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
  69                 /* First we have to found which CanSignal it is */
  70                 search_key = build_DynamicField((double)can_message.get_id());
  71                 signals = find_can_signals(search_key);
  72
  73                 /* Decoding the message ! Don't kill the messenger ! */
  74                 for(auto& sig : signals)
  75                 {
  76                         {
  77                                 std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
  78                                 std::map<std::string, struct afb_event>& s = get_subscribed_signals();
  79
  80                                 const auto& it = s.find(sig.genericName);
  81                                 if (it != s.end())
  82                                         DEBUG(binder_interface, "Iterator key: %s, event valid? %d", it->first.c_str(), afb_event_is_valid(it->second));
  83                                 DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.genericName, afb_event_is_valid(s[sig.genericName]));
  84                                 DEBUG(binder_interface, "Operator[] key string: %s, event valid? %d", sig.genericName, afb_event_is_valid(s[std::string(sig.genericName)]));
  85                                 DEBUG(binder_interface, "Nb elt matched char: %d", (int)s.count(sig.genericName));
  86                                 DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.genericName)));
  87                                 if( it != s.end() && afb_event_is_valid(it->second))
  88                                 {
  89                                         decoded_message = decoder.translateSignal(sig, can_message, getSignals());
  90
  91                                         openxc_SimpleMessage s_message = build_SimpleMessage(sig.genericName, decoded_message);
  92                                         vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message);
  93
  94                                         std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
  95                                         push_new_vehicle_message(vehicle_message);
  96                                         new_decoded_can_message_.notify_one();
  97                                 }
  98                         }
  99                 }
 100         }
 101 }
 102
 103 void can_bus_t::can_event_push()
 104 {
 105         openxc_VehicleMessage v_message;
 106         openxc_SimpleMessage s_message;
 107         json_object* jo;
 108
 109         while(is_pushing_)
 110         {
 111                 {
 112                         std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
 113                         new_decoded_can_message_.wait(decoded_can_message_lock);
 114                         v_message = next_vehicle_message();
 115                 }
 116
 117                 s_message = get_simple_message(v_message);
 118
 119                 {
 120                         std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
 121                         std::map<std::string, struct afb_event>& s = get_subscribed_signals();
 122                         if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)]))
 123                         {
 124                                 jo = json_object_new_object();
 125                                 jsonify_simple(s_message, jo);
 126                                 afb_event_push(s[std::string(s_message.name)], jo);
 127                         }
 128                 }
 129         }
 130 }
 131
 132 void can_bus_t::start_threads()
 133 {
 134         is_decoding_ = true;
 135         th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
 136         if(!th_decoding_.joinable())
 137                 is_decoding_ = false;
 138
 139         is_pushing_ = true;
 140         th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
 141         if(!th_pushing_.joinable())
 142                 is_pushing_ = false;
 143 }
 144
 145 void can_bus_t::stop_threads()
 146 {
 147         is_decoding_ = false;
 148         is_pushing_ = false;
 149 }
 150
 151 int can_bus_t::init_can_dev()
 152 {
 153         std::vector<std::string> devices_name;
 154         int i;
 155         size_t t;
 156
 157         devices_name = read_conf();
 158
 159         if (! devices_name.empty())
 160         {
 161                 t = devices_name.size();
 162                 i=0;
 163
 164                 for(const auto& device : devices_name)
 165                 {
 166                         can_devices_m_[device] = std::make_shared<can_bus_dev_t>(device);
 167                         if (can_devices_m_[device]->open() == 0)
 168                         {
 169                                 i++;
 170                                 DEBUG(binder_interface, "Start reading thread");
 171                                 can_devices_m_[device]->start_reading(*this);
 172                         }
 173                         else
