2 * Copyright (C) 2015, 2016 "IoT.bzh"
3 * Author "Romain Forlot" <romain.forlot@iot.bzh>
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
9 * http://www.apache.org/licenses/LICENSE-2.0
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.
23 #include <linux/can.h>
24 #include <condition_variable>
27 #include "openxc.pb.h"
28 #include "can-signals.hpp"
29 #include "can-message.hpp"
30 #include "low-can-binding.hpp"
32 // TODO actual max is 32 but dropped to 24 for memory considerations
33 #define MAX_ACCEPTANCE_FILTERS 24
34 // TODO this takes up a ton of memory
35 #define MAX_DYNAMIC_MESSAGE_COUNT 12
37 #define CAN_ACTIVE_TIMEOUT_S 30
43 * @brief Object used to handle decoding and manage event queue to be pushed.
45 * This object is also used to initialize can_bus_dev_t object after reading
46 * json conf file describing the CAN devices to use. Thus, those object will read
47 * on the device the CAN frame and push them into the can_bus_t can_message_q_ queue.
49 * That queue will be later used to be decoded and pushed to subscribers.
53 int conf_file_; /*!< conf_file_ - configuration file handle used to initialize can_bus_dev_t objects.*/
56 * @brief thread to decoding raw CAN messages.
58 * @desc It will take from the can_message_q_ queue the next can message to process then it will search
59 * about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
60 * subscription has been made. Can message will be decoded using translateSignal that will pass it to the
61 * corresponding decoding function if there is one assigned for that signal. If not, it will be the default
62 * noopDecoder function that will operate on it.
64 void can_decode_message();
65 std::thread th_decoding_; /*!< thread that'll handle decoding a can frame */
66 bool is_decoding_; /*!< boolean member controling thread while loop*/
69 * @brief thread to push events to suscribers. It will read subscribed_signals map to look
70 * which are events that has to be pushed.
72 void can_event_push();
73 std::thread th_pushing_; /*!< thread that'll handle pushing decoded can frame to subscribers */
74 bool is_pushing_; /*!< boolean member controling thread while loop*/
76 std::condition_variable new_can_message_; /*!< condition_variable use to wait until there is a new CAN message to read*/
77 std::mutex can_message_mutex_; /*!< mutex protecting the can_message_q_ queue.*/
78 bool has_can_message_; /*!< boolean members that control whether or not there is can_message into the queue */
79 std::queue <can_message_t> can_message_q_; /*!< queue that'll store can_message_t to decoded */
81 std::condition_variable new_decoded_can_message_; /*!< condition_variable use to wait until there is a new vehicle message to read from the queue vehicle_message_q_*/
82 std::mutex decoded_can_message_mutex_; /*!< mutex protecting the vehicle_message_q_ queue.*/
83 bool has_vehicle_message_; /*!< boolean members that control whether or not there is openxc_VehicleMessage into the queue */
84 std::queue <openxc_VehicleMessage> vehicle_message_q_; /*!< queue that'll store openxc_VehicleMessage to pushed */
86 std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_devices_m_; /*!< Can device map containing all can_bus_dev_t objects initialized during init_can_dev function*/
90 * @brief Class constructor
92 * @param struct afb_binding_interface *interface between daemon and binding
93 * @param int file handle to the json configuration file.
95 can_bus_t(int conf_file);
98 * @brief Will initialize can_bus_dev_t objects after reading
99 * the configuration file passed in the constructor.
104 * @brief read the conf_file_ and will parse json objects
105 * in it searching for canbus objects devices name.
107 * @return Vector of can bus device name string.
109 std::vector<std::string> read_conf();
112 * @brief Will initialize threads that will decode
113 * and push subscribed events.
115 void start_threads();
118 * @brief Will stop all threads holded by can_bus_t object
119 * which are decoding and pushing then will wait that's
120 * they'll finish their job.
125 * @brief Telling if the decoding thread is running.
126 * This is the boolean value on which the while loop
127 * take its condition. Set it to false will stop the
130 * @return true if decoding thread is running, false if not.
135 * @brief Telling if the pushing thread is running
136 * This is the boolean value on which the while loop
137 * take its condition. Set it to false will stop the
140 * @return true if pushing thread is running, false if not.
145 * @brief Return first can_message_t on the queue
147 * @return a can_message_t
149 can_message_t next_can_message();
152 * @brief Push a can_message_t into the queue
154 * @param the const reference can_message_t object to push into the queue
156 void push_new_can_message(const can_message_t& can_msg);
159 * @brief return can_message_mutex_ member
161 * @return return can_message_mutex_ member
163 std::mutex& get_can_message_mutex();
166 * @brief return new_can_message_ member
168 * @return return new_can_message_ member
170 std::condition_variable& get_new_can_message();
174 * @brief Return first openxc_VehicleMessage on the queue
176 * @return a openxc_VehicleMessage containing a decoded can message
178 openxc_VehicleMessage next_vehicle_message();
181 * @brief Push a openxc_VehicleMessage into the queue
183 * @param the const reference openxc_VehicleMessage object to push into the queue
185 void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
190 * @class can_bus_dev_t
192 * @brief Object representing a can device. Handle opening, closing and reading on the
193 * socket. This is the low level object to be use by can_bus_t.
