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"
30 #include "low-can-binding.hpp"
32 // TODO actual max is 32 but dropped to 24 for memory considerations
33 #define MAX_ACCEPTANCE_FILTERS 24
34 // TODO this takes up a ton of memory
35 #define MAX_DYNAMIC_MESSAGE_COUNT 12
37 #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_; /*!< 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_; /*!< 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_; /*!< 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 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*/
74 can_bus_t(int conf_file);
77 std::vector<std::string> read_conf();
83 can_message_t next_can_message();
84 void push_new_can_message(const can_message_t& can_msg);
85 std::mutex& get_can_message_mutex();
86 std::condition_variable& get_new_can_message_cv_();
88 openxc_VehicleMessage next_vehicle_message();
89 void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
91 std::map<std::string, std::shared_ptr<can_bus_dev_t>> get_can_devices();
96 * @class can_bus_dev_t
98 * @brief Object representing a can device. Handle opening, closing and reading on the
99 * socket. This is the low level object to be use by can_bus_t.
101 class can_bus_dev_t {
103 int32_t id_; /*!< int32_t id_ - an identifier used through binding that refer to that device*/
104 std::string device_name_; /*!< std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc. */
105 int can_socket_; /*!< socket handler for the can device */
106 bool is_fdmode_on_; /*!< boolean telling if whether or not the can socket use fdmode. */
107 struct sockaddr_can txAddress_; /*!< internal member using to bind to the socket */
109 std::thread th_reading_; /*!< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t */
110 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);
121 void start_reading(can_bus_t& can_bus);
125 std::pair<struct canfd_frame&, size_t> read();
127 int send_can_message(can_message_t& can_msg);
130 /** TODO: implement this function as method into can_bus class
131 * @fn void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
132 * @brief Pre initialize actions made before CAN bus initialization
134 * @param[in] can_bus_dev_t bus - A CanBus struct defining the bus's metadata
135 * @param[in] bool writable - configure the controller in a writable mode. If false, it will be
136 * configured as "listen only" and will not allow writes or even CAN ACKs.
137 * @param[in] buses - An array of all CAN buses.
138 * @param[in] int busCount - The length of the buses array.
140 void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
142 /** TODO: implement this function as method into can_bus class
143 * @fn void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
144 * @brief Post-initialize actions made after CAN bus initialization
146 * @param[in] bus - A CanBus struct defining the bus's metadata
147 * @param[in] writable - configure the controller in a writable mode. If false, it will be
148 * configured as "listen only" and will not allow writes or even CAN ACKs.
149 * @param[in] buses - An array of all CAN buses.
150 * @param[in] busCount - The length of the buses array.
152 void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
154 /** TODO: implement this function as method into can_bus class
155 * @fn bool isBusActive(can_bus_dev_t* bus);
156 * @brief Check if the device is connected to an active CAN bus, i.e. it's
157 * received a message in the recent past.
159 * @return true if a message was received on the CAN bus within
160 * CAN_ACTIVE_TIMEOUT_S seconds.
162 bool isBusActive(can_bus_dev_t* bus);
164 /** TODO: implement this function as method into can_bus class
166 * @fn void logBusStatistics(can_bus_dev_t* buses, const int busCount);
167 * @brief Log transfer statistics about all active CAN buses to the debug log.
169 * @param[in] buses - an array of active CAN buses.
170 * @param[in] busCount - the length of the buses array.
172 void logBusStatistics(can_bus_dev_t* buses, const int busCount);