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 int can_bus_t::process_can_signals(can_message_t& can_message)
  55 {
  56         int processed_signals = 0;
  57         std::vector <can_signal_t*> signals;
  58         openxc_DynamicField search_key, decoded_message;
  59         openxc_VehicleMessage vehicle_message;
  60
  61         /* First we have to found which can_signal_t it is */
  62         search_key = build_DynamicField((double)can_message.get_id());
  63         signals.clear();
  64         configuration_t::instance().find_can_signals(search_key, signals);
  65
  66         /* Decoding the message ! Don't kill the messenger ! */
  67         for(auto& sig : signals)
  68         {
  69                 std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
  70                 std::map<std::string, struct afb_event>& s = get_subscribed_signals();
  71
  72                 /* DEBUG message to make easier debugger STL containers...
  73                 DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[sig.generic_name]));
  74                 DEBUG(binder_interface, "Operator[] key string: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[std::string(sig.generic_name)]));
  75                 DEBUG(binder_interface, "Nb elt matched char: %d", (int)s.count(sig.generic_name));
  76                 DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.generic_name)));*/
  77                 if( s.find(sig->get_name()) != s.end() && afb_event_is_valid(s[sig->get_name()]))
  78                 {
  79                         decoded_message = decoder_t::translateSignal(*sig, can_message, configuration_t::instance().get_can_signals());
  80
  81                         openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_generic_name(), decoded_message);
  82                         vehicle_message = build_VehicleMessage(s_message);
  83
  84                         std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
  85                         push_new_vehicle_message(vehicle_message);
  86                         new_decoded_can_message_.notify_one();
  87                         processed_signals++;
  88                 }
  89         }
  90
  91         DEBUG(binder_interface, "process_can_signals: %d/%d CAN signals processed.", processed_signals, (int)signals.size());
  92         return processed_signals;
  93 }
  94
  95 int can_bus_t::process_diagnostic_signals(active_diagnostic_request_t* entry, const can_message_t& can_message)
  96 {
  97         int processed_signals = 0;
  98         openxc_VehicleMessage vehicle_message;
  99
 100         diagnostic_manager_t& manager = configuration_t::instance().get_diagnostic_manager();
 101
 102         std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
 103         std::map<std::string, struct afb_event>& s = get_subscribed_signals();
 104
 105         if( s.find(entry->get_name()) != s.end() && afb_event_is_valid(s[entry->get_name()]))
 106         {
 107                 if(manager.get_can_bus_dev() == entry->get_can_bus_dev() && entry->get_in_flight())
 108                 {
 109                         DiagnosticResponse response = diagnostic_receive_can_frame(
 110                                         // TODO: openXC todo task: eek, is bus address and array index this tightly coupled?
 111                                         &manager.get_shims(),
 112                                         entry->get_handle(), can_message.get_id(), can_message.get_data(), can_message.get_length());
 113                         if(response.completed && entry->get_handle()->completed)
 114                         {
 115                                 if(entry->get_handle()->success)
 116                                 {
 117                                         vehicle_message = manager.relay_diagnostic_response(entry, response);
 118                                         std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 119                                         push_new_vehicle_message(vehicle_message);
 120                                         new_decoded_can_message_.notify_one();
 121                                         processed_signals++;
 122                                 }
 123                                 else
 124                                         DEBUG(binder_interface, "Fatal error sending or receiving diagnostic request");
 125                         }
 126                         else if(!response.completed && response.multi_frame)
 127                                 // Reset the timeout clock while completing the multi-frame receive
 128                                 entry->get_timeout_clock().tick();
 129                 }
 130         }
 131
 132         return processed_signals;
 133 }
 134
 135 /**
 136 * @brief thread to decoding raw CAN messages.
 137 *
 138 * @desc It will take from the can_message_q_ queue the next can message to process then it will search
 139 *  about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
 140 *  subscription has been made. Can message will be decoded using translateSignal that will pass it to the
 141 *  corresponding decoding function if there is one assigned for that signal. If not, it will be the default
 142 *  noopDecoder function that will operate on it.