 174                                 ERROR(binder_interface, "Can't open device %s", device.c_str());
 175                 }
 176
 177                 NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
 178                 return 0;
 179         }
 180         ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read from configuration file. Did you specify canbus JSON object ?");
 181         return 1;
 182 }
 183
 184 std::vector<std::string> can_bus_t::read_conf()
 185 {
 186         std::vector<std::string> ret;
 187         json_object *jo, *canbus;
 188         int n, i;
 189         const char* taxi;
 190
 191         FILE *fd = fdopen(conf_file_, "r");
 192         if (fd)
 193         {
 194                 std::string fd_conf_content;
 195                 std::fseek(fd, 0, SEEK_END);
 196                 fd_conf_content.resize(std::ftell(fd));
 197                 std::rewind(fd);
 198                 std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
 199                 std::fclose(fd);
 200
 201                 DEBUG(binder_interface, "Configuration file content : %s", fd_conf_content.c_str());
 202                 jo = json_tokener_parse(fd_conf_content.c_str());
 203
 204                 if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
 205                 {
 206                         ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
 207                         ret.clear();
 208                 }
 209                 else if (json_object_get_type(canbus) != json_type_array)
 210                 {
 211                         taxi = json_object_get_string(canbus);
 212                         DEBUG(binder_interface, "Can bus found: %s", taxi);
 213                         ret.push_back(std::string(taxi));
 214                 }
 215                 else
 216                 {
 217                         n = json_object_array_length(canbus);
 218                         for (i = 0 ; i < n ; i++)
 219                                 ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
 220                 }
 221                 return ret;
 222         }
 223         ERROR(binder_interface, "Problem at reading the conf file");
 224         ret.clear();
 225         return ret;
 226 }
 227
 228 std::condition_variable& can_bus_t::get_new_can_message()
 229 {
 230         return new_can_message_;
 231 }
 232
 233 std::mutex& can_bus_t::get_can_message_mutex()
 234 {
 235         return can_message_mutex_;
 236 }
 237
 238 can_message_t can_bus_t::next_can_message()
 239 {
 240         can_message_t can_msg;
 241
 242         if(!can_message_q_.empty())
 243         {
 244                 can_msg = can_message_q_.front();
 245                 can_message_q_.pop();
 246                 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(),
 247                         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]);
 248                 return can_msg;
 249         }
 250
 251         has_can_message_ = false;
 252         return can_msg;
 253 }
 254
 255 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
 256 {
 257         can_message_q_.push(can_msg);
 258 }
 259
 260 openxc_VehicleMessage can_bus_t::next_vehicle_message()
 261 {
 262         openxc_VehicleMessage v_msg;
 263
 264         if(! vehicle_message_q_.empty())
 265         {
 266                 v_msg = vehicle_message_q_.front();
 267                 vehicle_message_q_.pop();
 268                 DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
 269                 return v_msg;
 270         }
 271
 272         has_vehicle_message_ = false;
 273         return v_msg;
 274 }
 275
 276 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
 277 {
 278         vehicle_message_q_.push(v_msg);
 279         has_vehicle_message_ = true;
 280 }
 281
 282 std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::get_can_devices()
 283 {
 284         return can_devices_m_;
 285 }
 286
 287 /********************************************************************************
 288 *
 289 *               can_bus_dev_t method implementation
 290 *
 291 *********************************************************************************/
 292
 293 can_bus_dev_t::can_bus_dev_t(const std::string &dev_name)
 294         : device_name_{dev_name}, can_socket_{-1}
 295 {
 296 }
 297
 298 int can_bus_dev_t::open()
 299 {
 300         const int canfd_on = 1;
 301         const int timestamp_on = 1;
 302         struct ifreq ifr;
 303         struct timeval timeout;
 304
 305         DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_);
 306         if (can_socket_ >= 0)
 307                 return 0;
 308
 309         can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW);
 310         DEBUG(binder_interface, "CAN Handler socket correctly initialized : %d", can_socket_);
 311         if (can_socket_ < 0)
 312                 ERROR(binder_interface, "socket could not be created. Error was : %s", ::strerror(errno));
 313         else
 314         {
 315                 /* Set timeout for read */
