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}
53 std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::can_devices_;
56 * @brief Will make the decoding operation on a classic CAN message. It will not
57 * handle CAN commands nor diagnostic messages that have their own method to get
60 * It will add to the vehicle_message queue the decoded message and tell the event push
61 * thread to process it.
63 * @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
65 * @return How many signals has been decoded.
67 int can_bus_t::process_can_signals(can_message_t& can_message)
69 int processed_signals = 0;
70 std::vector <can_signal_t*> signals;
71 openxc_DynamicField search_key, decoded_message;
72 openxc_VehicleMessage vehicle_message;
74 /* First we have to found which can_signal_t it is */
75 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_generic_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] entry - an active_diagnostic_request_t object that made the request
113 * about that diagnostic CAN message.
114 * @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
116 * @return How many signals has been decoded.
118 int can_bus_t::process_diagnostic_signals(active_diagnostic_request_t* entry, const can_message_t& can_message)
120 int processed_signals = 0;
121 openxc_VehicleMessage vehicle_message;
123 diagnostic_manager_t& manager = configuration_t::instance().get_diagnostic_manager();
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();
128 if( s.find(entry->get_name()) != s.end() && afb_event_is_valid(s[entry->get_name()]))
130 if(manager.get_can_bus_dev() == entry->get_can_bus_dev() && entry->get_in_flight())
132 DiagnosticResponse response = diagnostic_receive_can_frame(
133 // TODO: openXC todo task: eek, is bus address and array index this tightly coupled?
134 &manager.get_shims(),
135 entry->get_handle(), can_message.get_id(), can_message.get_data(), can_message.get_length());
136 if(response.completed && entry->get_handle()->completed)
138 if(entry->get_handle()->success)
140 vehicle_message = manager.relay_diagnostic_response(entry, response);
141 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
142 push_new_vehicle_message(vehicle_message);
143 new_decoded_can_message_.notify_one();
147 DEBUG(binder_interface, "process_diagnostic_signals: Fatal error sending or receiving diagnostic request");
149 else if(!response.completed && response.multi_frame)
150 // Reset the timeout clock while completing the multi-frame receive
151 entry->get_timeout_clock().tick();
155 return processed_signals;
159 * @brief thread to decoding raw CAN messages.
161 * @desc It will take from the can_message_q_ queue the next can message to process then it will search
162 * about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
163 * subscription has been made. Can message will be decoded using translateSignal that will pass it to the
164 * corresponding decoding function if there is one assigned for that signal. If not, it will be the default
165 * noopDecoder function that will operate on it.
167 * Depending on the nature of message, if id match a diagnostic request corresponding id for a response
168 * then decoding a diagnostic message else use classic CAN signals decoding functions.
170 * TODO: make diagnostic messages parsing optionnal.
172 void can_bus_t::can_decode_message()
174 can_message_t can_message;
178 std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
179 new_can_message_cv_.wait(can_message_lock);
180 can_message = next_can_message();
182 active_diagnostic_request_t* adr = configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message);
184 process_diagnostic_signals(adr, can_message);
186 process_can_signals(can_message);
191 * @brief thread to push events to suscribers. It will read subscribed_signals map to look
192 * which are events that has to be pushed.
194 void can_bus_t::can_event_push()
196 openxc_VehicleMessage v_message;
197 openxc_SimpleMessage s_message;
202 std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
203 new_decoded_can_message_.wait(decoded_can_message_lock);
204 v_message = next_vehicle_message();
206 s_message = get_simple_message(v_message);
208 std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
209 std::map<std::string, struct afb_event>& s = get_subscribed_signals();
210 if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)]))
212 jo = json_object_new_object();
213 jsonify_simple(s_message, jo);
214 afb_event_push(s[std::string(s_message.name)], jo);
221 * @brief Will initialize threads that will decode
222 * and push subscribed events.
224 void can_bus_t::start_threads()
227 th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
228 if(!th_decoding_.joinable())
229 is_decoding_ = false;
232 th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
233 if(!th_pushing_.joinable())
238 * @brief Will stop all threads holded by can_bus_t object
239 * which are decoding and pushing then will wait that's
240 * they'll finish their job.
