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"
33 #include "../low-can-binding.hpp"
35 // TODO actual max is 32 but dropped to 24 for memory considerations
36 #define MAX_ACCEPTANCE_FILTERS 24
37 // TODO this takes up a ton of memory
38 #define MAX_DYNAMIC_MESSAGE_COUNT 12
40 #define CAN_ACTIVE_TIMEOUT_S 30
42 /// @brief Object used to handle decoding and manage event queue to be pushed.
44 /// This object is also used to initialize can_bus_dev_t object after reading
45 /// json conf file describing the CAN devices to use. Thus, those object will read
46 /// on the device the CAN frame and push them into the can_bus_t can_message_q_ queue.
48 /// That queue will be later used to be decoded and pushed to subscribers.
52 int conf_file_; /// < configuration file handle used to initialize can_bus_dev_t objects.
54 void can_decode_message();
55 std::thread th_decoding_; /// < thread that'll handle decoding a can frame
56 bool is_decoding_; /// < boolean member controling thread while loop
58 void can_event_push();
59 std::thread th_pushing_; /// < thread that'll handle pushing decoded can frame to subscribers
60 bool is_pushing_; /// < boolean member controling thread while loop
62 std::condition_variable new_can_message_cv_; /// < condition_variable use to wait until there is a new CAN message to read
63 std::mutex can_message_mutex_; /// < mutex protecting the can_message_q_ queue.
64 std::queue <can_message_t> can_message_q_; /// < queue that'll store can_message_t to decoded
66 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_
67 std::mutex decoded_can_message_mutex_; /// < mutex protecting the vehicle_message_q_ queue.
68 std::queue <openxc_VehicleMessage> vehicle_message_q_; /// < queue that'll store openxc_VehicleMessage to pushed
70 std::vector<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
73 can_bus_t(int conf_file);
74 can_bus_t(can_bus_t&&);
77 std::vector<std::string> read_conf();
82 can_message_t next_can_message();
83 void push_new_can_message(const can_message_t& can_msg);
84 std::mutex& get_can_message_mutex();
85 std::condition_variable& get_new_can_message_cv();
87 openxc_VehicleMessage next_vehicle_message();
88 void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
90 const std::vector<std::shared_ptr<can_bus_dev_t>>& get_can_devices() const;