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 /**
  55 * @brief thread to decoding raw CAN messages.
  56 *
  57 * @desc It will take from the can_message_q_ queue the next can message to process then it will search
  58 *  about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
  59 *  subscription has been made. Can message will be decoded using translateSignal that will pass it to the
  60 *  corresponding decoding function if there is one assigned for that signal. If not, it will be the default
  61 *  noopDecoder function that will operate on it.
  62 */
  63 void can_bus_t::can_decode_message()
  64 {
  65         can_message_t can_message;
  66         std::vector <can_signal_t*> signals;
  67         openxc_VehicleMessage vehicle_message;
  68         openxc_DynamicField search_key, decoded_message;
  69
  70         while(is_decoding_)
  71         {
  72                 std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
  73                 new_can_message_cv_.wait(can_message_lock);
  74                 can_message = next_can_message();
  75
  76                 /* First we have to found which can_signal_t it is */
  77                 search_key = build_DynamicField((double)can_message.get_id());
  78                 signals.clear();
  79                 configuration_t::instance().find_can_signals(search_key, signals);
  80
  81                 /* Decoding the message ! Don't kill the messenger ! */
  82                 for(auto& sig : signals)
  83                 {
  84                         std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
  85                         std::map<std::string, struct afb_event>& s = get_subscribed_signals();
  86
  87                         /* DEBUG message to make easier debugger STL containers...
  88                         DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[sig.generic_name]));
  89                         DEBUG(binder_interface, "Operator[] key string: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[std::string(sig.generic_name)]));
  90                         DEBUG(binder_interface, "Nb elt matched char: %d", (int)s.count(sig.generic_name));
  91                         DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.generic_name)));*/
  92                         if( s.find(sig->get_name()) != s.end() && afb_event_is_valid(s[sig->get_name()]))
  93                         {
  94                                 decoded_message = decoder_t::translateSignal(*sig, can_message, configuration_t::instance().get_can_signals());
  95
  96                                 openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_generic_name(), decoded_message);
  97                                 vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message);
  98
  99                                 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 100                                 push_new_vehicle_message(vehicle_message);
 101                                 new_decoded_can_message_.notify_one();
 102                         }
 103                 }
 104         }
 105 }
 106
 107 /**
 108 * @brief thread to push events to suscribers. It will read subscribed_signals map to look
 109 * which are events that has to be pushed.
 110 */
 111 void can_bus_t::can_event_push()
 112 {
 113         openxc_VehicleMessage v_message;
 114         openxc_SimpleMessage s_message;
 115         json_object* jo;
 116
 117         while(is_pushing_)
 118         {
 119                 std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 120                 new_decoded_can_message_.wait(decoded_can_message_lock);
 121                 v_message = next_vehicle_message();
 122
 123                 s_message = get_simple_message(v_message);
 124                 {
 125                         std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
 126                         std::map<std::string, struct afb_event>& s = get_subscribed_signals();
 127                         if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)]))
 128                         {
 129                                 jo = json_object_new_object();
 130                                 jsonify_simple(s_message, jo);
 131                                 afb_event_push(s[std::string(s_message.name)], jo);
 132                         }
 133                 }
 134         }
 135 }
 136
 137 /**
 138         * @brief Will initialize threads that will decode
 139         *  and push subscribed events.
 140         */
 141 void can_bus_t::start_threads()
 142 {
 143         is_decoding_ = true;
 144         th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
 145         if(!th_decoding_.joinable())
 146                 is_decoding_ = false;
 147
 148         is_pushing_ = true;
 149         th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
 150         if(!th_pushing_.joinable())
 151                 is_pushing_ = false;
 152 }
 153
 154 /**
 155 * @brief Will stop all threads holded by can_bus_t object
 156 *  which are decoding and pushing then will wait that's
 157 * they'll finish their job.
 158 */
 159 void can_bus_t::stop_threads()
 160 {
 161         is_decoding_ = false;
 162         is_pushing_ = false;
 163 }
 164
 165 /**
 166 * @brief Will initialize can_bus_dev_t objects after reading
 167 * the configuration file passed in the constructor.