 143 *
 144 *  Depending on the nature of message, if id match a diagnostic request corresponding id for a response
 145 *  then decoding a diagnostic message else use classic CAN signals decoding functions.
 146 *
 147 *  TODO: make diagnostic messages parsing optionnal.
 148 */
 149 void can_bus_t::can_decode_message()
 150 {
 151         can_message_t can_message;
 152
 153         while(is_decoding_)
 154         {
 155                 std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
 156                 new_can_message_cv_.wait(can_message_lock);
 157                 can_message = next_can_message();
 158
 159                 active_diagnostic_request_t* adr = configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message);
 160                 if(adr != nullptr)
 161                         process_diagnostic_signals(adr, can_message);
 162                 else
 163                         process_can_signals(can_message);
 164         }
 165 }
 166
 167 /**
 168 * @brief thread to push events to suscribers. It will read subscribed_signals map to look
 169 * which are events that has to be pushed.
 170 */
 171 void can_bus_t::can_event_push()
 172 {
 173         openxc_VehicleMessage v_message;
 174         openxc_SimpleMessage s_message;
 175         json_object* jo;
 176
 177         while(is_pushing_)
 178         {
 179                 std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 180                 new_decoded_can_message_.wait(decoded_can_message_lock);
 181                 v_message = next_vehicle_message();
 182
 183                 s_message = get_simple_message(v_message);
 184                 {
 185                         std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
 186                         std::map<std::string, struct afb_event>& s = get_subscribed_signals();
 187                         if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)]))
 188                         {
 189                                 jo = json_object_new_object();
 190                                 jsonify_simple(s_message, jo);
 191                                 afb_event_push(s[std::string(s_message.name)], jo);
 192                         }
 193                 }
 194         }
 195 }
 196
 197 /**
 198         * @brief Will initialize threads that will decode
 199         *  and push subscribed events.
 200         */
 201 void can_bus_t::start_threads()
 202 {
 203         is_decoding_ = true;
 204         th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
 205         if(!th_decoding_.joinable())
 206                 is_decoding_ = false;
 207
 208         is_pushing_ = true;
 209         th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
 210         if(!th_pushing_.joinable())
 211                 is_pushing_ = false;
 212 }
 213
 214 /**
 215 * @brief Will stop all threads holded by can_bus_t object
 216 *  which are decoding and pushing then will wait that's
 217 * they'll finish their job.
 218 */
 219 void can_bus_t::stop_threads()
 220 {
 221         is_decoding_ = false;
 222         is_pushing_ = false;
 223 }
 224
 225 /**
 226 * @brief Will initialize can_bus_dev_t objects after reading
 227 * the configuration file passed in the constructor.
 228 */
 229 int can_bus_t::init_can_dev()
 230 {
 231         std::vector<std::string> devices_name;
 232         int i;
 233         size_t t;
 234
 235         devices_name = read_conf();
 236
 237         if (! devices_name.empty())
 238         {
 239                 t = devices_name.size();
 240                 i=0;
 241
 242                 for(const auto& device : devices_name)
 243                 {
 244                         can_devices_.push_back(std::make_shared<can_bus_dev_t>(device, i));
 245                         if (can_devices_[i]->open() == 0)
 246                         {
 247                                 DEBUG(binder_interface, "Start reading thread");
 248                                 NOTICE(binder_interface, "%s device opened and reading", device.c_str());
 249                                 can_devices_[i]->start_reading(*this);
 250                         }
 251                         else
 252                                 ERROR(binder_interface, "Can't open device %s", device.c_str());
 253                         i++;
 254                 }
 255
 256                 NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
 257                 return 0;
 258         }
 259         ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read from configuration file. Did you specify canbus JSON object ?");
 260         return 1;
 261 }
 262
 263 /**
 264 * @brief read the conf_file_ and will parse json objects
 265 * in it searching for canbus objects devices name.
