src/can-bus.cpp

   1 /*
   2  * Copyright (C) 2015, 2016 "IoT.bzh"
   3  * Author "Romain Forlot" <romain.forlot@iot.bzh>
   4  *
   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
   8  *
   9  *       http://www.apache.org/licenses/LICENSE-2.0
  10  *
  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.
  16  */
  17
  18 #include "can-bus.hpp"
  19
  20 #include <map>
  21 #include <cerrno>
  22 #include <vector>
  23 #include <string>
  24 #include <fcntl.h>
  25 #include <unistd.h>
  26 #include <net/if.h>
  27 #include <sys/ioctl.h>
  28 #include <sys/socket.h>
  29 #include <json-c/json.h>
  30 #include <linux/can/raw.h>
  31
  32 #include "can-decoder.hpp"
  33 #include "openxc-utils.hpp"
  34
  35 extern "C"
  36 {
  37         #include <afb/afb-binding.h>
  38 }
  39
  40 /********************************************************************************
  41 *
  42 *               can_bus_t method implementation
  43 *
  44 *********************************************************************************/
  45
  46 can_bus_t::can_bus_t(int conf_file)
  47         : conf_file_{conf_file}
  48 {
  49 }
  50
  51 void can_bus_t::can_decode_message()
  52 {
  53         can_message_t can_message;
  54         std::vector <CanSignal> signals;
  55         std::vector <CanSignal>::iterator signals_i;
  56         openxc_VehicleMessage vehicle_message;
  57         openxc_DynamicField search_key, decoded_message;
  58
  59         decoder_t decoder;
  60
  61         DEBUG(binder_interface, "Beginning of decoding thread.");
  62         while(is_decoding_)
  63         {
  64                 {
  65                         std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
  66                         new_can_message_.wait(can_message_lock);
  67                         can_message = next_can_message();
  68                 }
  69
  70                 /* First we have to found which CanSignal it is */
  71                 search_key = build_DynamicField((double)can_message.get_id());
  72                 signals = find_can_signals(search_key);
  73
  74                 /* Decoding the message ! Don't kill the messenger ! */
  75                 for(auto& sig : signals)
  76                 {
  77                         {
  78                                 std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
  79                                 std::map<std::string, struct afb_event> subscribed_signals = get_subscribed_signals();
  80                                 const auto& it_event = subscribed_signals.find(sig.genericName);
  81
  82                                 if(it_event != subscribed_signals.end() && afb_event_is_valid(it_event->second))
  83                                 {
  84                                         decoded_message = decoder.translateSignal(sig, can_message, getSignals());
  85
  86                                         openxc_SimpleMessage s_message = build_SimpleMessage(sig.genericName, decoded_message);
  87                                         vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message);
  88
  89                                         std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
  90                                         push_new_vehicle_message(vehicle_message);
  91                                 }
  92                                 new_decoded_can_message_.notify_one();
  93                         }
  94                 }
  95         }
  96 }
  97
  98 void can_bus_t::can_event_push()
  99 {
 100         openxc_VehicleMessage v_message;
 101         openxc_SimpleMessage s_message;
 102         json_object* jo;
 103
 104         DEBUG(binder_interface, "Beginning of the pushing thread");
 105         while(is_pushing_)
 106         {
 107                 {
 108                         std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 109                         new_decoded_can_message_.wait(decoded_can_message_lock);
 110                         v_message = next_vehicle_message();
 111                 }
 112
 113                 s_message = get_simple_message(v_message);
 114
 115                 {
 116                         std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
 117                         std::map<std::string, struct afb_event> subscribed_signals = get_subscribed_signals();
 118                         const auto& it_event = subscribed_signals.find(s_message.name);
 119                         if(it_event != subscribed_signals.end() && afb_event_is_valid(it_event->second))
 120                         {
 121                                 jo = json_object_new_object();
 122                                 jsonify_simple(s_message, jo);
 123                                 afb_event_push(it_event->second, jo);
 124                         }
 125                 }
 126         }
 127 }
 128
 129 void can_bus_t::start_threads()
 130 {
 131         is_decoding_ = true;
 132         th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
 133         if(!th_decoding_.joinable())
 134                 is_decoding_ = false;
 135
 136         is_pushing_ = true;
 137         th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
 138         if(!th_pushing_.joinable())
 139                 is_pushing_ = false;
 140 }
 141
 142 void can_bus_t::stop_threads()
 143 {
 144         is_decoding_ = false;
 145         is_pushing_ = false;
 146 }
 147
 148 int can_bus_t::init_can_dev()
 149 {
 150         std::vector<std::string> devices_name;