242 void can_bus_t::stop_threads()
244 is_decoding_ = false;
249 * @brief Will initialize can_bus_dev_t objects after reading
250 * the configuration file passed in the constructor. All CAN buses
251 * Initialized here will be added to a vector holding them for
252 * inventory and later access.
254 * That will initialize CAN socket reading too using a new thread.
256 int can_bus_t::init_can_dev()
258 std::vector<std::string> devices_name;
262 devices_name = read_conf();
264 if (! devices_name.empty())
266 t = devices_name.size();
268 for(const auto& device : devices_name)
270 can_bus_t::can_devices_[device] = std::make_shared<can_bus_dev_t>(device, i);
271 if (can_bus_t::can_devices_[device]->open() == 0)
273 DEBUG(binder_interface, "Start reading thread");
274 NOTICE(binder_interface, "%s device opened and reading", device.c_str());
275 can_bus_t::can_devices_[device]->start_reading(*this);
279 ERROR(binder_interface, "Can't open device %s", device.c_str());
282 NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
285 ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read from configuration file. Did you specify canbus JSON object ?");
290 * @brief read the conf_file_ and will parse json objects
291 * in it searching for canbus objects devices name.
293 * @return Vector of can bus device name string.
295 std::vector<std::string> can_bus_t::read_conf()
297 std::vector<std::string> ret;
298 json_object *jo, *canbus;
302 FILE *fd = fdopen(conf_file_, "r");
305 std::string fd_conf_content;
306 std::fseek(fd, 0, SEEK_END);
307 fd_conf_content.resize(std::ftell(fd));
309 std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
312 DEBUG(binder_interface, "Configuration file content : %s", fd_conf_content.c_str());
313 jo = json_tokener_parse(fd_conf_content.c_str());
315 if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
317 ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
320 else if (json_object_get_type(canbus) != json_type_array)
322 taxi = json_object_get_string(canbus);
323 DEBUG(binder_interface, "Can bus found: %s", taxi);
324 ret.push_back(std::string(taxi));
328 n = json_object_array_length(canbus);
329 for (i = 0 ; i < n ; i++)
330 ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
334 ERROR(binder_interface, "Problem at reading the conf file");
340 * @brief return new_can_message_cv_ member
342 * @return return new_can_message_cv_ member
344 std::condition_variable& can_bus_t::get_new_can_message_cv()
346 return new_can_message_cv_;
350 * @brief return can_message_mutex_ member
352 * @return return can_message_mutex_ member
354 std::mutex& can_bus_t::get_can_message_mutex()
356 return can_message_mutex_;
360 * @brief Return first can_message_t on the queue
362 * @return a can_message_t
364 can_message_t can_bus_t::next_can_message()
366 can_message_t can_msg;
368 if(!can_message_q_.empty())
370 can_msg = can_message_q_.front();
371 can_message_q_.pop();
372 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(),
373 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]);
381 * @brief Push a can_message_t into the queue
383 * @param the const reference can_message_t object to push into the queue
385 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
387 can_message_q_.push(can_msg);
391 * @brief Return first openxc_VehicleMessage on the queue
393 * @return a openxc_VehicleMessage containing a decoded can message
395 openxc_VehicleMessage can_bus_t::next_vehicle_message()
397 openxc_VehicleMessage v_msg;
399 if(! vehicle_message_q_.empty())
401 v_msg = vehicle_message_q_.front();
402 vehicle_message_q_.pop();
403 DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
411 * @brief Push a openxc_VehicleMessage into the queue
413 * @param the const reference openxc_VehicleMessage object to push into the queue
415 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
417 vehicle_message_q_.push(v_msg);
421 * @brief Return a map with the can_bus_dev_t initialized
423 * @return map can_bus_dev_m_ map
425 const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const
427 return can_bus_t::can_devices_;
431 * @brief Return the shared pointer on the can_bus_dev_t initialized
432 * with device_name "bus"
434 * @param[in] bus - CAN bus device name to retrieve.
436 * @return A shared pointer on an object can_bus_dev_t
438 std::shared_ptr<can_bus_dev_t> can_bus_t::get_can_device(std::string bus)
440 return can_bus_t::can_devices_[bus];