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.
29 #include <sys/ioctl.h>
30 #include <linux/can.h>
31 #include <sys/socket.h>
32 #include <json-c/json.h>
33 #include <linux/can/raw.h>
36 #include "openxc.pb.h"
37 #include "low-can-binding.hpp"
41 #include <afb/afb-binding.h>
44 // TODO actual max is 32 but dropped to 24 for memory considerations
45 #define MAX_ACCEPTANCE_FILTERS 24
46 // TODO this takes up a ton of memory
47 #define MAX_DYNAMIC_MESSAGE_COUNT 12
49 #define CAN_MESSAGE_SIZE 8
51 #define CAN_ACTIVE_TIMEOUT_S 30
54 * @brief The type signature for a CAN signal decoder.
56 * @desc A SignalDecoder transforms a raw floating point CAN signal into a number,
59 * @param[in] CanSignal signal - The CAN signal that we are decoding.
60 * @param[in] CanSignal signals - The list of all signals.
61 * @param[in] int signalCount - The length of the signals array.
62 * @param[in] float value - The CAN signal parsed from the message as a raw floating point
64 * @param[out] bool send - An output parameter. If the decoding failed or the CAN signal should
65 * not send for some other reason, this should be flipped to false.
67 * @return a decoded value in an openxc_DynamicField struct.
69 typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal* signal,
70 CanSignal* signals, int signalCount, float value, bool* send);
73 * @brief: The type signature for a CAN signal encoder.
75 * @desc A SignalEncoder transforms a number, string or boolean into a raw floating
76 * point value that fits in the CAN signal.
78 * @params[signal] - The CAN signal to encode.
79 * @params[value] - The dynamic field to encode.
80 * @params[send] - An output parameter. If the encoding failed or the CAN signal should
81 * not be encoded for some other reason, this will be flipped to false.
83 typedef uint64_t (*SignalEncoder)(struct CanSignal* signal,
84 openxc_DynamicField* value, bool* send);
87 * @enum CanMessageFormat
88 * @brief The ID format for a CAN message.
90 enum CanMessageFormat {
91 STANDARD, /*!< STANDARD - standard 11-bit CAN arbitration ID. */
92 EXTENDED, /*!< EXTENDED - an extended frame, with a 29-bit arbitration ID. */
93 ERROR, /*!< ERROR - ERROR code used at initialization to signify that it isn't usable'*/
95 typedef enum CanMessageFormat CanMessageFormat;
98 * @class can_message_t
100 * @brief A compact representation of a single CAN message, meant to be used in in/out
104 /*************************
105 * old CanMessage struct *
106 *************************
109 CanMessageFormat format;
110 uint8_t data[CAN_MESSAGE_SIZE];
113 typedef struct CanMessage CanMessage;
115 class can_message_t {
117 uint32_t id_; /*!< uint32_t id - The ID of the message. */
118 uint8_t length_; /*!< uint8_t length - the length of the data array (max 8). */
119 CanMessageFormat format_; /*!< CanMessageFormat format - the format of the message's ID.*/
120 uint8_t data_[CAN_MESSAGE_SIZE]; /*!< uint8_t data - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
124 * @brief Class constructor
126 * Constructor about can_message_t class.
131 * @brief Retrieve id_ member value.
133 * @return uint32_t id_ class member
135 uint32_t get_id() const;
138 * @brief Retrieve format_ member value.
140 * @return CanMessageFormat format_ class member
142 int get_format() const;
145 * @brief Retrieve data_ member value.
147 * @return uint8_t data_ pointer class member
149 const uint8_t* get_data() const;
152 * @brief Retrieve length_ member value.
154 * @return uint8_t length_ class member
156 uint8_t get_length() const;
159 * @brief Control whether the object is correctly initialized
160 * to be sent over the CAN bus
162 * @return true if object correctly initialized and false if not...
164 bool is_correct_to_send();
167 * @brief Set id_ member value.
169 * Preferred way to initialize these members by using
170 * convert_from_canfd_frame method.
172 * @param uint32_t id_ class member
174 void set_id(const uint32_t new_id);
177 * @brief Set format_ member value.
179 * Preferred way to initialize these members by using
180 * convert_from_canfd_frame method.
182 * @param CanMessageFormat format_ class member
184 void set_format(const CanMessageFormat format);
187 * @brief Set data_ member value.
189 * Preferred way to initialize these members by using
190 * convert_from_canfd_frame method.
