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         while(is_decoding_)
  62         {
  63                 {
  64                         std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
  65                         new_can_message_.wait(can_message_lock);
  66                         can_message = next_can_message();
  67
  68                         /* First we have to found which CanSignal it is */
  69                         search_key = build_DynamicField((double)can_message.get_id());
  70                         signals = find_can_signals(search_key);
  71
  72                         /* Decoding the message ! Don't kill the messenger ! */
  73                         for(auto& sig : signals)
  74                         {
  75                                 {
  76                                         std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
  77                                         std::map<std::string, struct afb_event>& s = get_subscribed_signals();
  78
  79                                         /* DEBUG message to make easier debugger STL containers...
  80                                         DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[sig.generic_name]));
  81                                         DEBUG(binder_interface, "Operator[] key string: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[std::string(sig.generic_name)]));
  82                                         DEBUG(binder_interface, "Nb elt matched char: %d", (int)s.count(sig.generic_name));
  83                                         DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.generic_name))); */
  84                                         if( s.find(sig.generic_name) != s.end() && afb_event_is_valid(s[sig.generic_name]))
  85                                         {
  86                                                 decoded_message = decoder.translateSignal(sig, can_message, getSignals());
  87
  88                                                 openxc_SimpleMessage s_message = build_SimpleMessage(sig.generic_name, decoded_message);
  89                                                 vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message);
  90
  91                                                 std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
  92                                                 push_new_vehicle_message(vehicle_message);
  93                                                 new_decoded_can_message_.notify_one();
  94                                         }
  95                                 }
  96                         }
  97                 }
  98         }
  99 }
 100
 101 void can_bus_t::can_event_push()
 102 {
 103         openxc_VehicleMessage v_message;
 104         openxc_SimpleMessage s_message;
 105         json_object* jo;
 106
 107         while(is_pushing_)
 108         {
 109                 {
 110                         std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 111                         new_decoded_can_message_.wait(decoded_can_message_lock);
 112                         v_message = next_vehicle_message();
 113
 114                         s_message = get_simple_message(v_message);
 115                         {
 116                                 std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
 117                                 std::map<std::string, struct afb_event>& s = get_subscribed_signals();
 118                                 if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)]))
 119                                 {
 120                                         jo = json_object_new_object();
 121                                         jsonify_simple(s_message, jo);
 122                                         afb_event_push(s[std::string(s_message.name)], jo);
 123                                 }
 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                                 NOTICE(binder_interface, "%s device opened and reading", device.c_str());
 169                                 can_devices_m_[device]->start_reading(*this);
 170                         }
 171                         else
 172                                 ERROR(binder_interface, "Can't open device %s", device.c_str());
 173                 }
 174
 175                 NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
 176                 return 0;
 177         }
 178         ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read from configuration file. Did you specify canbus JSON object ?");
 179         return 1;
 180 }
 181
 182 std::vector<std::string> can_bus_t::read_conf()
 183 {
 184         std::vector<std::string> ret;
 185         json_object *jo, *canbus;
 186         int n, i;
 187         const char* taxi;
 188
 189         FILE *fd = fdopen(conf_file_, "r");
 190         if (fd)
 191         {
 192                 std::string fd_conf_content;
 193                 std::fseek(fd, 0, SEEK_END);
 194                 fd_conf_content.resize(std::ftell(fd));
 195                 std::rewind(fd);
 196                 std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
 197                 std::fclose(fd);
 198
 199                 DEBUG(binder_interface, "Configuration file content : %s", fd_conf_content.c_str());
 200                 jo = json_tokener_parse(fd_conf_content.c_str());
 201
 202                 if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
 203                 {
 204                         ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
 205                         ret.clear();
 206                 }
 207                 else if (json_object_get_type(canbus) != json_type_array)
 208                 {
 209                         taxi = json_object_get_string(canbus);
 210                         DEBUG(binder_interface, "Can bus found: %s", taxi);
 211                         ret.push_back(std::string(taxi));
 212                 }
 213                 else
 214                 {
 215                         n = json_object_array_length(canbus);
 216                         for (i = 0 ; i < n ; i++)
 217                                 ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
 218                 }
 219                 return ret;
 220         }
 221         ERROR(binder_interface, "Problem at reading the conf file");
 222         ret.clear();
 223         return ret;
 224 }
 225
 226 std::condition_variable& can_bus_t::get_new_can_message()
 227 {
 228         return new_can_message_;
 229 }
 230
 231 std::mutex& can_bus_t::get_can_message_mutex()
 232 {
 233         return can_message_mutex_;
 234 }
 235
 236 can_message_t can_bus_t::next_can_message()
 237 {
 238         can_message_t can_msg;
 239
 240         if(!can_message_q_.empty())
 241         {
 242                 can_msg = can_message_q_.front();
 243                 can_message_q_.pop();
 244                 DEBUG(binder_interface, "next_can_message: Here is the next can message : id %X, length %X, data %02X%02X%02X%02X%02X%02X%02X%02X", can_msg.get_id(), can_msg.get_length(),