195 class can_bus_dev_t {
197 std::string device_name_; /*!< std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc. */
198 int can_socket_; /*!< socket handler for the can device */
199 bool is_fdmode_on_; /*!< boolean telling if whether or not the can socket use fdmode. */
200 struct sockaddr_can txAddress_; /*!< internal member using to bind to the socket */
202 std::thread th_reading_; /*!< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t */
203 bool is_running_; /*!< boolean telling whether or not reading is running or not */
207 * @brief Thread function used to read the can socket.
209 * @param[in] can_bus_dev_t object to be used to read the can socket
210 * @param[in] can_bus_t object used to fill can_message_q_ queue
212 void can_reader(can_bus_t& can_bus);
216 * @brief Class constructor
218 * @param const string representing the device name into the linux /dev tree
220 can_bus_dev_t(const std::string& dev_name);
223 * @brief Open the can socket and returning it
230 * @brief Open the can socket and returning it
237 * @brief Telling if the reading thread is running
238 * This is the boolean value on which the while loop
239 * take its condition. Set it to false will stop the
242 * @return true if reading thread is running, false if not.
247 * @brief start reading threads and set flag is_running_
249 * @param can_bus_t reference can_bus_t. it will be passed to the thread
250 * to allow using can_bus_t queue.
252 void start_reading(can_bus_t& can_bus);
255 * @brief stop the reading thread setting flag is_running_ to false and
256 * and wait that the thread finish its job.
261 * @brief Read the can socket and retrieve canfd_frame
263 * @param const struct afb_binding_interface* interface pointer. Used to be able to log
264 * using application framework logger.
269 * @brief Send a can message from a can_message_t object.
271 * @param const can_message_t& can_msg: the can message object to send
272 * @param const struct afb_binding_interface* interface pointer. Used to be able to log
273 * using application framework logger.
275 int send_can_message(can_message_t& can_msg);
279 * @brief Return an array of the metadata for the 2 CAN buses you want to
280 * monitor. The size of this array is fixed at 2.
282 can_bus_dev_t getCanBuses();
285 * @fn void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
286 * @brief Pre initialize actions made before CAN bus initialization
288 * @param[in] can_bus_dev_t bus - A CanBus struct defining the bus's metadata
289 * @param[in] bool writable - configure the controller in a writable mode. If false, it will be
290 * configured as "listen only" and will not allow writes or even CAN ACKs.
291 * @param[in] buses - An array of all CAN buses.
292 * @param[in] int busCount - The length of the buses array.
294 void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
297 * @fn void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
298 * @brief Post-initialize actions made after CAN bus initialization
300 * @param[in] bus - A CanBus struct defining the bus's metadata
301 * @param[in] writable - configure the controller in a writable mode. If false, it will be
302 * configured as "listen only" and will not allow writes or even CAN ACKs.
303 * @param[in] buses - An array of all CAN buses.
304 * @param[in] busCount - The length of the buses array.
306 void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
309 * @fn bool isBusActive(can_bus_dev_t* bus);
310 * @brief Check if the device is connected to an active CAN bus, i.e. it's
311 * received a message in the recent past.
313 * @return true if a message was received on the CAN bus within
314 * CAN_ACTIVE_TIMEOUT_S seconds.
316 bool isBusActive(can_bus_dev_t* bus);
319 * @fn void logBusStatistics(can_bus_dev_t* buses, const int busCount);
320 * @brief Log transfer statistics about all active CAN buses to the debug log.
322 * @param[in] buses - an array of active CAN buses.
323 * @param[in] busCount - the length of the buses array.
325 void logBusStatistics(can_bus_dev_t* buses, const int busCount);
328 * @fn void can_decode_message(can_bus_t& can_bus);
330 * @brief Thread function used to decode can messages read into the can_message_q_
332 * @param[in] can_bus_t object used to pop can_message_q_ queue and fill decoded message
333 * into vehicle_message_q_ queue.
335 void can_decode_message(can_bus_t& can_bus);
338 * @fn void can_decode_message(can_bus_t& can_bus);
340 * @brief Thread function used to push afb_event
342 * @param[in] can_bus_t object used to pop can_message_q_ queue and fill decoded message
343 * into vehicle_message_q_ queue.
345 void can_event_push(can_bus_t& can_bus);