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.
22 #include <linux/can.h>
25 #include "openxc.pb.h"
26 #include "low-can-binding.hpp"
28 // TODO actual max is 32 but dropped to 24 for memory considerations
29 #define MAX_ACCEPTANCE_FILTERS 24
30 // TODO this takes up a ton of memory
31 #define MAX_DYNAMIC_MESSAGE_COUNT 12
33 #define CAN_MESSAGE_SIZE 8
35 #define CAN_ACTIVE_TIMEOUT_S 30
38 * @brief The type signature for a CAN signal decoder.
40 * @desc A SignalDecoder transforms a raw floating point CAN signal into a number,
43 * @param[in] CanSignal signal - The CAN signal that we are decoding.
44 * @param[in] CanSignal signals - The list of all signals.
45 * @param[in] int signalCount - The length of the signals array.
46 * @param[in] float value - The CAN signal parsed from the message as a raw floating point
48 * @param[out] bool send - An output parameter. If the decoding failed or the CAN signal should
49 * not send for some other reason, this should be flipped to false.
51 * @return a decoded value in an openxc_DynamicField struct.
53 typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal* signal,
54 CanSignal* signals, int signalCount, float value, bool* send);
57 * @brief: The type signature for a CAN signal encoder.
59 * @desc A SignalEncoder transforms a number, string or boolean into a raw floating
60 * point value that fits in the CAN signal.
62 * @params[signal] - The CAN signal to encode.
63 * @params[value] - The dynamic field to encode.
64 * @params[send] - An output parameter. If the encoding failed or the CAN signal should
65 * not be encoded for some other reason, this will be flipped to false.
67 typedef uint64_t (*SignalEncoder)(struct CanSignal* signal,
68 openxc_DynamicField* value, bool* send);
71 * @enum CanMessageFormat
72 * @brief The ID format for a CAN message.
74 enum CanMessageFormat {
75 STANDARD, /*!< STANDARD - standard 11-bit CAN arbitration ID. */
76 EXTENDED, /*!< EXTENDED - an extended frame, with a 29-bit arbitration ID. */
77 ERROR, /*!< ERROR - ERROR code used at initialization to signify that it isn't usable'*/
79 typedef enum CanMessageFormat CanMessageFormat;
82 * @class can_message_t
84 * @brief A compact representation of a single CAN message, meant to be used in in/out
88 /*************************
89 * old CanMessage struct *
90 *************************
93 CanMessageFormat format;
94 uint8_t data[CAN_MESSAGE_SIZE];
97 typedef struct CanMessage CanMessage;
101 uint32_t id_; /*!< uint32_t id - The ID of the message. */
102 uint8_t length_; /*!< uint8_t length - the length of the data array (max 8). */
103 CanMessageFormat format_; /*!< CanMessageFormat format - the format of the message's ID.*/
104 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.*/
108 * @brief Class constructor
110 * Constructor about can_message_t class.
115 * @brief Retrieve id_ member value.
117 * @return uint32_t id_ class member
119 uint32_t get_id() const;
122 * @brief Retrieve format_ member value.
124 * @return CanMessageFormat format_ class member
126 int get_format() const;
129 * @brief Retrieve data_ member value.
131 * @return uint8_t data_ pointer class member
133 const uint8_t* get_data() const;
136 * @brief Retrieve length_ member value.
138 * @return uint8_t length_ class member
140 uint8_t get_length() const;
143 * @brief Control whether the object is correctly initialized
144 * to be sent over the CAN bus
146 * @return true if object correctly initialized and false if not...
148 bool is_correct_to_send();
151 * @brief Set id_ member value.
153 * Preferred way to initialize these members by using
154 * convert_from_canfd_frame method.
156 * @param uint32_t id_ class member
158 void set_id(const uint32_t new_id);
161 * @brief Set format_ member value.
163 * Preferred way to initialize these members by using
164 * convert_from_canfd_frame method.
166 * @param CanMessageFormat format_ class member
168 void set_format(const CanMessageFormat format);
171 * @brief Set data_ member value.
173 * Preferred way to initialize these members by using
174 * convert_from_canfd_frame method.
176 * @param uint8_t data_ array with a max size of 8 elements.
178 void set_data(const uint8_t new_data);
181 * @brief Set length_ member value.
183 * Preferred way to initialize these members by using
184 * convert_from_canfd_frame method.
186 * @param uint8_t length_ array with a max size of 8 elements.
188 void set_length(const uint8_t new_length);
191 * @brief Take a canfd_frame struct to initialize class members
193 * This is the preferred way to initialize class members.
