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 std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::can_devices_;
  54
  55 /**
  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
  58  * this happens.
  59  *
  60  * It will add to the vehicle_message queue the decoded message and tell the event push
  61  * thread to process it.
  62  *
  63  * @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
  64  *
  65  * @return How many signals has been decoded.
  66  */
  67 int can_bus_t::process_can_signals(can_message_t& can_message)
  68 {
  69         int processed_signals = 0;
  70         std::vector <can_signal_t*> signals;
  71         openxc_DynamicField search_key, decoded_message;
  72         openxc_VehicleMessage vehicle_message;
  73
  74         /* First we have to found which can_signal_t it is */
  75         search_key = build_DynamicField((double)can_message.get_id());
  76         signals.clear();
  77         configuration_t::instance().find_can_signals(search_key, signals);
  78
  79         /* Decoding the message ! Don't kill the messenger ! */
  80         for(auto& sig : signals)
  81         {
  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();
  84
  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()]))
  91                 {
  92                         decoded_message = decoder_t::translateSignal(*sig, can_message, configuration_t::instance().get_can_signals());
  93
  94                         openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_generic_name(), decoded_message);
  95                         vehicle_message = build_VehicleMessage(s_message);
  96
  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();
 100                         processed_signals++;
 101                 }
 102         }
 103
 104         DEBUG(binder_interface, "process_can_signals: %d/%d CAN signals processed.", processed_signals, (int)signals.size());
 105         return processed_signals;
 106 }
 107
 108 /**
 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.
 111  *
 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.
 115  *
 116  * @return How many signals has been decoded.
 117  */
 118 int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message)
 119 {
 120         int processed_signals = 0;
 121
 122         std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
 123         std::map<std::string, struct afb_event>& s = get_subscribed_signals();
 124
 125         openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
 126         if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
 127                 (s.find(vehicle_message.simple_message.name) != s.end() && afb_event_is_valid(s[vehicle_message.simple_message.name])))
 128         {
 129                 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 130                 push_new_vehicle_message(vehicle_message);
 131                 new_decoded_can_message_.notify_one();
 132                 processed_signals++;
 133         }
 134
 135         return processed_signals;
 136 }
 137
 138 /**
 139 * @brief thread to decoding raw CAN messages.
 140 *
 141 * @desc It will take from the can_message_q_ queue the next can message to process then it will search
 142 *  about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
 143 *  subscription has been made. Can message will be decoded using translateSignal that will pass it to the
 144 *  corresponding decoding function if there is one assigned for that signal. If not, it will be the default
 145 *  noopDecoder function that will operate on it.
 146 *
 147 *  Depending on the nature of message, if id match a diagnostic request corresponding id for a response
 148 *  then decoding a diagnostic message else use classic CAN signals decoding functions.
 149 *
 150 *  TODO: make diagnostic messages parsing optionnal.
 151 */
 152 void can_bus_t::can_decode_message()
 153 {
 154         can_message_t can_message;
 155
 156         while(is_decoding_)
 157         {
 158                 std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
 159                 new_can_message_cv_.wait(can_message_lock);
 160                 can_message = next_can_message();
 161
 162                 if(configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
 163                         process_diagnostic_signals(configuration_t::instance().get_diagnostic_manager(), can_message);
 164                 else
 165                         process_can_signals(can_message);
 166         }
 167 }
 168
 169 /**
 170 * @brief thread to push events to suscribers. It will read subscribed_signals map to look
 171 * which are events that has to be pushed.
 172 */
 173 void can_bus_t::can_event_push()
 174 {
 175         openxc_VehicleMessage v_message;
 176         openxc_SimpleMessage s_message;
 177         json_object* jo;
 178
 179         while(is_pushing_)
 180         {
 181                 std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 182                 new_decoded_can_message_.wait(decoded_can_message_lock);
 183                 v_message = next_vehicle_message();
 184
 185                 s_message = get_simple_message(v_message);
 186                 {
 187                         std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
 188                         std::map<std::string, struct afb_event>& s = get_subscribed_signals();
 189                         if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)]))
 190                         {
 191                                 jo = json_object_new_object();
 192                                 jsonify_simple(s_message, jo);
 193                                 afb_event_push(s[std::string(s_message.name)], jo);
 194                         }
 195                 }
 196         }
 197 }
 198
 199 /**
 200 * @brief Will initialize threads that will decode
 201 *  and push subscribed events.
 202 */
 203 void can_bus_t::start_threads()
 204 {
 205         is_decoding_ = true;
 206         th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
 207         if(!th_decoding_.joinable())
 208                 is_decoding_ = false;
 209
 210         is_pushing_ = true;
 211         th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
 212         if(!th_pushing_.joinable())
 213                 is_pushing_ = false;
 214 }
 215
 216 /**
 217 * @brief Will stop all threads holded by can_bus_t object
 218 *  which are decoding and pushing then will wait that's
 219 * they'll finish their job.
 220 */
 221 void can_bus_t::stop_threads()
 222 {
 223         is_decoding_ = false;
 224         is_pushing_ = false;
 225 }
 226
 227 /**
 228 * @brief Will initialize can_bus_dev_t objects after reading
 229 * the configuration file passed in the constructor. All CAN buses
 230 * Initialized here will be added to a vector holding them for
 231 * inventory and later access.
 232 *
 233 * That will initialize CAN socket reading too using a new thread.