 168 */
 169 int can_bus_t::init_can_dev()
 170 {
 171         std::vector<std::string> devices_name;
 172         int i;
 173         size_t t;
 174
 175         devices_name = read_conf();
 176
 177         if (! devices_name.empty())
 178         {
 179                 t = devices_name.size();
 180                 i=0;
 181
 182                 for(const auto& device : devices_name)
 183                 {
 184                         can_devices_.push_back(std::make_shared<can_bus_dev_t>(device, i));
 185                         if (can_devices_[i]->open() == 0)
 186                         {
 187                                 DEBUG(binder_interface, "Start reading thread");
 188                                 NOTICE(binder_interface, "%s device opened and reading", device.c_str());
 189                                 can_devices_[i]->start_reading(*this);
 190                         }
 191                         else
 192                                 ERROR(binder_interface, "Can't open device %s", device.c_str());
 193                         i++;
 194                 }
 195
 196                 NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
 197                 return 0;
 198         }
 199         ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read from configuration file. Did you specify canbus JSON object ?");
 200         return 1;
 201 }
 202
 203 /**
 204 * @brief read the conf_file_ and will parse json objects
 205 * in it searching for canbus objects devices name.
 206 *
 207 * @return Vector of can bus device name string.
 208 */
 209 std::vector<std::string> can_bus_t::read_conf()
 210 {
 211         std::vector<std::string> ret;
 212         json_object *jo, *canbus;
 213         int n, i;
 214         const char* taxi;
 215
 216         FILE *fd = fdopen(conf_file_, "r");
 217         if (fd)
 218         {
 219                 std::string fd_conf_content;
 220                 std::fseek(fd, 0, SEEK_END);
 221                 fd_conf_content.resize(std::ftell(fd));
 222                 std::rewind(fd);
 223                 std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
 224                 std::fclose(fd);
 225
 226                 DEBUG(binder_interface, "Configuration file content : %s", fd_conf_content.c_str());
 227                 jo = json_tokener_parse(fd_conf_content.c_str());
 228
 229                 if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
 230                 {
 231                         ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
 232                         ret.clear();
 233                 }
 234                 else if (json_object_get_type(canbus) != json_type_array)
 235                 {
 236                         taxi = json_object_get_string(canbus);
 237                         DEBUG(binder_interface, "Can bus found: %s", taxi);
 238                         ret.push_back(std::string(taxi));
 239                 }
 240                 else
 241                 {
 242                         n = json_object_array_length(canbus);
 243                         for (i = 0 ; i < n ; i++)
 244                                 ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
 245                 }
 246                 return ret;
 247         }
 248         ERROR(binder_interface, "Problem at reading the conf file");
 249         ret.clear();
 250         return ret;
 251 }
 252
 253 /**
 254 * @brief return new_can_message_cv_ member
 255 *
 256 * @return  return new_can_message_cv_ member
 257 */
 258 std::condition_variable& can_bus_t::get_new_can_message_cv()
 259 {
 260         return new_can_message_cv_;
 261 }
 262
 263 /**
 264 * @brief return can_message_mutex_ member
 265 *
 266 * @return  return can_message_mutex_ member
 267 */
 268 std::mutex& can_bus_t::get_can_message_mutex()
 269 {
 270         return can_message_mutex_;
 271 }
 272
 273 /**
 274 * @brief Return first can_message_t on the queue
 275 *
 276 * @return a can_message_t
 277 */
 278 can_message_t can_bus_t::next_can_message()
 279 {
 280         can_message_t can_msg;
 281
 282         if(!can_message_q_.empty())
 283         {
 284                 can_msg = can_message_q_.front();
 285                 can_message_q_.pop();
 286                 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(),
 287                         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]);
 288                 return can_msg;
 289         }
 290
 291         return can_msg;
 292 }
 293
 294 /**
 295 * @brief Push a can_message_t into the queue
 296 *
 297 * @param the const reference can_message_t object to push into the queue
 298 */
 299 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
 300 {
 301         can_message_q_.push(can_msg);
 302 }
 303
 304 /**
 305 * @brief Return first openxc_VehicleMessage on the queue
 306 *
 307 * @return a openxc_VehicleMessage containing a decoded can message
 308 */
 309 openxc_VehicleMessage can_bus_t::next_vehicle_message()
 310 {
 311         openxc_VehicleMessage v_msg;
 312
 313         if(! vehicle_message_q_.empty())
 314         {
 315                 v_msg = vehicle_message_q_.front();
 316                 vehicle_message_q_.pop();
 317                 DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
 318                 return v_msg;
 319         }
 320
 321         return v_msg;
 322 }
 323
 324 /**
 325 * @brief Push a openxc_VehicleMessage into the queue
 326 *
 327 * @param the const reference openxc_VehicleMessage object to push into the queue
 328 */
 329 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
 330 {
 331         vehicle_message_q_.push(v_msg);
 332 }
 333
 334 /**
 335 * @brief Return a map with the can_bus_dev_t initialized
 336 *
 337 * @return map can_bus_dev_m_ map
 338 */
 339 const std::vector<std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const
 340 {
 341         return can_devices_;
 342 }