195 * @param canfd_frame struct read from can bus device.
197 void convert_from_canfd_frame(const canfd_frame& frame);
200 * @brief Take all initialized class's members and build an
201 * canfd_frame struct that can be use to send a CAN message over
204 * @return canfd_frame struct built from class members.
206 canfd_frame convert_to_canfd_frame();
211 * @brief Object used to handle decoding and manage event queue to be pushed.
213 * This object is also used to initialize can_bus_dev_t object after reading
214 * json conf file describing the CAN devices to use. Thus, those object will read
215 * on the device the CAN frame and push them into the can_bus_t can_message_q_ queue.
217 * That queue will be later used to be decoded and pushed to subscribers.
221 int conf_file_; /*!< conf_file_ - configuration file handle used to initialize can_bus_dev_t objects.*/
223 std::thread th_decoding_; /*!< thread that'll handle decoding a can frame */
224 bool is_decoding_; /*!< boolean member controling thread while loop*/
225 std::thread th_pushing_; /*!< thread that'll handle pushing decoded can frame to subscribers */
226 bool is_pushing_; /*!< boolean member controling thread while loop*/
228 bool has_can_message_; /*!< boolean members that control whether or not there is can_message into the queue */
229 std::queue <can_message_t> can_message_q_; /*!< queue that'll store can_message_t to decoded */
231 bool has_vehicle_message_; /*!< boolean members that control whether or not there is openxc_VehicleMessage into the queue */
232 std::queue <openxc_VehicleMessage> vehicle_message_q_; /*!< queue that'll store openxc_VehicleMessage to pushed */
236 * @brief Class constructor
238 * @param struct afb_binding_interface *interface between daemon and binding
239 * @param int file handle to the json configuration file.
241 can_bus_t(int& conf_file);
244 * @brief Will initialize can_bus_dev_t objects after reading
245 * the configuration file passed in the constructor.
250 * @brief read the conf_file_ and will parse json objects
251 * in it searching for canbus objects devices name.
253 * @return Vector of can bus device name string.
255 std::vector<std::string> read_conf();
258 * @brief Will initialize threads that will decode
259 * and push subscribed events.
261 void start_threads();
264 * @brief Will stop all threads holded by can_bus_t object
265 * which are decoding and pushing threads.
270 * @brief Telling if the decoding thread is running.
271 * This is the boolean value on which the while loop
272 * take its condition. Set it to false will stop the
275 * @return true if decoding thread is running, false if not.
280 * @brief Telling if the pushing thread is running
281 * This is the boolean value on which the while loop
282 * take its condition. Set it to false will stop the
285 * @return true if pushing thread is running, false if not.
290 * @brief Return first can_message_t on the queue
292 * @return a can_message_t
294 can_message_t next_can_message();
297 * @brief Push a can_message_t into the queue
299 * @param the const reference can_message_t object to push into the queue
301 void push_new_can_message(const can_message_t& can_msg);
304 * @brief Return a boolean telling if there is any can_message into the queue
306 * @return true if there is at least a can_message_t, false if not.
308 bool has_can_message() const;
311 * @brief Return first openxc_VehicleMessage on the queue
313 * @return a openxc_VehicleMessage containing a decoded can message
315 openxc_VehicleMessage next_vehicle_message();
318 * @brief Push a openxc_VehicleMessage into the queue
320 * @param the const reference openxc_VehicleMessage object to push into the queue
322 void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
325 * @brief Return a boolean telling if there is any openxc_VehicleMessage into the queue
327 * @return true if there is at least a openxc_VehicleMessage, false if not.
329 bool has_vehicle_message() const;
333 * @class can_bus_dev_t
335 * @brief Object representing a can device. Handle opening, closing and reading on the
336 * socket. This is the low level object to be use by can_bus_t.
338 class can_bus_dev_t {
340 std::string device_name_; /*!< std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc. */
341 int can_socket_; /*!< socket handler for the can device */
342 bool is_fdmode_on_; /*!< boolean telling if whether or not the can socket use fdmode. */
343 struct sockaddr_can txAddress_; /*!< internal member using to bind to the socket */
345 std::thread th_reading_; /*!< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t */
346 bool is_running_; /*!< boolean telling whether or not reading is running or not */
350 * @brief Class constructor
352 * @param const string representing the device name into the linux /dev tree
354 can_bus_dev_t(const std::string& dev_name);
357 * @brief Open the can socket and returning it
364 * @brief Open the can socket and returning it
371 * @brief Telling if the reading thread is running
372 * This is the boolean value on which the while loop
373 * take its condition. Set it to false will stop the
376 * @return true if reading thread is running, false if not.