 266 *
 267 * @return Vector of can bus device name string.
 268 */
 269 std::vector<std::string> can_bus_t::read_conf()
 270 {
 271         std::vector<std::string> ret;
 272         json_object *jo, *canbus;
 273         int n, i;
 274         const char* taxi;
 275
 276         FILE *fd = fdopen(conf_file_, "r");
 277         if (fd)
 278         {
 279                 std::string fd_conf_content;
 280                 std::fseek(fd, 0, SEEK_END);
 281                 fd_conf_content.resize(std::ftell(fd));
 282                 std::rewind(fd);
 283                 std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
 284                 std::fclose(fd);
 285
 286                 DEBUG(binder_interface, "Configuration file content : %s", fd_conf_content.c_str());
 287                 jo = json_tokener_parse(fd_conf_content.c_str());
 288
 289                 if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
 290                 {
 291                         ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
 292                         ret.clear();
 293                 }
 294                 else if (json_object_get_type(canbus) != json_type_array)
 295                 {
 296                         taxi = json_object_get_string(canbus);
 297                         DEBUG(binder_interface, "Can bus found: %s", taxi);
 298                         ret.push_back(std::string(taxi));
 299                 }
 300                 else
 301                 {
 302                         n = json_object_array_length(canbus);
 303                         for (i = 0 ; i < n ; i++)
 304                                 ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
 305                 }
 306                 return ret;
 307         }
 308         ERROR(binder_interface, "Problem at reading the conf file");
 309         ret.clear();
 310         return ret;
 311 }
 312
 313 /**
 314 * @brief return new_can_message_cv_ member
 315 *
 316 * @return  return new_can_message_cv_ member
 317 */
 318 std::condition_variable& can_bus_t::get_new_can_message_cv()
 319 {
 320         return new_can_message_cv_;
 321 }
 322
 323 /**
 324 * @brief return can_message_mutex_ member
 325 *
 326 * @return  return can_message_mutex_ member
 327 */
 328 std::mutex& can_bus_t::get_can_message_mutex()
 329 {
 330         return can_message_mutex_;
 331 }
 332
 333 /**
 334 * @brief Return first can_message_t on the queue
 335 *
 336 * @return a can_message_t
 337 */
 338 can_message_t can_bus_t::next_can_message()
 339 {
 340         can_message_t can_msg;
 341
 342         if(!can_message_q_.empty())
 343         {
 344                 can_msg = can_message_q_.front();
 345                 can_message_q_.pop();
 346                 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(),
 347                         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]);
 348                 return can_msg;
 349         }
 350
 351         return can_msg;
 352 }
 353
 354 /**
 355 * @brief Push a can_message_t into the queue
 356 *
 357 * @param the const reference can_message_t object to push into the queue
 358 */
 359 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
 360 {
 361         can_message_q_.push(can_msg);
 362 }
 363
 364 /**
 365 * @brief Return first openxc_VehicleMessage on the queue
 366 *
 367 * @return a openxc_VehicleMessage containing a decoded can message
 368 */
 369 openxc_VehicleMessage can_bus_t::next_vehicle_message()
 370 {
 371         openxc_VehicleMessage v_msg;
 372
 373         if(! vehicle_message_q_.empty())
 374         {
 375                 v_msg = vehicle_message_q_.front();
 376                 vehicle_message_q_.pop();
 377                 DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
 378                 return v_msg;
 379         }
 380
 381         return v_msg;
 382 }
 383
 384 /**
 385 * @brief Push a openxc_VehicleMessage into the queue
 386 *
 387 * @param the const reference openxc_VehicleMessage object to push into the queue
 388 */
 389 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
 390 {
 391         vehicle_message_q_.push(v_msg);
 392 }
 393
 394 /**
 395 * @brief Return a map with the can_bus_dev_t initialized
 396 *
 397 * @return map can_bus_dev_m_ map
 398 */
 399 const std::vector<std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const
 400 {
 401         return can_devices_;
 402 }