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/can-decoder.hpp"
31 #include "utils/openxc-utils.hpp"
35 #include <afb/afb-binding.h>
38 #include "can/can-bus.hpp"
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}
58 * @brief thread to decoding raw CAN messages.
60 * @desc It will take from the can_message_q_ queue the next can message to process then it will search
61 * about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
62 * subscription has been made. Can message will be decoded using translateSignal that will pass it to the
63 * corresponding decoding function if there is one assigned for that signal. If not, it will be the default
64 * noopDecoder function that will operate on it.
66 void can_bus_t::can_decode_message()
68 can_message_t can_message;
69 std::vector <CanSignal*> signals;
70 openxc_VehicleMessage vehicle_message;
71 openxc_DynamicField search_key, decoded_message;
77 std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
78 new_can_message_cv_.wait(can_message_lock);
79 can_message = next_can_message();
81 /* First we have to found which CanSignal it is */
82 search_key = build_DynamicField((double)can_message.get_id());
84 find_can_signals(search_key, signals);
86 /* Decoding the message ! Don't kill the messenger ! */
87 for(auto& sig : signals)
89 std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
90 std::map<std::string, struct afb_event>& s = get_subscribed_signals();
92 /* DEBUG message to make easier debugger STL containers...
93 DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[sig.generic_name]));
94 DEBUG(binder_interface, "Operator[] key string: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[std::string(sig.generic_name)]));
95 DEBUG(binder_interface, "Nb elt matched char: %d", (int)s.count(sig.generic_name));
96 DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.generic_name)));*/
97 if( s.find(sig->generic_name) != s.end() && afb_event_is_valid(s[sig->generic_name]))
99 decoded_message = decoder.translateSignal(*sig, can_message, get_can_signals());
101 openxc_SimpleMessage s_message = build_SimpleMessage(sig->generic_name, decoded_message);
102 vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message);
104 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
105 push_new_vehicle_message(vehicle_message);
106 new_decoded_can_message_.notify_one();
113 * @brief thread to push events to suscribers. It will read subscribed_signals map to look
114 * which are events that has to be pushed.
116 void can_bus_t::can_event_push()
118 openxc_VehicleMessage v_message;
119 openxc_SimpleMessage s_message;
124 std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
125 new_decoded_can_message_.wait(decoded_can_message_lock);
126 v_message = next_vehicle_message();
128 s_message = get_simple_message(v_message);
130 std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
131 std::map<std::string, struct afb_event>& s = get_subscribed_signals();
132 if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)]))
134 jo = json_object_new_object();
135 jsonify_simple(s_message, jo);
136 afb_event_push(s[std::string(s_message.name)], jo);
143 * @brief Will initialize threads that will decode
144 * and push subscribed events.
146 void can_bus_t::start_threads()
149 th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
150 if(!th_decoding_.joinable())
151 is_decoding_ = false;
154 th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
155 if(!th_pushing_.joinable())
160 * @brief Will stop all threads holded by can_bus_t object
161 * which are decoding and pushing then will wait that's
162 * they'll finish their job.
164 void can_bus_t::stop_threads()
166 is_decoding_ = false;
171 * @brief Will initialize can_bus_dev_t objects after reading
172 * the configuration file passed in the constructor.
174 int can_bus_t::init_can_dev()
176 std::vector<std::string> devices_name;
180 devices_name = read_conf();
182 if (! devices_name.empty())
184 t = devices_name.size();
187 for(const auto& device : devices_name)
189 can_devices_m_[device] = std::make_shared<can_bus_dev_t>(device);
190 if (can_devices_m_[device]->open() == 0)
193 DEBUG(binder_interface, "Start reading thread");
194 NOTICE(binder_interface, "%s device opened and reading", device.c_str());
195 can_devices_m_[device]->start_reading(*this);
198 ERROR(binder_interface, "Can't open device %s", device.c_str());
201 NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
204 ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read from configuration file. Did you specify canbus JSON object ?");
209 * @brief read the conf_file_ and will parse json objects
210 * in it searching for canbus objects devices name.
212 * @return Vector of can bus device name string.
214 std::vector<std::string> can_bus_t::read_conf()
216 std::vector<std::string> ret;
217 json_object *jo, *canbus;
221 FILE *fd = fdopen(conf_file_, "r");
224 std::string fd_conf_content;
225 std::fseek(fd, 0, SEEK_END);
226 fd_conf_content.resize(std::ftell(fd));
228 std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
231 DEBUG(binder_interface, "Configuration file content : %s", fd_conf_content.c_str());
232 jo = json_tokener_parse(fd_conf_content.c_str());
234 if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
236 * @brief Telling if the pushing thread is running
237 * This is the boolean value on which the while loop
238 * take its condition. Set it to false will stop the
241 * @return true if pushing thread is running, false if not.
