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.
18 #include "can-bus.hpp"
27 #include <sys/ioctl.h>
28 #include <sys/socket.h>
29 #include <json-c/json.h>
30 #include <linux/can/raw.h>
32 #include "can-decoder.hpp"
33 #include "openxc-utils.hpp"
37 #include <afb/afb-binding.h>
40 /********************************************************************************
42 * can_bus_t method implementation
44 *********************************************************************************/
46 * @brief Class constructor
48 * @param struct afb_binding_interface *interface between daemon and binding
49 * @param int file handle to the json configuration file.
51 can_bus_t::can_bus_t(int conf_file)
52 : conf_file_{conf_file}
57 * @brief thread to decoding raw CAN messages.
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.
65 void can_bus_t::can_decode_message()
67 can_message_t can_message;
68 std::vector <CanSignal*> signals;
69 openxc_VehicleMessage vehicle_message;
70 openxc_DynamicField search_key, decoded_message;
76 std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
77 new_can_message_.wait(can_message_lock);
78 can_message = next_can_message();
80 /* First we have to found which CanSignal it is */
81 search_key = build_DynamicField((double)can_message.get_id());
83 find_can_signals(search_key, signals);
85 /* Decoding the message ! Don't kill the messenger ! */
86 for(auto& sig : signals)
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();
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]))
98 decoded_message = decoder.translateSignal(*sig, can_message, get_can_signals());
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);
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();
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.
115 void can_bus_t::can_event_push()
117 openxc_VehicleMessage v_message;
118 openxc_SimpleMessage s_message;
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();
127 s_message = get_simple_message(v_message);
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)]))
133 jo = json_object_new_object();
134 jsonify_simple(s_message, jo);
135 afb_event_push(s[std::string(s_message.name)], jo);
142 * @brief Will initialize threads that will decode
143 * and push subscribed events.
145 void can_bus_t::start_threads()
148 th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
149 if(!th_decoding_.joinable())
150 is_decoding_ = false;
153 th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
154 if(!th_pushing_.joinable())
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.
163 void can_bus_t::stop_threads()
165 is_decoding_ = false;
170 * @brief Will initialize can_bus_dev_t objects after reading
171 * the configuration file passed in the constructor.
173 int can_bus_t::init_can_dev()
175 std::vector<std::string> devices_name;
179 devices_name = read_conf();
181 if (! devices_name.empty())
183 t = devices_name.size();
186 for(const auto& device : devices_name)
188 can_devices_m_[device] = std::make_shared<can_bus_dev_t>(device);
189 if (can_devices_m_[device]->open() == 0)
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);
197 ERROR(binder_interface, "Can't open device %s", device.c_str());
200 NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
203 ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read from configuration file. Did you specify canbus JSON object ?");
208 * @brief read the conf_file_ and will parse json objects
209 * in it searching for canbus objects devices name.
211 * @return Vector of can bus device name string.
213 std::vector<std::string> can_bus_t::read_conf()
215 std::vector<std::string> ret;
216 json_object *jo, *canbus;
220 FILE *fd = fdopen(conf_file_, "r");
223 std::string fd_conf_content;
224 std::fseek(fd, 0, SEEK_END);
225 fd_conf_content.resize(std::ftell(fd));
227 std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
230 DEBUG(binder_interface, "Configuration file content : %s", fd_conf_content.c_str());
231 jo = json_tokener_parse(fd_conf_content.c_str());
233 if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
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
240 * @return true if pushing thread is running, false if not.
243 ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
246 else if (json_object_get_type(canbus) != json_type_array)
248 taxi = json_object_get_string(canbus);
249 DEBUG(binder_interface, "Can bus found: %s", taxi);
250 ret.push_back(std::string(taxi));
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)));
260 ERROR(binder_interface, "Problem at reading the conf file");
266 * @brief return new_can_message_ member
268 * @return return new_can_message_ member
270 std::condition_variable& can_bus_t::get_new_can_message_cv()
272 return new_can_message_cv_;
276 * @brief return can_message_mutex_ member
278 * @return return can_message_mutex_ member
280 std::mutex& can_bus_t::get_can_message_mutex()
282 return can_message_mutex_;
286 * @brief Return first can_message_t on the queue
288 * @return a can_message_t
290 can_message_t can_bus_t::next_can_message()
292 can_message_t can_msg;
294 if(!can_message_q_.empty())
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]);
307 * @brief Push a can_message_t into the queue
309 * @param the const reference can_message_t object to push into the queue
311 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
313 can_message_q_.push(can_msg);
317 * @brief Return first openxc_VehicleMessage on the queue
319 * @return a openxc_VehicleMessage containing a decoded can message
321 openxc_VehicleMessage can_bus_t::next_vehicle_message()
323 openxc_VehicleMessage v_msg;
325 if(! vehicle_message_q_.empty())
