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-decoder.hpp"
33 #include "../configuration.hpp"
34 #include "../utils/signals.hpp"
35 #include "../utils/openxc-utils.hpp"
39 #include <afb/afb-binding.h>
43 * @brief Class constructor
45 * @param struct afb_binding_interface *interface between daemon and binding
46 * @param int file handle to the json configuration file.
48 can_bus_t::can_bus_t(int conf_file)
49 : conf_file_{conf_file}
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
58 * It will add to the vehicle_message queue the decoded message and tell the event push
59 * thread to process it.
61 * @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
63 * @return How many signals has been decoded.
65 int can_bus_t::process_can_signals(can_message_t& can_message)
67 int processed_signals = 0;
68 std::vector <can_signal_t*> signals;
69 openxc_DynamicField search_key, decoded_message;
70 openxc_VehicleMessage vehicle_message;
72 /* First we have to found which can_signal_t it is */
73 search_key = build_DynamicField((double)can_message.get_id());
75 configuration_t::instance().find_can_signals(search_key, signals);
77 /* Decoding the message ! Don't kill the messenger ! */
78 for(auto& sig : signals)
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();
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()]))
90 decoded_message = decoder_t::translateSignal(*sig, can_message, configuration_t::instance().get_can_signals());
92 openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_generic_name(), decoded_message);
93 vehicle_message = build_VehicleMessage(s_message);
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();
102 DEBUG(binder_interface, "process_can_signals: %d/%d CAN signals processed.", processed_signals, (int)signals.size());
103 return processed_signals;
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.
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.
114 * @return How many signals has been decoded.
116 int can_bus_t::process_diagnostic_signals(active_diagnostic_request_t* entry, const can_message_t& can_message)
118 int processed_signals = 0;
119 openxc_VehicleMessage vehicle_message;
121 diagnostic_manager_t& manager = configuration_t::instance().get_diagnostic_manager();
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();
126 if( s.find(entry->get_name()) != s.end() && afb_event_is_valid(s[entry->get_name()]))
128 if(manager.get_can_bus_dev() == entry->get_can_bus_dev() && entry->get_in_flight())
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)
136 if(entry->get_handle()->success)
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();
145 DEBUG(binder_interface, "process_diagnostic_signals: Fatal error sending or receiving diagnostic request");
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();
153 return processed_signals;
157 * @brief thread to decoding raw CAN messages.
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.
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.
168 * TODO: make diagnostic messages parsing optionnal.
170 void can_bus_t::can_decode_message()
172 can_message_t can_message;
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();
180 active_diagnostic_request_t* adr = configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message);
182 process_diagnostic_signals(adr, can_message);
184 process_can_signals(can_message);
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.
192 void can_bus_t::can_event_push()
194 openxc_VehicleMessage v_message;
195 openxc_SimpleMessage s_message;
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();
204 s_message = get_simple_message(v_message);
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)]))
210 jo = json_object_new_object();
211 jsonify_simple(s_message, jo);
212 afb_event_push(s[std::string(s_message.name)], jo);
219 * @brief Will initialize threads that will decode
220 * and push subscribed events.
222 void can_bus_t::start_threads()
225 th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
226 if(!th_decoding_.joinable())
227 is_decoding_ = false;
230 th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
231 if(!th_pushing_.joinable())
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.
240 void can_bus_t::stop_threads()
242 is_decoding_ = false;
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.
252 * That will initialize CAN socket reading too using a new thread.
254 int can_bus_t::init_can_dev()
256 std::vector<std::string> devices_name;
260 devices_name = read_conf();
262 if (! devices_name.empty())
264 t = devices_name.size();
267 for(const auto& device : devices_name)
269 can_devices_.push_back(std::make_shared<can_bus_dev_t>(device, i));
270 if (can_devices_[i]->open() == 0)
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);
277 ERROR(binder_interface, "Can't open device %s", device.c_str());
281 NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
284 ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read from configuration file. Did you specify canbus JSON object ?");
289 * @brief read the conf_file_ and will parse json objects
290 * in it searching for canbus objects devices name.
292 * @return Vector of can bus device name string.
294 std::vector<std::string> can_bus_t::read_conf()
296 std::vector<std::string> ret;
297 json_object *jo, *canbus;
301 FILE *fd = fdopen(conf_file_, "r");
304 std::string fd_conf_content;
305 std::fseek(fd, 0, SEEK_END);
306 fd_conf_content.resize(std::ftell(fd));
308 std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
311 DEBUG(binder_interface, "Configuration file content : %s", fd_conf_content.c_str());
312 jo = json_tokener_parse(fd_conf_content.c_str());
314 if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
316 ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
319 else if (json_object_get_type(canbus) != json_type_array)
321 taxi = json_object_get_string(canbus);
322 DEBUG(binder_interface, "Can bus found: %s", taxi);
323 ret.push_back(std::string(taxi));
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)));
333 ERROR(binder_interface, "Problem at reading the conf file");
339 * @brief return new_can_message_cv_ member
341 * @return return new_can_message_cv_ member
343 std::condition_variable& can_bus_t::get_new_can_message_cv()
345 return new_can_message_cv_;
349 * @brief return can_message_mutex_ member
351 * @return return can_message_mutex_ member
353 std::mutex& can_bus_t::get_can_message_mutex()
355 return can_message_mutex_;
359 * @brief Return first can_message_t on the queue
361 * @return a can_message_t
363 can_message_t can_bus_t::next_can_message()
365 can_message_t can_msg;
367 if(!can_message_q_.empty())
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]);
380 * @brief Push a can_message_t into the queue
382 * @param the const reference can_message_t object to push into the queue
384 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
386 can_message_q_.push(can_msg);
390 * @brief Return first openxc_VehicleMessage on the queue
392 * @return a openxc_VehicleMessage containing a decoded can message
394 openxc_VehicleMessage can_bus_t::next_vehicle_message()
396 openxc_VehicleMessage v_msg;
398 if(! vehicle_message_q_.empty())
400 v_msg = vehicle_message_q_.front();
401 vehicle_message_q_.pop();
402 DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
410 * @brief Push a openxc_VehicleMessage into the queue
412 * @param the const reference openxc_VehicleMessage object to push into the queue
414 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
416 vehicle_message_q_.push(v_msg);
420 * @brief Return a map with the can_bus_dev_t initialized
422 * @return map can_bus_dev_m_ map
424 const std::vector<std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const