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.
23 #include <linux/can.h>
24 #include <condition_variable>
26 #include "openxc.pb.h"
27 #include "utils/timer.hpp"
28 #include "can/can-signals.hpp"
29 #include "can/can-message.hpp"
31 #include "low-can-binding.hpp"
33 // TODO actual max is 32 but dropped to 24 for memory considerations
34 #define MAX_ACCEPTANCE_FILTERS 24
35 // TODO this takes up a ton of memory
36 #define MAX_DYNAMIC_MESSAGE_COUNT 12
38 #define CAN_ACTIVE_TIMEOUT_S 30
44 * @brief Object used to handle decoding and manage event queue to be pushed.
46 * This object is also used to initialize can_bus_dev_t object after reading
47 * json conf file describing the CAN devices to use. Thus, those object will read
48 * on the device the CAN frame and push them into the can_bus_t can_message_q_ queue.
50 * That queue will be later used to be decoded and pushed to subscribers.
54 int conf_file_; /*!< conf_file_ - configuration file handle used to initialize can_bus_dev_t objects.*/
56 void can_decode_message();
57 std::thread th_decoding_; /*!< thread that'll handle decoding a can frame */
58 bool is_decoding_; /*!< boolean member controling thread while loop*/
60 void can_event_push();
61 std::thread th_pushing_; /*!< thread that'll handle pushing decoded can frame to subscribers */
62 bool is_pushing_; /*!< boolean member controling thread while loop*/
64 std::condition_variable new_can_message_cv_; /*!< condition_variable use to wait until there is a new CAN message to read*/
65 std::mutex can_message_mutex_; /*!< mutex protecting the can_message_q_ queue.*/
66 std::queue <can_message_t> can_message_q_; /*!< queue that'll store can_message_t to decoded */
68 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_*/
69 std::mutex decoded_can_message_mutex_; /*!< mutex protecting the vehicle_message_q_ queue.*/
70 std::queue <openxc_VehicleMessage> vehicle_message_q_; /*!< queue that'll store openxc_VehicleMessage to pushed */
72 std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_devices_m_; /*!< Can device map containing all can_bus_dev_t objects initialized during init_can_dev function*/
75 can_bus_t(int conf_file);
78 std::vector<std::string> read_conf();
84 can_message_t next_can_message();
85 void push_new_can_message(const can_message_t& can_msg);
86 std::mutex& get_can_message_mutex();
87 std::condition_variable& get_new_can_message_cv();
89 openxc_VehicleMessage next_vehicle_message();
90 void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
92 std::map<std::string, std::shared_ptr<can_bus_dev_t>> get_can_devices();
97 * @class can_bus_dev_t
99 * @brief Object representing a can device. Handle opening, closing and reading on the
100 * socket. This is the low level object to be use by can_bus_t.
102 class can_bus_dev_t {
104 int32_t id_; /*!< int32_t id_ - an identifier used through binding that refer to that device*/
105 std::string device_name_; /*!< std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc. */
106 int can_socket_; /*!< socket handler for the can device */
107 bool is_fdmode_on_; /*!< boolean telling if whether or not the can socket use fdmode. */
108 struct sockaddr_can txAddress_; /*!< internal member using to bind to the socket */
110 std::thread th_reading_; /*!< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t */
111 bool is_running_; /*!< boolean telling whether or not reading is running or not */
112 void can_reader(can_bus_t& can_bus);
115 can_bus_dev_t(const std::string& dev_name);
120 void start_reading(can_bus_t& can_bus);
124 std::pair<struct canfd_frame&, size_t> read();
126 int send_can_message(can_message_t& can_msg);
129 /// TODO: implement this function as method into can_bus class
130 /// @brief Pre initialize actions made before CAN bus initialization
131 /// @param[in] bus A CanBus struct defining the bus's metadata
132 /// @param[in] writable Configure the controller in a writable mode. If false, it will be configured as "listen only" and will not allow writes or even CAN ACKs.
133 /// @param[in] buses An array of all CAN buses.
134 /// @param[in] busCount The length of the buses array.
135 void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
137 /// TODO: implement this function as method into can_bus class
138 /// @brief Post-initialize actions made after CAN bus initialization
139 /// @param[in] bus A CanBus struct defining the bus's metadata
140 /// @param[in] writable Configure the controller in a writable mode. If false, it will be configured as "listen only" and will not allow writes or even CAN ACKs.
141 /// @param[in] buses An array of all CAN buses.
142 /// @param[in] busCount The length of the buses array.
143 void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
145 /// TODO: implement this function as method into can_bus class
146 /// @brief Check if the device is connected to an active CAN bus, i.e. it's received a message in the recent past.
147 /// @return true if a message was received on the CAN bus within CAN_ACTIVE_TIMEOUT_S seconds.
148 bool isBusActive(can_bus_dev_t* bus);
150 /// TODO: implement this function as method into can_bus class
151 /// @brief Log transfer statistics about all active CAN buses to the debug log.
152 /// @param[in] buses An array of active CAN buses.
153 /// @param[in] busCount The length of the buses array.
154 void logBusStatistics(can_bus_dev_t* buses, const int busCount);