192 * @param uint8_t data_ array with a max size of 8 elements.
194 void set_data(const uint8_t new_data);
197 * @brief Set length_ member value.
199 * Preferred way to initialize these members by using
200 * convert_from_canfd_frame method.
202 * @param uint8_t length_ array with a max size of 8 elements.
204 void set_length(const uint8_t new_length);
207 * @brief Take a canfd_frame struct to initialize class members
209 * This is the preferred way to initialize class members.
211 * @param canfd_frame struct read from can bus device.
213 void convert_from_canfd_frame(const canfd_frame& frame);
216 * @brief Take all initialized class's members and build an
217 * canfd_frame struct that can be use to send a CAN message over
220 * @return canfd_frame struct built from class members.
222 canfd_frame convert_to_canfd_frame();
227 * @brief Object used to handle decoding and manage event queue to be pushed.
229 * This object is also used to initialize can_bus_dev_t object after reading
230 * json conf file describing the CAN devices to use. Thus, those object will read
231 * on the device the CAN frame and push them into the can_bus_t can_message_q_ queue.
233 * That queue will be later used to be decoded and pushed to subscribers.
237 int conf_file_; /*!< conf_file_ - configuration file handle used to initialize can_bus_dev_t objects.*/
239 std::thread th_decoding_; /*!< thread that'll handle decoding a can frame */
240 std::thread th_pushing_; /*!< thread that'll handle pushing decoded can frame to subscribers */
242 bool has_can_message_; /*!< boolean members that control whether or not there is can_message into the queue */
243 std::queue <can_message_t> can_message_q_; /*!< queue that'll store can_message_t to decoded */
245 bool has_vehicle_message_; /*!< boolean members that control whether or not there is openxc_VehicleMessage into the queue */
246 std::queue <openxc_VehicleMessage> vehicle_message_q_; /*!< queue that'll store openxc_VehicleMessage to pushed */
250 * @brief Class constructor
252 * @param struct afb_binding_interface *interface between daemon and binding
253 * @param int file handle to the json configuration file.
255 can_bus_t(int& conf_file);
258 * @brief Will initialize can_bus_dev_t objects after reading
259 * the configuration file passed in the constructor.
264 * @brief read the conf_file_ and will parse json objects
265 * in it searching for canbus objects devices name.
267 * @return Vector of can bus device name string.
269 std::vector<std::string> read_conf();
272 * @brief Will initialize threads that will decode
273 * and push subscribed events.
275 void start_threads();
278 * @brief Return first can_message_t on the queue
280 * @return a can_message_t
282 can_message_t next_can_message();
285 * @brief Push a can_message_t into the queue
287 * @param the const reference can_message_t object to push into the queue
289 void push_new_can_message(const can_message_t& can_msg);
292 * @brief Return a boolean telling if there is any can_message into the queue
294 * @return true if there is at least a can_message_t, false if not.
296 bool has_can_message() const;
299 * @brief Return first openxc_VehicleMessage on the queue
301 * @return a openxc_VehicleMessage containing a decoded can message
303 openxc_VehicleMessage next_vehicle_message();
306 * @brief Push a openxc_VehicleMessage into the queue
308 * @param the const reference openxc_VehicleMessage object to push into the queue
310 void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
313 * @brief Return a boolean telling if there is any openxc_VehicleMessage into the queue
315 * @return true if there is at least a openxc_VehicleMessage, false if not.
317 bool has_vehicle_message() const;
321 * @class can_bus_dev_t
323 * @brief Object representing a can device. Handle opening, closing and reading on the
324 * socket. This is the low level object to be use by can_bus_t.
326 class can_bus_dev_t {
328 std::string device_name_; /*!< std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc. */
329 int can_socket_; /*!< socket handler for the can device */
330 bool is_fdmode_on_; /*!< boolean telling if whether or not the can socket use fdmode. */
331 struct sockaddr_can txAddress_; /*!< internal member using to bind to the socket */
333 std::thread th_reading_; /*!< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t */
334 bool is_running_; /*!< boolean telling whether or not reading is running or not */
338 * @brief Class constructor
340 * @param const string representing the device name into the linux /dev tree
342 can_bus_dev_t(const std::string& dev_name);
345 * @brief Open the can socket and returning it
354 * @brief start reading threads and set flag is_running_
356 * @param can_bus_t reference can_bus_t. it will be passed to the thread
357 * to allow using can_bus_t queue.