381 * @brief start reading threads and set flag is_running_
383 * @param can_bus_t reference can_bus_t. it will be passed to the thread
384 * to allow using can_bus_t queue.
386 void start_reading(can_bus_t& can_bus);
389 * @brief Read the can socket and retrieve canfd_frame
391 * @param const struct afb_binding_interface* interface pointer. Used to be able to log
392 * using application framework logger.
397 * @brief Send a can message from a can_message_t object.
399 * @param const can_message_t& can_msg: the can message object to send
400 * @param const struct afb_binding_interface* interface pointer. Used to be able to log
401 * using application framework logger.
403 int send_can_message(can_message_t& can_msg);
407 * @struct CanSignalState
409 * @brief A state encoded (SED) signal's mapping from numerical values to
410 * OpenXC state names.
412 struct CanSignalState {
413 const int value; /*!< int value - The integer value of the state on the CAN bus.*/
414 const char* name; /*!< char* name - The corresponding string name for the state in OpenXC. */
416 typedef struct CanSignalState CanSignalState;
421 * @brief A CAN signal to decode from the bus and output over USB.
424 struct CanMessageDefinition* message; /*!< message - The message this signal is a part of. */
425 const char* genericName; /*!< genericName - The name of the signal to be output over USB.*/
426 uint8_t bitPosition; /*!< bitPosition - The starting bit of the signal in its CAN message (assuming
427 * non-inverted bit numbering, i.e. the most significant bit of
429 uint8_t bitSize; /*!< bitSize - The width of the bit field in the CAN message. */
430 float factor; /*!< factor - The final value will be multiplied by this factor. Use 1 if you
431 * don't need a factor. */
432 float offset; /*!< offset - The final value will be added to this offset. Use 0 if you
433 * don't need an offset. */
434 float minValue; /*!< minValue - The minimum value for the processed signal.*/
435 float maxValue; /*!< maxValue - The maximum value for the processed signal. */
436 FrequencyClock frequencyClock; /*!< frequencyClock - A FrequencyClock struct to control the maximum frequency to
437 * process and send this signal. To process every value, set the
438 * clock's frequency to 0. */
439 bool sendSame; /*!< sendSame - If true, will re-send even if the value hasn't changed.*/
440 bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send the
441 * value if it has changed. */
442 const CanSignalState* states; /*!< states - An array of CanSignalState describing the mapping
443 * between numerical and string values for valid states. */
444 uint8_t stateCount; /*!< stateCount - The length of the states array. */
445 bool writable; /*!< writable - True if the signal is allowed to be written from the USB host
446 * back to CAN. Defaults to false.*/
447 SignalDecoder decoder; /*!< decoder - An optional function to decode a signal from the bus to a human
448 * readable value. If NULL, the default numerical decoder is used. */
449 SignalEncoder encoder; /*!< encoder - An optional function to encode a signal value to be written to
450 * CAN into a byte array. If NULL, the default numerical encoder
452 bool received; /*!< received - True if this signal has ever been received.*/
453 float lastValue; /*!< lastValue - The last received value of the signal. If 'received' is false,
454 * this value is undefined. */
456 typedef struct CanSignal CanSignal;
459 * @struct CanMessageDefinition
461 * @brief The definition of a CAN message. This includes a lot of metadata, so
462 * to save memory this struct should not be used for storing incoming and
463 * outgoing CAN messages.
465 struct CanMessageDefinition {
466 struct CanBus* bus; /*!< bus - A pointer to the bus this message is on. */
467 uint32_t id; /*!< id - The ID of the message.*/
468 CanMessageFormat format; /*!< format - the format of the message's ID.*/
469 FrequencyClock frequencyClock; /*!< clock - an optional frequency clock to control the output of this
470 * message, if sent raw, or simply to mark the max frequency for custom
471 * handlers to retriec++ if ? syntaxve.*/
472 bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send CAN
473 * message if it has changed when using raw passthrough.*/
474 uint8_t lastValue[CAN_MESSAGE_SIZE]; /*!< lastValue - The last received value of the message. Defaults to undefined.
475 * This is required for the forceSendChanged functionality, as the stack
476 * needs to compare an incoming CAN message with the previous frame.*/
478 typedef struct CanMessageDefinition CanMessageDefinition;
481 * @struct CanMessageSet
483 * @brief A parent wrapper for a particular set of CAN messages and associated
484 * CAN buses(e.g. a vehicle or program).
