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 "low-can-binding.hpp"
30 // TODO actual max is 32 but dropped to 24 for memory considerations
31 #define MAX_ACCEPTANCE_FILTERS 24
32 // TODO this takes up a ton of memory
33 #define MAX_DYNAMIC_MESSAGE_COUNT 12
35 #define CAN_MESSAGE_SIZE 8
37 #define CAN_ACTIVE_TIMEOUT_S 30
40 * @brief The type signature for a CAN signal decoder.
42 * @desc A SignalDecoder transforms a raw floating point CAN signal into a number,
45 * @param[in] CanSignal signal - The CAN signal that we are decoding.
46 * @param[in] CanSignal signals - The list of all signals.
47 * @param[in] int signalCount - The length of the signals array.
48 * @param[in] float value - The CAN signal parsed from the message as a raw floating point
50 * @param[out] bool send - An output parameter. If the decoding failed or the CAN signal should
51 * not send for some other reason, this should be flipped to false.
53 * @return a decoded value in an openxc_DynamicField struct.
55 typedef openxc_DynamicField (*SignalDecoder)(const struct CanSignal& signal,
56 const CanSignal& signals, float value, bool* send);
59 * @brief: The type signature for a CAN signal encoder.
61 * @desc A SignalEncoder transforms a number, string or boolean into a raw floating
62 * point value that fits in the CAN signal.
64 * @params[signal] - The CAN signal to encode.
65 * @params[value] - The dynamic field to encode.
66 * @params[send] - An output parameter. If the encoding failed or the CAN signal should
67 * not be encoded for some other reason, this will be flipped to false.
69 typedef uint64_t (*SignalEncoder)(struct CanSignal* signal,
70 openxc_DynamicField* value, bool* send);
73 * @enum CanMessageFormat
74 * @brief The ID format for a CAN message.
76 enum CanMessageFormat {
77 STANDARD, /*!< STANDARD - standard 11-bit CAN arbitration ID. */
78 EXTENDED, /*!< EXTENDED - an extended frame, with a 29-bit arbitration ID. */
79 ERROR, /*!< ERROR - ERROR code used at initialization to signify that it isn't usable'*/
81 typedef enum CanMessageFormat CanMessageFormat;
84 * @class can_message_t
86 * @brief A compact representation of a single CAN message, meant to be used in in/out
90 /*************************
91 * old CanMessage struct *
92 *************************
95 CanMessageFormat format;
96 uint8_t data[CAN_MESSAGE_SIZE];
99 typedef struct CanMessage CanMessage;
101 class can_message_t {
103 uint32_t id_; /*!< uint32_t id - The ID of the message. */
104 uint8_t length_; /*!< uint8_t length - the length of the data array (max 8). */
105 CanMessageFormat format_; /*!< CanMessageFormat format - the format of the message's ID.*/
106 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.*/
110 * @brief Class constructor
112 * Constructor about can_message_t class.
117 * @brief Retrieve id_ member value.
119 * @return uint32_t id_ class member
121 uint32_t get_id() const;
124 * @brief Retrieve format_ member value.
126 * @return CanMessageFormat format_ class member
128 int get_format() const;
131 * @brief Retrieve data_ member value.
133 * @return uint8_t data_ pointer class member
135 const uint8_t* get_data() const;
138 * @brief Retrieve length_ member value.
140 * @return uint8_t length_ class member
142 uint8_t get_length() const;
145 * @brief Control whether the object is correctly initialized
146 * to be sent over the CAN bus
148 * @return true if object correctly initialized and false if not...
150 bool is_correct_to_send();
153 * @brief Set id_ member value.
155 * Preferred way to initialize these members by using
156 * convert_from_canfd_frame method.
158 * @param uint32_t id_ class member
160 void set_id(const uint32_t new_id);
163 * @brief Set format_ member value.
165 * Preferred way to initialize these members by using
166 * convert_from_canfd_frame method.
168 * @param CanMessageFormat format_ class member
170 void set_format(const CanMessageFormat format);
173 * @brief Set data_ member value.
175 * Preferred way to initialize these members by using
176 * convert_from_canfd_frame method.
178 * @param uint8_t data_ array with a max size of 8 elements.
180 void set_data(const uint8_t new_data);
183 * @brief Set length_ member value.
185 * Preferred way to initialize these members by using
186 * convert_from_canfd_frame method.
188 * @param uint8_t length_ array with a max size of 8 elements.
190 void set_length(const uint8_t new_length);
193 * @brief Take a canfd_frame struct to initialize class members
195 * This is the preferred way to initialize class members.
197 * @param canfd_frame struct read from can bus device.