 245                         can_msg.get_data()[0], can_msg.get_data()[1], can_msg.get_data()[2], can_msg.get_data()[3], can_msg.get_data()[4], can_msg.get_data()[5], can_msg.get_data()[6], can_msg.get_data()[7]);
 246                 return can_msg;
 247         }
 248
 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         return v_msg;
 270 }
 271
 272 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
 273 {
 274         vehicle_message_q_.push(v_msg);
 275 }
 276
 277 std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::get_can_devices()
 278 {
 279         return can_devices_m_;
 280 }
 281
 282 /********************************************************************************
 283 *
 284 *               can_bus_dev_t method implementation
 285 *
 286 *********************************************************************************/
 287
 288 can_bus_dev_t::can_bus_dev_t(const std::string &dev_name)
 289         : device_name_{dev_name}, can_socket_{-1}
 290 {
 291 }
 292
 293 int can_bus_dev_t::open()
 294 {
 295         const int canfd_on = 1;
 296         const int timestamp_on = 1;
 297         struct ifreq ifr;
 298         struct timeval timeout;
 299
 300         DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_);
 301         if (can_socket_ >= 0)
 302                 return 0;
 303
 304         can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW);
 305         DEBUG(binder_interface, "CAN Handler socket correctly initialized : %d", can_socket_);
 306         if (can_socket_ < 0)
 307                 ERROR(binder_interface, "socket could not be created. Error was : %s", ::strerror(errno));
 308         else
 309         {
 310                 /* Set timeout for read */
 311                 ::setsockopt(can_socket_, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
 312                 /* Set timestamp for receveid frame */
 313                 if (::setsockopt(can_socket_, SOL_SOCKET, SO_TIMESTAMP, &timestamp_on, sizeof(timestamp_on)) < 0)
 314                         WARNING(binder_interface, "setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
 315                 DEBUG(binder_interface, "Switch CAN Handler socket to use fd mode");
 316                 /* try to switch the socket into CAN_FD mode */
 317                 if (::setsockopt(can_socket_, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
 318                 {
 319                         NOTICE(binder_interface, "Can not switch into CAN Extended frame format.");
 320                         is_fdmode_on_ = false;
 321                 } else {
 322                         DEBUG(binder_interface, "Correctly set up CAN socket to use FD frames.");
 323                         is_fdmode_on_ = true;
 324                 }
 325
 326                 /* Attempts to open a socket to CAN bus */
 327                 ::strcpy(ifr.ifr_name, device_name_.c_str());
 328                 DEBUG(binder_interface, "ifr_name is : %s", ifr.ifr_name);
 329                 if(::ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0)
 330                         ERROR(binder_interface, "ioctl failed. Error was : %s", strerror(errno));
 331                 else
 332                 {
 333                         txAddress_.can_family = AF_CAN;
 334                         txAddress_.can_ifindex = ifr.ifr_ifindex;
 335
 336                         /* And bind it to txAddress */
 337                         DEBUG(binder_interface, "Bind the socket");
 338                         if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
 339                                 ERROR(binder_interface, "Bind failed. %s", strerror(errno));
 340                         else
 341                                 return 0;
 342                 }
 343                 close();
 344         }
 345         return -1;
 346 }
 347
 348 int can_bus_dev_t::close()
 349 {
 350         ::close(can_socket_);
 351         can_socket_ = -1;
 352         return can_socket_;
 353 }
 354
 355 std::pair<struct canfd_frame&, size_t> can_bus_dev_t::read()
 356 {
 357         ssize_t nbytes;
 358         //int maxdlen;
 359         struct canfd_frame cfd;
 360
 361         /* Test that socket is really opened */
 362         if (can_socket_ < 0)
 363         {
 364                 ERROR(binder_interface, "read_can: Socket unavailable. Closing thread.");
 365                 is_running_ = false;
 366         }
 367
 368         nbytes = ::read(can_socket_, &cfd, CANFD_MTU);
 369
 370         /* if we did not fit into CAN sized messages then stop_reading. */
 371         if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
 372         {
 373                 if (errno == ENETDOWN)
 374                         ERROR(binder_interface, "read: %s CAN device down", device_name_);
 375                 ERROR(binder_interface, "read: Incomplete CAN(FD) frame");
 376                 ::memset(&cfd, 0, sizeof(cfd));
 377         }
 378
 379         DEBUG(binder_interface, "read: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", cfd.can_id, cfd.len,
 380                                                         cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]);
 381         return std::pair<struct canfd_frame&, size_t>(cfd, nbytes);
 382 }
 383
 384 void can_bus_dev_t::start_reading(can_bus_t& can_bus)
 385 {
 386         DEBUG(binder_interface, "Launching reading thread");
 387         is_running_ = true;
 388         th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
 389         if(!th_reading_.joinable())
 390                 is_running_ = false;
 391 }
 392
 393 void can_bus_dev_t::stop_reading()
 394 {
 395         is_running_ = false;
 396 }
 397
 398 void can_bus_dev_t::can_reader(can_bus_t& can_bus)
 399 {
 400         can_message_t can_message;
 401
 402         while(is_running_)
 403         {
 404                 can_message.convert_from_canfd_frame(read());
 405
 406                 {
 407                         std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex());
 408                         can_bus.push_new_can_message(can_message);
 409                 }
 410                 can_bus.get_new_can_message().notify_one();
 411         }
 412 }
 413
 414 int can_bus_dev_t::send_can_message(can_message_t& can_msg)
 415 {
 416         ssize_t nbytes;
 417         canfd_frame f;
 418
 419         f = can_msg.convert_to_canfd_frame();
 420
 421         if(can_socket_ >= 0)
 422         {
 423                 nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0,
 424                                 (struct sockaddr*)&txAddress_, sizeof(txAddress_));
 425                 if (nbytes == -1)
 426                 {
 427                         ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
 428                         return -1;
 429                 }
 430                 return (int)nbytes;
 431         }
 432         else
 433         {
 434                 ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
 435                 open();
 436         }
 437         return 0;
 438 }