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 "obd2/diagnostic-manager.hpp"
32 #include "low-can-binding.hpp"
34 // TODO actual max is 32 but dropped to 24 for memory considerations
35 #define MAX_ACCEPTANCE_FILTERS 24
36 // TODO this takes up a ton of memory
37 #define MAX_DYNAMIC_MESSAGE_COUNT 12
39 #define CAN_ACTIVE_TIMEOUT_S 30
42 class diagnostic_manager_t;
46 * @brief Object used to handle decoding and manage event queue to be pushed.
48 * This object is also used to initialize can_bus_dev_t object after reading
49 * json conf file describing the CAN devices to use. Thus, those object will read
50 * on the device the CAN frame and push them into the can_bus_t can_message_q_ queue.
52 * That queue will be later used to be decoded and pushed to subscribers.
56 int conf_file_; /*!< conf_file_ - configuration file handle used to initialize can_bus_dev_t objects.*/
58 void can_decode_message();
59 std::thread th_decoding_; /*!< thread that'll handle decoding a can frame */
60 bool is_decoding_; /*!< boolean member controling thread while loop*/
62 void can_event_push();
63 std::thread th_pushing_; /*!< thread that'll handle pushing decoded can frame to subscribers */
64 bool is_pushing_; /*!< boolean member controling thread while loop*/
66 std::condition_variable new_can_message_cv_; /*!< condition_variable use to wait until there is a new CAN message to read*/
67 std::mutex can_message_mutex_; /*!< mutex protecting the can_message_q_ queue.*/
68 std::queue <can_message_t> can_message_q_; /*!< queue that'll store can_message_t to decoded */
70 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_*/
71 std::mutex decoded_can_message_mutex_; /*!< mutex protecting the vehicle_message_q_ queue.*/
72 std::queue <openxc_VehicleMessage> vehicle_message_q_; /*!< queue that'll store openxc_VehicleMessage to pushed */
74 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*/
77 can_bus_t(int conf_file);
80 std::vector<std::string> read_conf();
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 std::map<std::string, std::shared_ptr<can_bus_dev_t>> get_can_devices();
99 * @class can_bus_dev_t
101 * @brief Object representing a can device. Handle opening, closing and reading on the
102 * socket. This is the low level object to be use by can_bus_t.
104 class can_bus_dev_t {
106 int32_t id_; /*!< int32_t id_ - an identifier used through binding that refer to that device*/
107 std::string device_name_; /*!< std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc. */
108 int can_socket_; /*!< socket handler for the can device */
109 bool is_fdmode_on_; /*!< boolean telling if whether or not the can socket use fdmode. */
110 struct sockaddr_can txAddress_; /*!< internal member using to bind to the socket */
112 diagnostic_manager_t diagnostic_manager_; /*!< diagnostic_manager_t diagnostic_manager_ - A diagnostic_manager_t object instance
113 * that will handle diagnostic obd2 protocol requests and responses.*/
115 std::thread th_reading_; /*!< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t */
116 bool is_running_; /*!< boolean telling whether or not reading is running or not */
117 void can_reader(can_bus_t& can_bus);
120 can_bus_dev_t(const std::string& dev_name);
125 void start_reading(can_bus_t& can_bus);
129 std::pair<struct canfd_frame&, size_t> read();
131 int send_can_message(can_message_t& can_msg);
134 /** TODO: implement this function as method into can_bus class
135 * @fn void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
136 * @brief Pre initialize actions made before CAN bus initialization
138 * @param[in] can_bus_dev_t bus - A CanBus struct defining the bus's metadata
139 * @param[in] bool writable - configure the controller in a writable mode. If false, it will be
140 * 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] int busCount - The length of the buses array.
144 void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
146 /** TODO: implement this function as method into can_bus class
147 * @fn void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
148 * @brief Post-initialize actions made after CAN bus initialization
150 * @param[in] bus - A CanBus struct defining the bus's metadata
151 * @param[in] writable - configure the controller in a writable mode. If false, it will be
152 * configured as "listen only" and will not allow writes or even CAN ACKs.
153 * @param[in] buses - An array of all CAN buses.
154 * @param[in] busCount - The length of the buses array.
156 void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
158 /** TODO: implement this function as method into can_bus class
159 * @fn bool isBusActive(can_bus_dev_t* bus);
160 * @brief Check if the device is connected to an active CAN bus, i.e. it's
161 * received a message in the recent past.
163 * @return true if a message was received on the CAN bus within
164 * CAN_ACTIVE_TIMEOUT_S seconds.
166 bool isBusActive(can_bus_dev_t* bus);
168 /** TODO: implement this function as method into can_bus class
170 * @fn void logBusStatistics(can_bus_dev_t* buses, const int busCount);
171 * @brief Log transfer statistics about all active CAN buses to the debug log.
173 * @param[in] buses - an array of active CAN buses.
174 * @param[in] busCount - the length of the buses array.
176 void logBusStatistics(can_bus_dev_t* buses, const int busCount);