 151         int i;
 152         size_t t;
 153
 154         devices_name = read_conf();
 155
 156         if (! devices_name.empty())
 157         {
 158                 t = devices_name.size();
 159                 i=0;
 160
 161                 for(const auto& device : devices_name)
 162                 {
 163                         can_devices_m_[device] = std::make_shared<can_bus_dev_t>(device);
 164                         if (can_devices_m_[device]->open() == 0)
 165                         {
 166                                 i++;
 167                                 DEBUG(binder_interface, "Start reading thread");
 168                                 can_devices_m_[device]->start_reading(*this);
 169                         }
 170                         else
 171                                 ERROR(binder_interface, "Can't open device %s", device.c_str());
 172                 }
 173
 174                 NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
 175                 return 0;
 176         }
 177         ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read from configuration file. Did you specify canbus JSON object ?");
 178         return 1;
 179 }
 180
 181 std::vector<std::string> can_bus_t::read_conf()
 182 {
 183         std::vector<std::string> ret;
 184         json_object *jo, *canbus;
 185         int n, i;
 186         const char* taxi;
 187
 188         FILE *fd = fdopen(conf_file_, "r");
 189         if (fd)
 190         {
 191                 std::string fd_conf_content;
 192                 std::fseek(fd, 0, SEEK_END);
 193                 fd_conf_content.resize(std::ftell(fd));
 194                 std::rewind(fd);
 195                 std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
 196                 std::fclose(fd);
 197
 198                 DEBUG(binder_interface, "Configuration file content : %s", fd_conf_content.c_str());
 199                 jo = json_tokener_parse(fd_conf_content.c_str());
 200
 201                 if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
 202                 {
 203                         ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
 204                         ret.clear();
 205                 }
 206                 else if (json_object_get_type(canbus) != json_type_array)
 207                 {
 208                         taxi = json_object_get_string(canbus);
 209                         DEBUG(binder_interface, "Can bus found: %s", taxi);
 210                         ret.push_back(std::string(taxi));
 211                 }
 212                 else
 213                 {
 214                         n = json_object_array_length(canbus);
 215                         for (i = 0 ; i < n ; i++)
 216                                 ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
 217                 }
 218                 return ret;
 219         }
 220         ERROR(binder_interface, "Problem at reading the conf file");
 221         ret.clear();
 222         return ret;
 223 }
 224
 225 std::condition_variable& can_bus_t::get_new_can_message()
 226 {
 227         return new_can_message_;
 228 }
 229
 230 std::mutex& can_bus_t::get_can_message_mutex()
 231 {
 232         return can_message_mutex_;
 233 }
 234
 235 can_message_t can_bus_t::next_can_message()
 236 {
 237         can_message_t can_msg;
 238
 239         if(!can_message_q_.empty())
 240         {
 241                 can_msg = can_message_q_.front();
 242                 can_message_q_.pop();
 243                 DEBUG(binder_interface, "next_can_message: Here is the next can message : id %d, length %d", can_msg.get_id(), can_msg.get_length());
 244                 return can_msg;
 245         }
 246
 247         NOTICE(binder_interface, "next_can_message: End of can message queue");
 248         has_can_message_ = false;
 249         return can_msg;
 250 }
 251
 252 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
 253 {
 254         can_message_q_.push(can_msg);
 255 }
 256
 257 openxc_VehicleMessage can_bus_t::next_vehicle_message()
 258 {
 259         openxc_VehicleMessage v_msg;
 260
 261         if(! vehicle_message_q_.empty())
 262         {
 263                 v_msg = vehicle_message_q_.front();
 264                 vehicle_message_q_.pop();
 265                 DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
 266                 return v_msg;
 267         }
 268
 269         NOTICE(binder_interface, "next_vehicle_message: End of vehicle message queue");
 270         has_vehicle_message_ = false;
 271         return v_msg;
 272 }
 273
 274 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
 275 {
 276         vehicle_message_q_.push(v_msg);
 277         has_vehicle_message_ = true;
 278 }
 279
 280 std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::get_can_devices()
 281 {
 282         return can_devices_m_;
 283 }
 284
 285 /********************************************************************************
 286 *
 287 *               can_bus_dev_t method implementation
 288 *
 289 *********************************************************************************/
 290
 291 can_bus_dev_t::can_bus_dev_t(const std::string &dev_name)
 292         : device_name_{dev_name}, can_socket_{-1}
 293 {
 294 }
 295
 296 int can_bus_dev_t::open()
 297 {
 298         const int canfd_on = 1;
 299         const int timestamp_on = 1;
 300         struct ifreq ifr;
 301         struct timeval timeout;
 302
 303         DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_);