359 void start_reading(can_bus_t& can_bus);
362 * @brief Read the can socket and retrieve canfd_frame
364 * @param const struct afb_binding_interface* interface pointer. Used to be able to log
365 * using application framework logger.
370 * @brief Send a can message from a can_message_t object.
372 * @param const can_message_t& can_msg: the can message object to send
373 * @param const struct afb_binding_interface* interface pointer. Used to be able to log
374 * using application framework logger.
376 int send_can_message(can_message_t& can_msg);
380 * @struct CanSignalState
382 * @brief A state encoded (SED) signal's mapping from numerical values to
383 * OpenXC state names.
385 struct CanSignalState {
386 const int value; /*!< int value - The integer value of the state on the CAN bus.*/
387 const char* name; /*!< char* name - The corresponding string name for the state in OpenXC. */
389 typedef struct CanSignalState CanSignalState;
394 * @brief A CAN signal to decode from the bus and output over USB.
397 struct CanMessageDefinition* message; /*!< message - The message this signal is a part of. */
398 const char* genericName; /*!< genericName - The name of the signal to be output over USB.*/
399 uint8_t bitPosition; /*!< bitPosition - The starting bit of the signal in its CAN message (assuming
400 * non-inverted bit numbering, i.e. the most significant bit of
402 uint8_t bitSize; /*!< bitSize - The width of the bit field in the CAN message. */
403 float factor; /*!< factor - The final value will be multiplied by this factor. Use 1 if you
404 * don't need a factor. */
405 float offset; /*!< offset - The final value will be added to this offset. Use 0 if you
406 * don't need an offset. */
407 float minValue; /*!< minValue - The minimum value for the processed signal.*/
408 float maxValue; /*!< maxValue - The maximum value for the processed signal. */
409 FrequencyClock frequencyClock; /*!< frequencyClock - A FrequencyClock struct to control the maximum frequency to
410 * process and send this signal. To process every value, set the
411 * clock's frequency to 0. */
412 bool sendSame; /*!< sendSame - If true, will re-send even if the value hasn't changed.*/
413 bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send the
414 * value if it has changed. */
415 const CanSignalState* states; /*!< states - An array of CanSignalState describing the mapping
416 * between numerical and string values for valid states. */
417 uint8_t stateCount; /*!< stateCount - The length of the states array. */
418 bool writable; /*!< writable - True if the signal is allowed to be written from the USB host
419 * back to CAN. Defaults to false.*/
420 SignalDecoder decoder; /*!< decoder - An optional function to decode a signal from the bus to a human
421 * readable value. If NULL, the default numerical decoder is used. */
422 SignalEncoder encoder; /*!< encoder - An optional function to encode a signal value to be written to
423 * CAN into a byte array. If NULL, the default numerical encoder
425 bool received; /*!< received - True if this signal has ever been received.*/
426 float lastValue; /*!< lastValue - The last received value of the signal. If 'received' is false,
427 * this value is undefined. */
429 typedef struct CanSignal CanSignal;
432 * @struct CanMessageDefinition
434 * @brief The definition of a CAN message. This includes a lot of metadata, so
435 * to save memory this struct should not be used for storing incoming and
436 * outgoing CAN messages.
438 struct CanMessageDefinition {
439 struct CanBus* bus; /*!< bus - A pointer to the bus this message is on. */
440 uint32_t id; /*!< id - The ID of the message.*/
441 CanMessageFormat format; /*!< format - the format of the message's ID.*/
442 FrequencyClock frequencyClock; /*!< clock - an optional frequency clock to control the output of this
443 * message, if sent raw, or simply to mark the max frequency for custom
444 * handlers to retriec++ if ? syntaxve.*/
445 bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send CAN
446 * message if it has changed when using raw passthrough.*/
447 uint8_t lastValue[CAN_MESSAGE_SIZE]; /*!< lastValue - The last received value of the message. Defaults to undefined.
448 * This is required for the forceSendChanged functionality, as the stack
449 * needs to compare an incoming CAN message with the previous frame.*/
451 typedef struct CanMessageDefinition CanMessageDefinition;
454 * @struct CanMessageSet
456 * @brief A parent wrapper for a particular set of CAN messages and associated
457 * CAN buses(e.g. a vehicle or program).