199 void convert_from_canfd_frame(const canfd_frame& frame);
202 * @brief Take all initialized class's members and build an
203 * canfd_frame struct that can be use to send a CAN message over
206 * @return canfd_frame struct built from class members.
208 canfd_frame convert_to_canfd_frame();
213 * @brief Object used to handle decoding and manage event queue to be pushed.
215 * This object is also used to initialize can_bus_dev_t object after reading
216 * json conf file describing the CAN devices to use. Thus, those object will read
217 * on the device the CAN frame and push them into the can_bus_t can_message_q_ queue.
219 * That queue will be later used to be decoded and pushed to subscribers.
223 int conf_file_; /*!< conf_file_ - configuration file handle used to initialize can_bus_dev_t objects.*/
225 std::thread th_decoding_; /*!< thread that'll handle decoding a can frame */
226 bool is_decoding_; /*!< boolean member controling thread while loop*/
227 std::thread th_pushing_; /*!< thread that'll handle pushing decoded can frame to subscribers */
228 bool is_pushing_; /*!< boolean member controling thread while loop*/
230 std::condition_variable new_can_message_;
231 std::mutex can_message_mutex_;
232 bool has_can_message_; /*!< boolean members that control whether or not there is can_message into the queue */
233 std::queue <can_message_t> can_message_q_; /*!< queue that'll store can_message_t to decoded */
235 std::condition_variable new_decoded_can_message_;
236 std::mutex decoded_can_message_mutex_;
237 bool has_vehicle_message_; /*!< boolean members that control whether or not there is openxc_VehicleMessage into the queue */
238 std::queue <openxc_VehicleMessage> vehicle_message_q_; /*!< queue that'll store openxc_VehicleMessage to pushed */
242 * @brief Class constructor
244 * @param struct afb_binding_interface *interface between daemon and binding
245 * @param int file handle to the json configuration file.
247 can_bus_t(int& conf_file);
250 * @brief Will initialize can_bus_dev_t objects after reading
251 * the configuration file passed in the constructor.
256 * @brief read the conf_file_ and will parse json objects
257 * in it searching for canbus objects devices name.
259 * @return Vector of can bus device name string.
261 std::vector<std::string> read_conf();
263 std::condition_variable& get_new_can_message();
264 std::mutex& get_can_message_mutex();
265 std::condition_variable& get_new_decoded_can_message();
266 std::mutex& get_decoded_can_message_mutex();
269 * @brief Will initialize threads that will decode
270 * and push subscribed events.
272 void start_threads();
275 * @brief Will stop all threads holded by can_bus_t object
276 * which are decoding and pushing threads.
281 * @brief Telling if the decoding thread is running.
282 * This is the boolean value on which the while loop
283 * take its condition. Set it to false will stop the
286 * @return true if decoding thread is running, false if not.
291 * @brief Telling if the pushing thread is running
292 * This is the boolean value on which the while loop
293 * take its condition. Set it to false will stop the
296 * @return true if pushing thread is running, false if not.
301 * @brief Return first can_message_t on the queue
303 * @return a can_message_t
305 can_message_t next_can_message();
308 * @brief Push a can_message_t into the queue
310 * @param the const reference can_message_t object to push into the queue
312 void push_new_can_message(const can_message_t& can_msg);
315 * @brief Return a boolean telling if there is any can_message into the queue
317 * @return true if there is at least a can_message_t, false if not.
319 bool has_can_message() const;
322 * @brief Return first openxc_VehicleMessage on the queue
324 * @return a openxc_VehicleMessage containing a decoded can message
326 openxc_VehicleMessage next_vehicle_message();
329 * @brief Push a openxc_VehicleMessage into the queue
331 * @param the const reference openxc_VehicleMessage object to push into the queue
333 void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
336 * @brief Return a boolean telling if there is any openxc_VehicleMessage into the queue
338 * @return true if there is at least a openxc_VehicleMessage, false if not.
340 bool has_vehicle_message() const;
344 * @class can_bus_dev_t
346 * @brief Object representing a can device. Handle opening, closing and reading on the
347 * socket. This is the low level object to be use by can_bus_t.
349 class can_bus_dev_t {
351 std::string device_name_; /*!< std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc. */
352 int can_socket_; /*!< socket handler for the can device */
353 bool is_fdmode_on_; /*!< boolean telling if whether or not the can socket use fdmode. */
354 struct sockaddr_can txAddress_; /*!< internal member using to bind to the socket */
356 std::thread th_reading_; /*!< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t */
357 bool is_running_; /*!< boolean telling whether or not reading is running or not */
361 * @brief Class constructor
363 * @param const string representing the device name into the linux /dev tree
365 can_bus_dev_t(const std::string& dev_name);
368 * @brief Open the can socket and returning it
375 * @brief Open the can socket and returning it
382 * @brief Telling if the reading thread is running
383 * This is the boolean value on which the while loop
384 * take its condition. Set it to false will stop the
387 * @return true if reading thread is running, false if not.