487 uint8_t index; /*!<index - A numerical ID for the message set, ideally the index in an array
489 const char* name; /*!< name - The name of the message set.*/
490 uint8_t busCount; /*!< busCount - The number of CAN buses defined for this message set.*/
491 unsigned short messageCount; /*!< messageCount - The number of CAN messages (across all buses) defined for
492 * this message set.*/
493 unsigned short signalCount; /*!< signalCount - The number of CAN signals (across all messages) defined for
494 * this message set.*/
495 unsigned short commandCount; /*!< commandCount - The number of CanCommmands defined for this message set.*/
499 * @brief The type signature for a function to handle a custom OpenXC command.
501 * @param[in] char* name - the name of the received command.
502 * @param[in] openxc_DynamicField* value - the value of the received command, in a DynamicField. The actual type
503 * may be a number, string or bool.
504 * @param[in] openxc_DynamicField* event - an optional event from the received command, in a DynamicField. The
505 * actual type may be a number, string or bool.
506 * @param[in] CanSignal* signals - The list of all signals.
507 * @param[in] int signalCount - The length of the signals array.
509 typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
510 openxc_DynamicField* event, CanSignal* signals, int signalCount);
512 /* @struct CanCommand
513 * @brief The structure to represent a supported custom OpenXC command.
515 * @desc For completely customized CAN commands without a 1-1 mapping between an
516 * OpenXC message from the host and a CAN signal, you can define the name of the
517 * command and a custom function to handle it in the VI. An example is
518 * the "turn_signal_status" command in OpenXC, which has a value of "left" or
519 * "right". The vehicle may have separate CAN signals for the left and right
520 * turn signals, so you will need to implement a custom command handler to send
521 * the correct signals.
523 * Command handlers are also useful if you want to trigger multiple CAN messages
524 * or signals from a signal OpenXC message.
527 const char* genericName; /*!< genericName - The name of the command.*/
528 CommandHandler handler; /*!< handler - An function to process the received command's data and perform some
533 * @fn void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
534 * @brief Pre initialize actions made before CAN bus initialization
536 * @param[in] can_bus_dev_t bus - A CanBus struct defining the bus's metadata
537 * @param[in] bool writable - configure the controller in a writable mode. If false, it will be
538 * configured as "listen only" and will not allow writes or even CAN ACKs.
539 * @param[in] buses - An array of all CAN buses.
540 * @param[in] int busCount - The length of the buses array.
542 void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
545 * @fn void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
546 * @brief Post-initialize actions made after CAN bus initialization
548 * @param[in] bus - A CanBus struct defining the bus's metadata
549 * @param[in] writable - configure the controller in a writable mode. If false, it will be
550 * configured as "listen only" and will not allow writes or even CAN ACKs.
551 * @param[in] buses - An array of all CAN buses.
552 * @param[in] busCount - The length of the buses array.
554 void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
557 * @fn bool isBusActive(can_bus_dev_t* bus);
558 * @brief Check if the device is connected to an active CAN bus, i.e. it's
559 * received a message in the recent past.
561 * @return true if a message was received on the CAN bus within
562 * CAN_ACTIVE_TIMEOUT_S seconds.
564 bool isBusActive(can_bus_dev_t* bus);
567 * @fn void logBusStatistics(can_bus_dev_t* buses, const int busCount);
568 * @brief Log transfer statistics about all active CAN buses to the debug log.
570 * @param[in] buses - an array of active CAN buses.
571 * @param[in] busCount - the length of the buses array.
573 void logBusStatistics(can_bus_dev_t* buses, const int busCount);
576 * @fn void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus);
578 * @brief Thread function used to read the can socket.
580 * @param[in] can_bus_dev_t object to be used to read the can socket
581 * @param[in] can_bus_t object used to fill can_message_q_ queue
583 void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus);
586 * @fn void can_decode_message(can_bus_t& can_bus);
588 * @brief Thread function used to decode can messages read into the can_message_q_
590 * @param[in] can_bus_t object used to pop can_message_q_ queue and fill decoded message
591 * into vehicle_message_q_ queue.
593 void can_decode_message(can_bus_t& can_bus);
596 * @fn void can_decode_message(can_bus_t& can_bus);
598 * @brief Thread function used to push afb_event
600 * @param[in] can_bus_t object used to pop can_message_q_ queue and fill decoded message
601 * into vehicle_message_q_ queue.
603 void can_event_push(can_bus_t& can_bus);