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
41 * @brief Object used to handle decoding and manage event queue to be pushed.
43 * This object is also used to initialize can_bus_dev_t object after reading
44 * json conf file describing the CAN devices to use. Thus, those object will read
45 * on the device the CAN frame and push them into the can_bus_t can_message_q_ queue.
47 * That queue will be later used to be decoded and pushed to subscribers.
51 int conf_file_; /*!< conf_file_ - configuration file handle used to initialize can_bus_dev_t objects.*/
53 std::thread th_decoding_; /*!< thread that'll handle decoding a can frame */
54 bool is_decoding_; /*!< boolean member controling thread while loop*/
55 std::thread th_pushing_; /*!< thread that'll handle pushing decoded can frame to subscribers */
56 bool is_pushing_; /*!< boolean member controling thread while loop*/
58 std::condition_variable new_can_message_;
59 std::mutex can_message_mutex_;
60 bool has_can_message_; /*!< boolean members that control whether or not there is can_message into the queue */
61 std::queue <can_message_t> can_message_q_; /*!< queue that'll store can_message_t to decoded */
63 std::condition_variable new_decoded_can_message_;
64 std::mutex decoded_can_message_mutex_;
65 bool has_vehicle_message_; /*!< boolean members that control whether or not there is openxc_VehicleMessage into the queue */
66 std::queue <openxc_VehicleMessage> vehicle_message_q_; /*!< queue that'll store openxc_VehicleMessage to pushed */
70 * @brief Class constructor
72 * @param struct afb_binding_interface *interface between daemon and binding
73 * @param int file handle to the json configuration file.
75 can_bus_t(int& conf_file);
78 * @brief Will initialize can_bus_dev_t objects after reading
79 * the configuration file passed in the constructor.
84 * @brief read the conf_file_ and will parse json objects
85 * in it searching for canbus objects devices name.
87 * @return Vector of can bus device name string.
89 std::vector<std::string> read_conf();
91 std::condition_variable& get_new_can_message();
92 std::mutex& get_can_message_mutex();
93 std::condition_variable& get_new_decoded_can_message();
94 std::mutex& get_decoded_can_message_mutex();
97 * @brief Will initialize threads that will decode
98 * and push subscribed events.
100 void start_threads();
103 * @brief Will stop all threads holded by can_bus_t object
104 * which are decoding and pushing threads.
109 * @brief Telling if the decoding thread is running.
110 * This is the boolean value on which the while loop
111 * take its condition. Set it to false will stop the
114 * @return true if decoding thread is running, false if not.
119 * @brief Telling if the pushing thread is running
120 * This is the boolean value on which the while loop
121 * take its condition. Set it to false will stop the
124 * @return true if pushing thread is running, false if not.
129 * @brief Return first can_message_t on the queue
131 * @return a can_message_t
133 can_message_t next_can_message();
136 * @brief Push a can_message_t into the queue
138 * @param the const reference can_message_t object to push into the queue
140 void push_new_can_message(const can_message_t& can_msg);
143 * @brief Return a boolean telling if there is any can_message into the queue
145 * @return true if there is at least a can_message_t, false if not.
147 bool has_can_message() const;
150 * @brief Return first openxc_VehicleMessage on the queue
152 * @return a openxc_VehicleMessage containing a decoded can message
154 openxc_VehicleMessage next_vehicle_message();
157 * @brief Push a openxc_VehicleMessage into the queue
159 * @param the const reference openxc_VehicleMessage object to push into the queue
161 void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
164 * @brief Return a boolean telling if there is any openxc_VehicleMessage into the queue
166 * @return true if there is at least a openxc_VehicleMessage, false if not.
168 bool has_vehicle_message() const;
172 * @class can_bus_dev_t
174 * @brief Object representing a can device. Handle opening, closing and reading on the
175 * socket. This is the low level object to be use by can_bus_t.
