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         th_decoding_.join();
 147         th_pushing_.join();
 148 }
 149
 150 int can_bus_t::init_can_dev()
 151 {
 152         std::vector<std::string> devices_name;
 153         int i;
 154         size_t t;
 155
 156         devices_name = read_conf();
 157
 158         if (! devices_name.empty())
 159         {
 160                 t = devices_name.size();
 161                 i=0;
 162
 163                 for(const auto& device : devices_name)
 164                 {
 165                         can_devices_m_[device] = std::make_shared<can_bus_dev_t>(device);
 166                         if (can_devices_m_[device]->open() == 0)
 167                         {
 168                                 i++;
 169                                 DEBUG(binder_interface, "Start reading thread");
 170                                 can_devices_m_[device]->start_reading(*this);
 171                         }
 172                         else
 173                                 ERROR(binder_interface, "Can't open device %s", device.c_str());
 174                 }
 175
 176                 NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
 177                 return 0;
 178         }
 179         ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read from configuration file. Did you specify canbus JSON object ?");
 180         return 1;
 181 }
 182
 183 std::vector<std::string> can_bus_t::read_conf()
 184 {
 185         std::vector<std::string> ret;
 186         json_object *jo, *canbus;
 187         int n, i;
 188         const char* taxi;
 189
 190         FILE *fd = fdopen(conf_file_, "r");
 191         if (fd)
 192         {
 193                 std::string fd_conf_content;
 194                 std::fseek(fd, 0, SEEK_END);
 195                 fd_conf_content.resize(std::ftell(fd));
 196                 std::rewind(fd);
 197                 std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
 198                 std::fclose(fd);
 199
 200                 DEBUG(binder_interface, "Configuration file content : %s", fd_conf_content.c_str());
 201                 jo = json_tokener_parse(fd_conf_content.c_str());
 202
 203                 if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
 204                 {
 205                         ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
 206                         ret.clear();
 207                 }
 208                 else if (json_object_get_type(canbus) != json_type_array)
 209                 {
 210                         taxi = json_object_get_string(canbus);
 211                         DEBUG(binder_interface, "Can bus found: %s", taxi);
 212                         ret.push_back(std::string(taxi));
 213                 }
 214                 else
 215                 {
 216                         n = json_object_array_length(canbus);
 217                         for (i = 0 ; i < n ; i++)
 218                                 ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
 219                 }
 220                 return ret;
 221         }
 222         ERROR(binder_interface, "Problem at reading the conf file");
 223         ret.clear();
 224         return ret;
 225 }
 226
 227 std::condition_variable& can_bus_t::get_new_can_message()
 228 {
 229         return new_can_message_;
 230 }
 231
 232 std::mutex& can_bus_t::get_can_message_mutex()
 233 {
 234         return can_message_mutex_;
 235 }
 236
 237 can_message_t can_bus_t::next_can_message()
 238 {
 239         can_message_t can_msg;
 240
 241         if(!can_message_q_.empty())
 242         {
 243                 can_msg = can_message_q_.front();
 244                 can_message_q_.pop();
 245                 DEBUG(binder_interface, "next_can_message: Here is the next can message : id %d, length %d", can_msg.get_id(), can_msg.get_length());
 246                 return can_msg;
 247         }
 248
 249         NOTICE(binder_interface, "next_can_message: End of can message queue");
 250         has_can_message_ = false;
 251         return can_msg;
 252 }
 253
 254 void can_bus_t::push_new_can_message(const can_message_t& can_msg)
 255 {
 256         can_message_q_.push(can_msg);
 257 }
 258
 259 openxc_VehicleMessage can_bus_t::next_vehicle_message()
 260 {
 261         openxc_VehicleMessage v_msg;
 262
 263         if(! vehicle_message_q_.empty())
 264         {
 265                 v_msg = vehicle_message_q_.front();
 266                 vehicle_message_q_.pop();
 267                 DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
 268                 return v_msg;
 269         }
 270
 271         NOTICE(binder_interface, "next_vehicle_message: End of vehicle message queue");
 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 /********************************************************************************
 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 canfd_frame can_bus_dev_t::read()
 356 {
 357         ssize_t nbytes;
 358         //int maxdlen;
 359         canfd_frame canfd_frame;
 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_, &canfd_frame, CANFD_MTU);
 369
 370         switch(nbytes)
 371         {
 372                 case CANFD_MTU:
 373                         DEBUG(binder_interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
 374                         //maxdlen = CANFD_MAX_DLEN;
 375                         break;
 376                 case CAN_MTU:
 377                         DEBUG(binder_interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
 378                         //maxdlen = CAN_MAX_DLEN;
 379                         break;
 380                 default:
 381                         if (errno == ENETDOWN)
 382                                         ERROR(binder_interface, "read_can: %s binder_interface down", device_name_);
 383                         ERROR(binder_interface, "read_can: Error reading CAN bus");
 384                         ::memset(&canfd_frame, 0, sizeof(canfd_frame));
 385                         is_running_ = false;
 386                         break;
 387         }
 388
 389         return canfd_frame;
 390 }
 391
 392 void can_bus_dev_t::start_reading(can_bus_t& can_bus)
 393 {
 394         DEBUG(binder_interface, "Launching reading thread");
 395         is_running_ = true;
 396         th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
 397         if(!th_reading_.joinable())
 398                 is_running_ = false;
 399 }
 400
 401 void can_bus_dev_t::stop_reading()
 402 {
 403         is_running_ = false;
 404         th_reading_.join();
 405 }
 406
 407 void can_bus_dev_t::can_reader(can_bus_t& can_bus)
 408 {
 409         can_message_t can_message;
 410
 411         DEBUG(binder_interface, "Beginning of reading thread");
 412         while(is_running_)
 413         {
 414                 can_message.convert_from_canfd_frame(read());
 415
 416                 {
 417                         std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex());
 418                         can_bus.push_new_can_message(can_message);
 419                 }
 420                 can_bus.get_new_can_message().notify_one();
 421         }
 422 }
 423
 424 int can_bus_dev_t::send_can_message(can_message_t& can_msg)
 425 {
 426         ssize_t nbytes;
 427         canfd_frame f;
 428
 429         f = can_msg.convert_to_canfd_frame();
 430
 431         if(can_socket_ >= 0)
 432         {
 433                 nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0,
 434                                 (struct sockaddr*)&txAddress_, sizeof(txAddress_));
 435                 if (nbytes == -1)
 436                 {
 437                         ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
 438                         return -1;
 439                 }
 440                 return (int)nbytes;
 441         }
 442         else
 443         {
 444                 ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
 445                 open();
 446         }
 447         return 0;
 448 }