392 * @brief start reading threads and set flag is_running_
394 * @param can_bus_t reference can_bus_t. it will be passed to the thread
395 * to allow using can_bus_t queue.
397 void start_reading(can_bus_t& can_bus);
400 * @brief Read the can socket and retrieve canfd_frame
402 * @param const struct afb_binding_interface* interface pointer. Used to be able to log
403 * using application framework logger.
408 * @brief Send a can message from a can_message_t object.
410 * @param const can_message_t& can_msg: the can message object to send
411 * @param const struct afb_binding_interface* interface pointer. Used to be able to log
412 * using application framework logger.
414 int send_can_message(can_message_t& can_msg);
418 * @struct CanSignalState
420 * @brief A state encoded (SED) signal's mapping from numerical values to
421 * OpenXC state names.
423 struct CanSignalState {
424 const int value; /*!< int value - The integer value of the state on the CAN bus.*/
425 const char* name; /*!< char* name - The corresponding string name for the state in OpenXC. */
427 typedef struct CanSignalState CanSignalState;
432 * @brief A CAN signal to decode from the bus and output over USB.
435 struct CanMessageDefinition* message; /*!< message - The message this signal is a part of. */
436 const char* genericName; /*!< genericName - The name of the signal to be output over USB.*/
437 uint8_t bitPosition; /*!< bitPosition - The starting bit of the signal in its CAN message (assuming
438 * non-inverted bit numbering, i.e. the most significant bit of
440 uint8_t bitSize; /*!< bitSize - The width of the bit field in the CAN message. */
441 float factor; /*!< factor - The final value will be multiplied by this factor. Use 1 if you
442 * don't need a factor. */
443 float offset; /*!< offset - The final value will be added to this offset. Use 0 if you
444 * don't need an offset. */
445 float minValue; /*!< minValue - The minimum value for the processed signal.*/
446 float maxValue; /*!< maxValue - The maximum value for the processed signal. */
447 FrequencyClock frequencyClock; /*!< frequencyClock - A FrequencyClock struct to control the maximum frequency to
448 * process and send this signal. To process every value, set the
449 * clock's frequency to 0. */
450 bool sendSame; /*!< sendSame - If true, will re-send even if the value hasn't changed.*/
451 bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send the
452 * value if it has changed. */
453 const CanSignalState* states; /*!< states - An array of CanSignalState describing the mapping
454 * between numerical and string values for valid states. */
455 uint8_t stateCount; /*!< stateCount - The length of the states array. */
456 bool writable; /*!< writable - True if the signal is allowed to be written from the USB host
457 * back to CAN. Defaults to false.*/
458 SignalDecoder decoder; /*!< decoder - An optional function to decode a signal from the bus to a human
459 * readable value. If NULL, the default numerical decoder is used. */
460 SignalEncoder encoder; /*!< encoder - An optional function to encode a signal value to be written to
461 * CAN into a byte array. If NULL, the default numerical encoder
463 bool received; /*!< received - True if this signal has ever been received.*/
464 float lastValue; /*!< lastValue - The last received value of the signal. If 'received' is false,
465 * this value is undefined. */
467 typedef struct CanSignal CanSignal;
470 * @struct CanMessageDefinition
472 * @brief The definition of a CAN message. This includes a lot of metadata, so
473 * to save memory this struct should not be used for storing incoming and
474 * outgoing CAN messages.
476 struct CanMessageDefinition {
477 //can_bus_dev_t bus; /*!< bus - A pointer to the bus this message is on. */
478 uint32_t id; /*!< id - The ID of the message.*/
479 CanMessageFormat format; /*!< format - the format of the message's ID.*/
480 FrequencyClock frequencyClock; /*!< clock - an optional frequency clock to control the output of this
481 * message, if sent raw, or simply to mark the max frequency for custom
482 * handlers to retriec++ if ? syntaxve.*/
483 bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send CAN
484 * message if it has changed when using raw passthrough.*/
485 uint8_t lastValue[CAN_MESSAGE_SIZE]; /*!< lastValue - The last received value of the message. Defaults to undefined.