177 class can_bus_dev_t {
179 std::string device_name_; /*!< std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc. */
180 int can_socket_; /*!< socket handler for the can device */
181 bool is_fdmode_on_; /*!< boolean telling if whether or not the can socket use fdmode. */
182 struct sockaddr_can txAddress_; /*!< internal member using to bind to the socket */
184 std::thread th_reading_; /*!< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t */
185 bool is_running_; /*!< boolean telling whether or not reading is running or not */
189 * @brief Class constructor
191 * @param const string representing the device name into the linux /dev tree
193 can_bus_dev_t(const std::string& dev_name);
196 * @brief Open the can socket and returning it
203 * @brief Open the can socket and returning it
210 * @brief Telling if the reading thread is running
211 * This is the boolean value on which the while loop
212 * take its condition. Set it to false will stop the
215 * @return true if reading thread is running, false if not.
220 * @brief start reading threads and set flag is_running_
222 * @param can_bus_t reference can_bus_t. it will be passed to the thread
223 * to allow using can_bus_t queue.
225 void start_reading(can_bus_t& can_bus);
228 * @brief Read the can socket and retrieve canfd_frame
230 * @param const struct afb_binding_interface* interface pointer. Used to be able to log
231 * using application framework logger.
236 * @brief Send a can message from a can_message_t object.
238 * @param const can_message_t& can_msg: the can message object to send
239 * @param const struct afb_binding_interface* interface pointer. Used to be able to log
240 * using application framework logger.
242 int send_can_message(can_message_t& can_msg);
246 * @brief Return an array of the metadata for the 2 CAN buses you want to
247 * monitor. The size of this array is fixed at 2.
249 can_bus_dev_t getCanBuses();
252 * @fn void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
253 * @brief Pre initialize actions made before CAN bus initialization
255 * @param[in] can_bus_dev_t bus - A CanBus struct defining the bus's metadata
256 * @param[in] bool writable - configure the controller in a writable mode. If false, it will be
257 * configured as "listen only" and will not allow writes or even CAN ACKs.
258 * @param[in] buses - An array of all CAN buses.
259 * @param[in] int busCount - The length of the buses array.
261 void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
264 * @fn void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
265 * @brief Post-initialize actions made after CAN bus initialization
267 * @param[in] bus - A CanBus struct defining the bus's metadata
268 * @param[in] writable - configure the controller in a writable mode. If false, it will be
269 * configured as "listen only" and will not allow writes or even CAN ACKs.
270 * @param[in] buses - An array of all CAN buses.
271 * @param[in] busCount - The length of the buses array.
273 void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
276 * @fn bool isBusActive(can_bus_dev_t* bus);
277 * @brief Check if the device is connected to an active CAN bus, i.e. it's
278 * received a message in the recent past.
280 * @return true if a message was received on the CAN bus within
281 * CAN_ACTIVE_TIMEOUT_S seconds.
283 bool isBusActive(can_bus_dev_t* bus);
286 * @fn void logBusStatistics(can_bus_dev_t* buses, const int busCount);
287 * @brief Log transfer statistics about all active CAN buses to the debug log.
289 * @param[in] buses - an array of active CAN buses.
290 * @param[in] busCount - the length of the buses array.
292 void logBusStatistics(can_bus_dev_t* buses, const int busCount);
295 * @fn void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus);
297 * @brief Thread function used to read the can socket.
299 * @param[in] can_bus_dev_t object to be used to read the can socket
300 * @param[in] can_bus_t object used to fill can_message_q_ queue
302 void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus);
305 * @fn void can_decode_message(can_bus_t& can_bus);
307 * @brief Thread function used to decode can messages read into the can_message_q_
309 * @param[in] can_bus_t object used to pop can_message_q_ queue and fill decoded message
310 * into vehicle_message_q_ queue.
312 void can_decode_message(can_bus_t& can_bus);
315 * @fn void can_decode_message(can_bus_t& can_bus);
317 * @brief Thread function used to push afb_event
319 * @param[in] can_bus_t object used to pop can_message_q_ queue and fill decoded message
320 * into vehicle_message_q_ queue.
322 void can_event_push(can_bus_t& can_bus);