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         th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
 132         is_decoding_ = true;
 133         th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
 134         is_pushing_ = true;
 135 }
 136
 137 void can_bus_t::stop_threads()
 138 {
 139         is_decoding_ = false;
 140         is_pushing_ = false;
 141         th_decoding_.join();
 142         th_pushing_.join();
 143 }
 144
 145 bool can_bus_t::is_decoding()
 146 {
 147         return is_decoding_;
 148 }
 149
 150 bool can_bus_t::is_pushing()
 151 {
 152         return is_pushing_;
 153 }
 154
 155 int can_bus_t::init_can_dev()
 156 {
 157         std::vector<std::string> devices_name;
 158         int i;
 159         size_t t;
 160
 161         devices_name = read_conf();
 162
 163         if (! devices_name.empty())
 164         {
 165                 t = devices_name.size();
 166                 i=0;
 167
 168                 for(const auto& device : devices_name)
 169                 {
 170                         can_bus_dev_t can_bus_device_handler(device);
 171                         if (can_bus_device_handler.open() == 0)
 172                         {
 173                                 i++;
 174                                 DEBUG(binder_interface, "Start reading thread");
 175                                 can_bus_device_handler.start_reading(std::ref(*this));
 176                         }
 177                         else
 178                                 ERROR(binder_interface, "Can't open device %s", device.c_str());
 179                 }
 180
 181                 NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
 182                 return 0;
 183         }
 184         ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read from configuration file. Did you specify canbus JSON object ?");
 185         return 1;
 186 }
 187
 188 std::vector<std::string> can_bus_t::read_conf()
 189 {
 190         std::vector<std::string> ret;
 191         json_object *jo, *canbus;
 192         int n, i;
 193         const char* taxi;
 194
 195         FILE *fd = fdopen(conf_file_, "r");
 196         if (fd)
 197         {
 198                 std::string fd_conf_content;
 199                 std::fseek(fd, 0, SEEK_END);
 200                 fd_conf_content.resize(std::ftell(fd));
 201                 std::rewind(fd);
 202                 std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
 203                 std::fclose(fd);
 204
 205                 DEBUG(binder_interface, "Configuration file content : %s", fd_conf_content.c_str());
 206                 jo = json_tokener_parse(fd_conf_content.c_str());
 207
 208                 if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
 209                 {
 210                         ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
 211                         ret.clear();
 212                 }
 213                 else if (json_object_get_type(canbus) != json_type_array)
 214                 {
 215                         taxi = json_object_get_string(canbus);
 216                         DEBUG(binder_interface, "Can bus found: %s", taxi);
 217                         ret.push_back(std::string(taxi));
 218                 }
 219                 else
 220                 {
 221                         n = json_object_array_length(canbus);
 222                         for (i = 0 ; i < n ; i++)
 223                                 ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
 224                 }
 225                 return ret;
 226         }
 227         ERROR(binder_interface, "Problem at reading the conf file");
 228         ret.clear();
 229         return ret;
 230 }
 231
 232 std::condition_variable& can_bus_t::get_new_can_message()
 233 {
 234         return new_can_message_;
 235 }
 236
 237 std::mutex& can_bus_t::get_can_message_mutex()
 238 {
 239         return can_message_mutex_;
 240 }
 241
 242 can_message_t can_bus_t::next_can_message()
 243 {
 244         can_message_t can_msg;
 245
 246         if(!can_message_q_.empty())
 247         {
 248                 can_msg = can_message_q_.front();
 249                 can_message_q_.pop();
 250                 DEBUG(binder_interface, "next_can_message: Here is the next can message : id %d, length %d", can_msg.get_id(), can_msg.get_length());
 251                 return can_msg;
 252         }
 253
 254         NOTICE(binder_interface, "next_can_message: End of can message queue");
 255         has_can_message_ = false;
 256         return can_msg;
 257 }
 258
 259 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
 260 {
 261         can_message_q_.push(can_msg);
 262 }
 263
 264 openxc_VehicleMessage can_bus_t::next_vehicle_message()
 265 {
 266         openxc_VehicleMessage v_msg;
 267
 268         if(! vehicle_message_q_.empty())
 269         {
 270                 v_msg = vehicle_message_q_.front();
 271                 vehicle_message_q_.pop();
 272                 DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
 273                 return v_msg;
 274         }
 275
 276         NOTICE(binder_interface, "next_vehicle_message: End of vehicle message queue");
 277         has_vehicle_message_ = false;
 278         return v_msg;
 279 }
 280
 281 void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
 282 {
 283         vehicle_message_q_.push(v_msg);
 284         has_vehicle_message_ = true;
 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 canfd_frame can_bus_dev_t::read()
 361 {
 362         ssize_t nbytes;
 363         //int maxdlen;
 364         canfd_frame canfd_frame;
 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_, &canfd_frame, CANFD_MTU);
 374
 375         switch(nbytes)
 376         {
 377                 case CANFD_MTU:
 378                         DEBUG(binder_interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
 379                         //maxdlen = CANFD_MAX_DLEN;
 380                         break;
 381                 case CAN_MTU:
 382                         DEBUG(binder_interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
 383                         //maxdlen = CAN_MAX_DLEN;
 384                         break;
 385                 default:
 386                         if (errno == ENETDOWN)
 387                                         ERROR(binder_interface, "read_can: %s binder_interface down", device_name_);
 388                         ERROR(binder_interface, "read_can: Error reading CAN bus");
 389                         ::memset(&canfd_frame, 0, sizeof(canfd_frame));
 390                         is_running_ = false;
 391                         break;
 392         }
 393
 394         return canfd_frame;
 395 }
 396
 397 bool can_bus_dev_t::is_running()
 398 {
 399         return is_running_;
 400 }
 401
 402 void can_bus_dev_t::start_reading(can_bus_t& can_bus)
 403 {
 404         DEBUG(binder_interface, "Launching reading thread");
 405         th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
 406         is_running_ = true;
 407 }
 408
 409 void can_bus_dev_t::stop_reading()
 410 {
 411         is_running_ = false;
 412         th_reading_.join();
 413 }
 414
 415 void can_bus_dev_t::can_reader(can_bus_t& can_bus)
 416 {
 417         can_message_t can_message;
 418
 419         DEBUG(binder_interface, "Beginning of reading thread");
 420         while(is_running())
 421         {
 422                 can_message.convert_from_canfd_frame(read());
 423
 424                 {
 425                         std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex());
 426                         can_bus.push_new_can_message(can_message);
 427                 }
 428                 can_bus.get_new_can_message().notify_one();
 429         }
 430 }
 431
 432 int can_bus_dev_t::send_can_message(can_message_t& can_msg)
 433 {
 434         ssize_t nbytes;
 435         canfd_frame f;
 436
 437         f = can_msg.convert_to_canfd_frame();
 438
 439         if(can_socket_ >= 0)
 440         {
 441                 nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0,
 442                                 (struct sockaddr*)&txAddress_, sizeof(txAddress_));
 443                 if (nbytes == -1)
 444                 {
 445                         ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
 446                         return -1;
 447                 }
 448                 return (int)nbytes;
 449         }
 450         else
 451         {
 452                 ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
 453                 open();
 454         }
 455         return 0;
 456 }