327 v_msg = vehicle_message_q_.front();
328 vehicle_message_q_.pop();
329 DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
337 * @brief Push a openxc_VehicleMessage into the queue
339 * @param the const reference openxc_VehicleMessage object to push into the queue
341 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
343 vehicle_message_q_.push(v_msg);
347 * @brief Return a map with the can_bus_dev_t initialized
349 * @return map can_bus_dev_m_ map
351 std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::get_can_devices()
353 return can_devices_m_;
356 /********************************************************************************
358 * can_bus_dev_t method implementation
360 *********************************************************************************/
362 * @brief Class constructor
364 * @param const string representing the device name into the linux /dev tree
366 can_bus_dev_t::can_bus_dev_t(const std::string &dev_name)
367 : device_name_{dev_name}, can_socket_{-1}
372 * @brief Open the can socket and returning it
376 int can_bus_dev_t::open()
378 const int canfd_on = 1;
379 const int timestamp_on = 1;
381 struct timeval timeout;
383 DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_);
384 if (can_socket_ >= 0)
387 can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW);
388 DEBUG(binder_interface, "CAN Handler socket correctly initialized : %d", can_socket_);
390 ERROR(binder_interface, "socket could not be created. Error was : %s", ::strerror(errno));
393 /* Set timeout for read */
394 ::setsockopt(can_socket_, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
395 /* Set timestamp for receveid frame */
396 if (::setsockopt(can_socket_, SOL_SOCKET, SO_TIMESTAMP, ×tamp_on, sizeof(timestamp_on)) < 0)
397 WARNING(binder_interface, "setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
398 DEBUG(binder_interface, "Switch CAN Handler socket to use fd mode");
399 /* try to switch the socket into CAN_FD mode */
400 if (::setsockopt(can_socket_, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
402 NOTICE(binder_interface, "Can not switch into CAN Extended frame format.");
403 is_fdmode_on_ = false;
405 DEBUG(binder_interface, "Correctly set up CAN socket to use FD frames.");
406 is_fdmode_on_ = true;
409 /* Attempts to open a socket to CAN bus */
410 ::strcpy(ifr.ifr_name, device_name_.c_str());
411 DEBUG(binder_interface, "ifr_name is : %s", ifr.ifr_name);
412 if(::ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0)
413 ERROR(binder_interface, "ioctl failed. Error was : %s", strerror(errno));
416 txAddress_.can_family = AF_CAN;
417 txAddress_.can_ifindex = ifr.ifr_ifindex;
419 /* And bind it to txAddress */
420 DEBUG(binder_interface, "Bind the socket");
421 if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
422 ERROR(binder_interface, "Bind failed. %s", strerror(errno));
432 * @brief Open the can socket and returning it
436 int can_bus_dev_t::close()
438 ::close(can_socket_);
444 * @brief Read the can socket and retrieve canfd_frame
446 * @param const struct afb_binding_interface* interface pointer. Used to be able to log
447 * using application framework logger.
449 std::pair<struct canfd_frame&, size_t> can_bus_dev_t::read()
453 struct canfd_frame cfd;
455 /* Test that socket is really opened */
458 ERROR(binder_interface, "read_can: Socket unavailable. Closing thread.");
462 nbytes = ::read(can_socket_, &cfd, CANFD_MTU);
464 /* if we did not fit into CAN sized messages then stop_reading. */
465 if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
467 if (errno == ENETDOWN)
468 ERROR(binder_interface, "read: %s CAN device down", device_name_);
469 ERROR(binder_interface, "read: Incomplete CAN(FD) frame");
470 ::memset(&cfd, 0, sizeof(cfd));
473 DEBUG(binder_interface, "read: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", cfd.can_id, cfd.len,
474 cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]);
475 return std::pair<struct canfd_frame&, size_t>(cfd, nbytes);
479 * @brief start reading threads and set flag is_running_
481 * @param can_bus_t reference can_bus_t. it will be passed to the thread
482 * to allow using can_bus_t queue.
484 void can_bus_dev_t::start_reading(can_bus_t& can_bus)
486 DEBUG(binder_interface, "Launching reading thread");
488 th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
489 if(!th_reading_.joinable())
494 * @brief stop the reading thread setting flag is_running_ to false and
495 * and wait that the thread finish its job.
497 void can_bus_dev_t::stop_reading()
504 * @brief Thread function used to read the can socket.
506 * @param[in] can_bus_dev_t object to be used to read the can socket
507 * @param[in] can_bus_t object used to fill can_message_q_ queue
509 void can_bus_dev_t::can_reader(can_bus_t& can_bus)
511 can_message_t can_message;
515 can_message.convert_from_canfd_frame(read());
518 std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex());
519 can_bus.push_new_can_message(can_message);
521 can_bus.get_new_can_message_cv_().notify_one();
526 * @brief Send a can message from a can_message_t object.
528 * @param const can_message_t& can_msg: the can message object to send
529 * @param const struct afb_binding_interface* interface pointer. Used to be able to log
530 * using application framework logger.
532 int can_bus_dev_t::send_can_message(can_message_t& can_msg)
537 f = can_msg.convert_to_canfd_frame();
541 nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0,
542 (struct sockaddr*)&txAddress_, sizeof(txAddress_));
545 ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
552 ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");