460 uint8_t index; /*!<index - A numerical ID for the message set, ideally the index in an array
462 const char* name; /*!< name - The name of the message set.*/
463 uint8_t busCount; /*!< busCount - The number of CAN buses defined for this message set.*/
464 unsigned short messageCount; /*!< messageCount - The number of CAN messages (across all buses) defined for
465 * this message set.*/
466 unsigned short signalCount; /*!< signalCount - The number of CAN signals (across all messages) defined for
467 * this message set.*/
468 unsigned short commandCount; /*!< commandCount - The number of CanCommmands defined for this message set.*/
472 * @brief The type signature for a function to handle a custom OpenXC command.
474 * @param[in] char* name - the name of the received command.
475 * @param[in] openxc_DynamicField* value - the value of the received command, in a DynamicField. The actual type
476 * may be a number, string or bool.
477 * @param[in] openxc_DynamicField* event - an optional event from the received command, in a DynamicField. The
478 * actual type may be a number, string or bool.
479 * @param[in] CanSignal* signals - The list of all signals.
480 * @param[in] int signalCount - The length of the signals array.
482 typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
483 openxc_DynamicField* event, CanSignal* signals, int signalCount);
485 /* @struct CanCommand
486 * @brief The structure to represent a supported custom OpenXC command.
488 * @desc For completely customized CAN commands without a 1-1 mapping between an
489 * OpenXC message from the host and a CAN signal, you can define the name of the
490 * command and a custom function to handle it in the VI. An example is
491 * the "turn_signal_status" command in OpenXC, which has a value of "left" or
492 * "right". The vehicle may have separate CAN signals for the left and right
493 * turn signals, so you will need to implement a custom command handler to send
494 * the correct signals.
496 * Command handlers are also useful if you want to trigger multiple CAN messages
497 * or signals from a signal OpenXC message.
500 const char* genericName; /*!< genericName - The name of the command.*/
501 CommandHandler handler; /*!< handler - An function to process the received command's data and perform some
506 * @fn void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
507 * @brief Pre initialize actions made before CAN bus initialization
509 * @param[in] can_bus_dev_t bus - A CanBus struct defining the bus's metadata
510 * @param[in] bool writable - configure the controller in a writable mode. If false, it will be
511 * configured as "listen only" and will not allow writes or even CAN ACKs.
512 * @param[in] buses - An array of all CAN buses.
513 * @param[in] int busCount - The length of the buses array.
515 void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
518 * @fn void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
519 * @brief Post-initialize actions made after CAN bus initialization and before the
520 * event loop connection.
522 * @param[in] bus - A CanBus struct defining the bus's metadata
523 * @param[in] writable - configure the controller in a writable mode. If false, it will be
524 * configured as "listen only" and will not allow writes or even CAN ACKs.
525 * @param[in] buses - An array of all CAN buses.
526 * @param[in] busCount - The length of the buses array.
528 void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
531 * @fn bool isBusActive(can_bus_dev_t* bus);
532 * @brief Check if the device is connected to an active CAN bus, i.e. it's
533 * received a message in the recent past.
535 * @return true if a message was received on the CAN bus within
536 * CAN_ACTIVE_TIMEOUT_S seconds.
538 bool isBusActive(can_bus_dev_t* bus);
541 * @fn void logBusStatistics(can_bus_dev_t* buses, const int busCount);
542 * @brief Log transfer statistics about all active CAN buses to the debug log.
544 * @param[in] buses - an array of active CAN buses.
545 * @param[in] busCount - the length of the buses array.
547 void logBusStatistics(can_bus_dev_t* buses, const int busCount);
550 * @fn void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus);
552 * @brief Thread function used to read the can socket.
554 * @param[in] can_bus_dev_t object to be used to read the can socket
555 * @param[in] can_bus_t object used to fill can_message_q_ queue
557 void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus);
560 * @fn void can_decode_message(can_bus_t& can_bus);
562 * @brief Thread function used to decode can messages read into the can_message_q_
564 * @param[in] can_bus_t object used to pop can_message_q_ queue and fill decoded message
565 * into vehicle_message_q_ queue.
567 void can_decode_message(can_bus_t& can_bus);
570 * @fn void can_decode_message(can_bus_t& can_bus);
572 * @brief Thread function used to push afb_event
574 * @param[in] can_bus_t object used to pop can_message_q_ queue and fill decoded message
575 * into vehicle_message_q_ queue.
577 void can_event_push(can_bus_t& can_bus);