2 * Copyright (C) 2015, 2016, 2017 "IoT.bzh"
3 * Author "Romain Forlot" <romain.forlot@iot.bzh>
4 * Author "Loïc Collignon" <loic.collignon@iot.bzh>
6 * Licensed under the Apache License, Version 2.0 (the "License");
7 * you may not use this file except in compliance with the License.
8 * You may obtain a copy of the License at
10 * http://www.apache.org/licenses/LICENSE-2.0
12 * Unless required by applicable law or agreed to in writing, software
13 * distributed under the License is distributed on an "AS IS" BASIS,
14 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
15 * See the License for the specific language governing permissions and
16 * limitations under the License.
24 #include <linux/can.h>
25 #include <condition_variable>
27 #include "openxc.pb.h"
28 #include "../utils/timer.hpp"
29 #include "can-signals.hpp"
30 #include "can-message.hpp"
31 #include "can-bus-dev.hpp"
32 #include "../diagnostic/active-diagnostic-request.hpp"
34 #include "../low-can-binding.hpp"
36 // TODO actual max is 32 but dropped to 24 for memory considerations
37 #define MAX_ACCEPTANCE_FILTERS 24
38 // TODO this takes up a ton of memory
39 #define MAX_DYNAMIC_MESSAGE_COUNT 12
41 #define CAN_ACTIVE_TIMEOUT_S 30
43 /// @brief Object used to handle decoding and manage event queue to be pushed.
45 /// This object is also used to initialize can_bus_dev_t object after reading
46 /// json conf file describing the CAN devices to use. Thus, those object will read
47 /// on the device the CAN frame and push them into the can_bus_t can_message_q_ queue.
49 /// That queue will be later used to be decoded and pushed to subscribers.
53 int conf_file_; /// < configuration file handle used to initialize can_bus_dev_t objects.
55 void can_decode_message();
56 std::thread th_decoding_; /// < thread that'll handle decoding a can frame
57 bool is_decoding_ = false; /// < boolean member controling thread while loop
59 void can_event_push();
60 std::thread th_pushing_; /// < thread that'll handle pushing decoded can frame to subscribers
61 bool is_pushing_ = false; /// < boolean member controling thread while loop
63 std::condition_variable new_can_message_cv_; /// < condition_variable use to wait until there is a new CAN message to read
64 std::mutex can_message_mutex_; /// < mutex protecting the can_message_q_ queue.
65 std::queue <can_message_t> can_message_q_; /// < queue that'll store can_message_t to decoded
67 std::condition_variable new_decoded_can_message_; /// < condition_variable use to wait until there is a new vehicle message to read from the queue vehicle_message_q_
68 std::mutex decoded_can_message_mutex_; /// < mutex protecting the vehicle_message_q_ queue.
69 std::queue <openxc_VehicleMessage> vehicle_message_q_; /// < queue that'll store openxc_VehicleMessage to pushed
71 static std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_devices_; /// < Can device map containing all can_bus_dev_t objects initialized during init_can_dev function
74 can_bus_t(int conf_file);
75 can_bus_t(can_bus_t&&);
78 std::vector<std::string> read_conf();
83 int process_can_signals(can_message_t& can_message);
84 int process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message);
86 can_message_t next_can_message();
87 void push_new_can_message(const can_message_t& can_msg);
88 std::mutex& get_can_message_mutex();
89 std::condition_variable& get_new_can_message_cv();
91 openxc_VehicleMessage next_vehicle_message();
92 void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
94 const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& get_can_devices() const;
95 static std::shared_ptr<can_bus_dev_t> get_can_device(std::string bus);