 304         if (can_socket_ >= 0)
 305                 return 0;
 306
 307         can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW);
 308         DEBUG(binder_interface, "CAN Handler socket correctly initialized : %d", can_socket_);
 309         if (can_socket_ < 0)
 310                 ERROR(binder_interface, "socket could not be created. Error was : %s", ::strerror(errno));
 311         else
 312         {
 313                 /* Set timeout for read */
 314                 ::setsockopt(can_socket_, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
 315                 /* Set timestamp for receveid frame */
 316                 if (::setsockopt(can_socket_, SOL_SOCKET, SO_TIMESTAMP, &timestamp_on, sizeof(timestamp_on)) < 0)
 317                         WARNING(binder_interface, "setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
 318                 DEBUG(binder_interface, "Switch CAN Handler socket to use fd mode");
 319                 /* try to switch the socket into CAN_FD mode */
 320                 if (::setsockopt(can_socket_, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
 321                 {
 322                         NOTICE(binder_interface, "Can not switch into CAN Extended frame format.");
 323                         is_fdmode_on_ = false;
 324                 } else {
 325                         DEBUG(binder_interface, "Correctly set up CAN socket to use FD frames.");
 326                         is_fdmode_on_ = true;
 327                 }
 328
 329                 /* Attempts to open a socket to CAN bus */
 330                 ::strcpy(ifr.ifr_name, device_name_.c_str());
 331                 DEBUG(binder_interface, "ifr_name is : %s", ifr.ifr_name);
 332                 if(::ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0)
 333                         ERROR(binder_interface, "ioctl failed. Error was : %s", strerror(errno));
 334                 else
 335                 {
 336                         txAddress_.can_family = AF_CAN;
 337                         txAddress_.can_ifindex = ifr.ifr_ifindex;
 338
 339                         /* And bind it to txAddress */
 340                         DEBUG(binder_interface, "Bind the socket");
 341                         if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
 342                                 ERROR(binder_interface, "Bind failed. %s", strerror(errno));
 343                         else
 344                                 return 0;
 345                 }
 346                 close();
 347         }
 348         return -1;
 349 }
 350
 351 int can_bus_dev_t::close()
 352 {
 353         ::close(can_socket_);
 354         can_socket_ = -1;
 355         return can_socket_;
 356 }
 357
 358 canfd_frame can_bus_dev_t::read()
 359 {
 360         ssize_t nbytes;
 361         //int maxdlen;
 362         struct canfd_frame cfd;
 363
 364         /* Test that socket is really opened */
 365         if (can_socket_ < 0)
 366         {
 367                 ERROR(binder_interface, "read_can: Socket unavailable. Closing thread.");
 368                 is_running_ = false;
 369         }
 370
 371         nbytes = ::read(can_socket_, &cfd, CANFD_MTU);
 372
 373         /* if we did not fit into CAN sized messages then stop_reading. */
 374         if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
 375         {
 376                 if (errno == ENETDOWN)
 377                         ERROR(binder_interface, "read: %s CAN device down", device_name_);
 378                 ERROR(binder_interface, "read: Incomplete CAN(FD) frame");
 379                 ::memset(&cfd, 0, sizeof(cfd));
 380         }
 381
 382         return cfd;
 383 }
 384
 385 void can_bus_dev_t::start_reading(can_bus_t& can_bus)
 386 {
 387         DEBUG(binder_interface, "Launching reading thread");
 388         is_running_ = true;
 389         th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
 390         if(!th_reading_.joinable())
 391                 is_running_ = false;
 392 }
 393
 394 void can_bus_dev_t::stop_reading()
 395 {
 396         is_running_ = false;
 397 }
 398
 399 void can_bus_dev_t::can_reader(can_bus_t& can_bus)
 400 {
 401         can_message_t can_message;
 402
 403         DEBUG(binder_interface, "Beginning of reading thread");
 404         while(is_running_)
 405         {
 406                 can_message.convert_from_canfd_frame(read());
 407
 408                 {
 409                         std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex());
 410                         can_bus.push_new_can_message(can_message);
 411                 }
 412                 can_bus.get_new_can_message().notify_one();
 413         }
 414 }
 415
 416 int can_bus_dev_t::send_can_message(can_message_t& can_msg)
 417 {
 418         ssize_t nbytes;
 419         canfd_frame f;
 420
 421         f = can_msg.convert_to_canfd_frame();
 422
 423         if(can_socket_ >= 0)
 424         {
 425                 nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0,
 426                                 (struct sockaddr*)&txAddress_, sizeof(txAddress_));
 427                 if (nbytes == -1)
 428                 {
 429                         ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
 430                         return -1;
 431                 }
 432                 return (int)nbytes;
 433         }
 434         else
 435         {
 436                 ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
 437                 open();
 438         }
 439         return 0;
 440 }