 316                 ::setsockopt(can_socket_, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
 317                 /* Set timestamp for receveid frame */
 318                 if (::setsockopt(can_socket_, SOL_SOCKET, SO_TIMESTAMP, &timestamp_on, sizeof(timestamp_on)) < 0)
 319                         WARNING(binder_interface, "setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
 320                 DEBUG(binder_interface, "Switch CAN Handler socket to use fd mode");
 321                 /* try to switch the socket into CAN_FD mode */
 322                 if (::setsockopt(can_socket_, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
 323                 {
 324                         NOTICE(binder_interface, "Can not switch into CAN Extended frame format.");
 325                         is_fdmode_on_ = false;
 326                 } else {
 327                         DEBUG(binder_interface, "Correctly set up CAN socket to use FD frames.");
 328                         is_fdmode_on_ = true;
 329                 }
 330
 331                 /* Attempts to open a socket to CAN bus */
 332                 ::strcpy(ifr.ifr_name, device_name_.c_str());
 333                 DEBUG(binder_interface, "ifr_name is : %s", ifr.ifr_name);
 334                 if(::ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0)
 335                         ERROR(binder_interface, "ioctl failed. Error was : %s", strerror(errno));
 336                 else
 337                 {
 338                         txAddress_.can_family = AF_CAN;
 339                         txAddress_.can_ifindex = ifr.ifr_ifindex;
 340
 341                         /* And bind it to txAddress */
 342                         DEBUG(binder_interface, "Bind the socket");
 343                         if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
 344                                 ERROR(binder_interface, "Bind failed. %s", strerror(errno));
 345                         else
 346                                 return 0;
 347                 }
 348                 close();
 349         }
 350         return -1;
 351 }
 352
 353 int can_bus_dev_t::close()
 354 {
 355         ::close(can_socket_);
 356         can_socket_ = -1;
 357         return can_socket_;
 358 }
 359
 360 std::pair<struct canfd_frame&, size_t> can_bus_dev_t::read()
 361 {
 362         ssize_t nbytes;
 363         //int maxdlen;
 364         struct canfd_frame cfd;
 365
 366         /* Test that socket is really opened */
 367         if (can_socket_ < 0)
 368         {
 369                 ERROR(binder_interface, "read_can: Socket unavailable. Closing thread.");
 370                 is_running_ = false;
 371         }
 372
 373         nbytes = ::read(can_socket_, &cfd, CANFD_MTU);
 374
 375         /* if we did not fit into CAN sized messages then stop_reading. */
 376         if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
 377         {
 378                 if (errno == ENETDOWN)
 379                         ERROR(binder_interface, "read: %s CAN device down", device_name_);
 380                 ERROR(binder_interface, "read: Incomplete CAN(FD) frame");
 381                 ::memset(&cfd, 0, sizeof(cfd));
 382         }
 383
 384         return std::pair<struct canfd_frame&, size_t>(cfd, nbytes);
 385 }
 386
 387 void can_bus_dev_t::start_reading(can_bus_t& can_bus)
 388 {
 389         DEBUG(binder_interface, "Launching reading thread");
 390         is_running_ = true;
 391         th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
 392         if(!th_reading_.joinable())
 393                 is_running_ = false;
 394 }
 395
 396 void can_bus_dev_t::stop_reading()
 397 {
 398         is_running_ = false;
 399 }
 400
 401 void can_bus_dev_t::can_reader(can_bus_t& can_bus)
 402 {
 403         can_message_t can_message;
 404
 405         while(is_running_)
 406         {
 407                 can_message.convert_from_canfd_frame(read());
 408
 409                 {
 410                         std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex());
 411                         can_bus.push_new_can_message(can_message);
 412                 }
 413                 can_bus.get_new_can_message().notify_one();
 414         }
 415 }
 416
 417 int can_bus_dev_t::send_can_message(can_message_t& can_msg)
 418 {
 419         ssize_t nbytes;
 420         canfd_frame f;
 421
 422         f = can_msg.convert_to_canfd_frame();
 423
 424         if(can_socket_ >= 0)
 425         {
 426                 nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0,
 427                                 (struct sockaddr*)&txAddress_, sizeof(txAddress_));
 428                 if (nbytes == -1)
 429                 {
 430                         ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
 431                         return -1;
 432                 }
 433                 return (int)nbytes;
 434         }
 435         else
 436         {
 437                 ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
 438                 open();
 439         }
 440         return 0;
 441 }