can_bus_dev_m_ map
 423 */
 424 const std::vector<std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const
 425 {
 426         return can_devices_;
 427 }