 234 */
 235 int can_bus_t::init_can_dev()
 236 {
 237         std::vector<std::string> devices_name;
 238         int i = 0;
 239         size_t t;
 240
 241         devices_name = read_conf();
 242
 243         if (! devices_name.empty())
 244         {
 245                 t = devices_name.size();
 246
 247                 for(const auto& device : devices_name)
 248                 {
 249                         can_bus_t::can_devices_[device] = std::make_shared<can_bus_dev_t>(device, i);
 250                         if (can_bus_t::can_devices_[device]->open() == 0)
 251                         {
 252                                 DEBUG(binder_interface, "Start reading thread");
 253                                 NOTICE(binder_interface, "%s device opened and reading", device.c_str());
 254                                 can_bus_t::can_devices_[device]->start_reading(*this);
 255                                 i++;
 256                         }
 257                         else
 258                                 ERROR(binder_interface, "Can't open device %s", device.c_str());
 259                 }
 260
 261                 NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
 262                 return 0;
 263         }
 264         ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read from configuration file. Did you specify canbus JSON object ?");
 265         return 1;
 266 }
 267
 268 /**
 269 * @brief read the conf_file_ and will parse json objects
 270 * in it searching for canbus objects devices name.
 271 *
 272 * @return Vector of can bus device name string.
 273 */
 274 std::vector<std::string> can_bus_t::read_conf()
 275 {
 276         std::vector<std::string> ret;
 277         json_object *jo, *canbus;
 278         int n, i;
 279         const char* taxi;
 280
 281         FILE *fd = fdopen(conf_file_, "r");
 282         if (fd)
 283         {
 284                 std::string fd_conf_content;
 285                 std::fseek(fd, 0, SEEK_END);
 286                 fd_conf_content.resize(std::ftell(fd));
 287                 std::rewind(fd);
 288                 std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
 289                 std::fclose(fd);
 290
 291                 DEBUG(binder_interface, "Configuration file content : %s", fd_conf_content.c_str());
 292                 jo = json_tokener_parse(fd_conf_content.c_str());
 293
 294                 if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
 295                 {
 296                         ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
 297                         ret.clear();
 298                 }
 299                 else if (json_object_get_type(canbus) != json_type_array)
 300                 {
 301                         taxi = json_object_get_string(canbus);
 302                         DEBUG(binder_interface, "Can bus found: %s", taxi);
 303                         ret.push_back(std::string(taxi));
 304                 }
 305                 else
 306                 {
 307                         n = json_object_array_length(canbus);
 308                         for (i = 0 ; i < n ; i++)
 309                                 ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
 310                 }
 311                 return ret;
 312         }
 313         ERROR(binder_interface, "Problem at reading the conf file");
 314         ret.clear();
 315         return ret;
 316 }
 317
 318 /**
 319 * @brief return new_can_message_cv_ member
 320 *
 321 * @return  return new_can_message_cv_ member
 322 */
 323 std::condition_variable& can_bus_t::get_new_can_message_cv()
 324 {
 325         return new_can_message_cv_;
 326 }
 327
 328 /**
 329 * @brief return can_message_mutex_ member
 330 *
 331 * @return  return can_message_mutex_ member
 332 */
 333 std::mutex& can_bus_t::get_can_message_mutex()
 334 {
 335         return can_message_mutex_;
 336 }
 337
 338 /**
 339 * @brief Return first can_message_t on the queue
 340 *
 341 * @return a can_message_t
 342 */
 343 can_message_t can_bus_t::next_can_message()
 344 {
 345         can_message_t can_msg;
 346
 347         if(!can_message_q_.empty())
 348         {
 349                 can_msg = can_message_q_.front();
 350                 can_message_q_.pop();
 351                 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(),
 352                         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]);
 353                 return can_msg;
 354         }
 355
 356         return can_msg;
 357 }
 358
 359 /**
 360 * @brief Push a can_message_t into the queue
 361 *
 362 * @param the const reference can_message_t object to push into the queue
 363 */
 364 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
 365 {
 366         can_message_q_.push(can_msg);
 367 }
 368
 369 /**
 370 * @brief Return first openxc_VehicleMessage on the queue
 371 *
 372 * @return a openxc_VehicleMessage containing a decoded can message
 373 */
 374 openxc_VehicleMessage can_bus_t::next_vehicle_message()
 375 {
 376         openxc_VehicleMessage v_msg;
 377
 378         if(! vehicle_message_q_.empty())
 379         {
 380                 v_msg = vehicle_message_q_.front();
 381                 vehicle_message_q_.pop();
 382                 DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
 383                 return v_msg;
 384         }
 385
 386         return v_msg;
 387 }
 388
 389 /**
 390 * @brief Push a openxc_VehicleMessage into the queue
 391 *
 392 * @param the const reference openxc_VehicleMessage object to push into the queue
 393 */
 394 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
 395 {
 396         vehicle_message_q_.push(v_msg);
 397 }
 398
 399 /**
 400 * @brief Return a map with the can_bus_dev_t initialized
 401 *
 402 * @return map can_bus_dev_m_ map
 403 */
 404 const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const
 405 {
 406         return can_bus_t::can_devices_;
 407 }
 408
 409 /**
 410 * @brief Return the shared pointer on the can_bus_dev_t initialized
 411 * with device_name "bus"
 412 *
 413 * @param[in] bus - CAN bus device name to retrieve.
 414 *
 415 * @return A shared pointer on an object can_bus_dev_t
 416 */
 417 std::shared_ptr<can_bus_dev_t> can_bus_t::get_can_device(std::string bus)
 418 {
 419         return can_bus_t::can_devices_[bus];
 420 }