244 ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
247 else if (json_object_get_type(canbus) != json_type_array)
249 taxi = json_object_get_string(canbus);
250 DEBUG(binder_interface, "Can bus found: %s", taxi);
251 ret.push_back(std::string(taxi));
255 n = json_object_array_length(canbus);
256 for (i = 0 ; i < n ; i++)
257 ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
261 ERROR(binder_interface, "Problem at reading the conf file");
267 * @brief return new_can_message_cv_ member
269 * @return return new_can_message_cv_ member
271 std::condition_variable& can_bus_t::get_new_can_message_cv()
273 return new_can_message_cv_;
277 * @brief return can_message_mutex_ member
279 * @return return can_message_mutex_ member
281 std::mutex& can_bus_t::get_can_message_mutex()
283 return can_message_mutex_;
287 * @brief Return first can_message_t on the queue
289 * @return a can_message_t
291 can_message_t can_bus_t::next_can_message()
293 can_message_t can_msg;
295 if(!can_message_q_.empty())
297 can_msg = can_message_q_.front();
298 can_message_q_.pop();
299 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(),
300 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]);
308 * @brief Push a can_message_t into the queue
310 * @param the const reference can_message_t object to push into the queue
312 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
314 can_message_q_.push(can_msg);
318 * @brief Return first openxc_VehicleMessage on the queue
320 * @return a openxc_VehicleMessage containing a decoded can message
322 openxc_VehicleMessage can_bus_t::next_vehicle_message()
324 openxc_VehicleMessage v_msg;
326 if(! vehicle_message_q_.empty())
328 v_msg = vehicle_message_q_.front();
329 vehicle_message_q_.pop();
330 DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
338 * @brief Push a openxc_VehicleMessage into the queue
340 * @param the const reference openxc_VehicleMessage object to push into the queue
342 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
344 vehicle_message_q_.push(v_msg);
348 * @brief Return a map with the can_bus_dev_t initialized
350 * @return map can_bus_dev_m_ map
352 std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::get_can_devices()
354 return can_devices_m_;
357 /********************************************************************************
359 * can_bus_dev_t method implementation
361 *********************************************************************************/
364 * @brief Open the can socket and returning it
368 int can_bus_dev_t::close()
370 ::close(can_socket_);
376 * @brief Read the can socket and retrieve canfd_frame
378 * @param const struct afb_binding_interface* interface pointer. Used to be able to log
379 * using application framework logger.
381 std::pair<struct canfd_frame&, size_t> can_bus_dev_t::read()
385 struct canfd_frame cfd;
387 /* Test that socket is really opened */
390 ERROR(binder_interface, "read_can: Socket unavailable. Closing thread.");
394 nbytes = ::read(can_socket_, &cfd, CANFD_MTU);
396 /* if we did not fit into CAN sized messages then stop_reading. */
397 if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
399 if (errno == ENETDOWN)
400 ERROR(binder_interface, "read: %s CAN device down", device_name_);
401 ERROR(binder_interface, "read: Incomplete CAN(FD) frame");
402 ::memset(&cfd, 0, sizeof(cfd));
405 DEBUG(binder_interface, "read: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", cfd.can_id, cfd.len,
406 cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]);
407 return std::pair<struct canfd_frame&, size_t>(cfd, nbytes);
411 * @brief start reading threads and set flag is_running_
413 * @param can_bus_t reference can_bus_t. it will be passed to the thread
414 * to allow using can_bus_t queue.
416 void can_bus_dev_t::start_reading(can_bus_t& can_bus)
418 DEBUG(binder_interface, "Launching reading thread");
420 th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
421 if(!th_reading_.joinable())
426 * @brief stop the reading thread setting flag is_running_ to false and
427 * and wait that the thread finish its job.
429 void can_bus_dev_t::stop_reading()
436 * @brief Thread function used to read the can socket.
438 * @param[in] can_bus_dev_t object to be used to read the can socket
439 * @param[in] can_bus_t object used to fill can_message_q_ queue
441 void can_bus_dev_t::can_reader(can_bus_t& can_bus)
443 can_message_t can_message;
447 can_message.convert_from_canfd_frame(read());
450 std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex());
451 can_bus.push_new_can_message(can_message);
453 can_bus.get_new_can_message_cv().notify_one();
458 * @brief Send a can message from a can_message_t object.
460 * @param const can_message_t& can_msg: the can message object to send
461 * @param const struct afb_binding_interface* interface pointer. Used to be able to log
462 * using application framework logger.
464 int can_bus_dev_t::send_can_message(can_message_t& can_msg)
469 f = can_msg.convert_to_canfd_frame();
473 nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0,
474 (struct sockaddr*)&txAddress_, sizeof(txAddress_));
477 ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
484 ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");