486 * This is required for the forceSendChanged functionality, as the stack
487 * needs to compare an incoming CAN message with the previous frame.*/
489 typedef struct CanMessageDefinition CanMessageDefinition;
492 * @struct CanMessageSet
494 * @brief A parent wrapper for a particular set of CAN messages and associated
495 * CAN buses(e.g. a vehicle or program).
498 uint8_t index; /*!<index - A numerical ID for the message set, ideally the index in an array
500 const char* name; /*!< name - The name of the message set.*/
501 uint8_t busCount; /*!< busCount - The number of CAN buses defined for this message set.*/
502 unsigned short messageCount; /*!< messageCount - The number of CAN messages (across all buses) defined for
503 * this message set.*/
504 unsigned short signalCount; /*!< signalCount - The number of CAN signals (across all messages) defined for
505 * this message set.*/
506 unsigned short commandCount; /*!< commandCount - The number of CanCommmands defined for this message set.*/
510 * @brief The type signature for a function to handle a custom OpenXC command.
512 * @param[in] char* name - the name of the received command.
513 * @param[in] openxc_DynamicField* value - the value of the received command, in a DynamicField. The actual type
514 * may be a number, string or bool.
515 * @param[in] openxc_DynamicField* event - an optional event from the received command, in a DynamicField. The
516 * actual type may be a number, string or bool.
517 * @param[in] CanSignal* signals - The list of all signals.
518 * @param[in] int signalCount - The length of the signals array.
520 typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
521 openxc_DynamicField* event, CanSignal* signals, int signalCount);
523 /* @struct CanCommand
524 * @brief The structure to represent a supported custom OpenXC command.
526 * @desc For completely customized CAN commands without a 1-1 mapping between an
527 * OpenXC message from the host and a CAN signal, you can define the name of the
528 * command and a custom function to handle it in the VI. An example is
529 * the "turn_signal_status" command in OpenXC, which has a value of "left" or
530 * "right". The vehicle may have separate CAN signals for the left and right
531 * turn signals, so you will need to implement a custom command handler to send
532 * the correct signals.
534 * Command handlers are also useful if you want to trigger multiple CAN messages
535 * or signals from a signal OpenXC message.
538 const char* genericName; /*!< genericName - The name of the command.*/
539 CommandHandler handler; /*!< handler - An function to process the received command's data and perform some
544 * @fn void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
545 * @brief Pre initialize actions made before CAN bus initialization
547 * @param[in] can_bus_dev_t bus - A CanBus struct defining the bus's metadata
548 * @param[in] bool writable - configure the controller in a writable mode. If false, it will be
549 * configured as "listen only" and will not allow writes or even CAN ACKs.
550 * @param[in] buses - An array of all CAN buses.
551 * @param[in] int busCount - The length of the buses array.
553 void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
556 * @fn void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
557 * @brief Post-initialize actions made after CAN bus initialization
559 * @param[in] bus - A CanBus struct defining the bus's metadata
560 * @param[in] writable - configure the controller in a writable mode. If false, it will be
561 * configured as "listen only" and will not allow writes or even CAN ACKs.
562 * @param[in] buses - An array of all CAN buses.
563 * @param[in] busCount - The length of the buses array.
565 void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
568 * @fn bool isBusActive(can_bus_dev_t* bus);
569 * @brief Check if the device is connected to an active CAN bus, i.e. it's
570 * received a message in the recent past.
572 * @return true if a message was received on the CAN bus within
573 * CAN_ACTIVE_TIMEOUT_S seconds.
575 bool isBusActive(can_bus_dev_t* bus);
578 * @fn void logBusStatistics(can_bus_dev_t* buses, const int busCount);
579 * @brief Log transfer statistics about all active CAN buses to the debug log.
581 * @param[in] buses - an array of active CAN buses.
582 * @param[in] busCount - the length of the buses array.
584 void logBusStatistics(can_bus_dev_t* buses, const int busCount);
587 * @fn void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus);
589 * @brief Thread function used to read the can socket.
591 * @param[in] can_bus_dev_t object to be used to read the can socket
592 * @param[in] can_bus_t object used to fill can_message_q_ queue
594 void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus);
597 * @fn void can_decode_message(can_bus_t& can_bus);
599 * @brief Thread function used to decode can messages read into the can_message_q_
601 * @param[in] can_bus_t object used to pop can_message_q_ queue and fill decoded message
602 * into vehicle_message_q_ queue.
604 void can_decode_message(can_bus_t& can_bus);
607 * @fn void can_decode_message(can_bus_t& can_bus);
609 * @brief Thread function used to push afb_event
611 * @param[in] can_bus_t object used to pop can_message_q_ queue and fill decoded message
612 * into vehicle_message_q_ queue.
614 void can_event_push(can_bus_t& can_bus);