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"
40 #include <afb/afb-binding.h>
41 #include <afb/afb-service-itf.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
109 /*************************
110 * old CanMessage struct *
111 *************************
114 CanMessageFormat format;
115 uint8_t data[CAN_MESSAGE_SIZE];
118 typedef struct CanMessage CanMessage;
120 class can_message_t {
122 const struct afb_binding_interface* interface_; /*!< afb_binding_interface interface between daemon and binding */
124 uint32_t id_; /*!< uint32_t id - The ID of the message. */
125 uint8_t length_; /*!< uint8_t length - the length of the data array (max 8). */
126 CanMessageFormat format_; /*!< CanMessageFormat format - the format of the message's ID.*/
127 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.*/
131 * @brief Class constructor
133 * Constructor about can_message_t class.
135 * @param interface - const structafb_binding_interface pointer
137 can_message_t(const struct afb_binding_interface* interface);
140 * @brief Retrieve id_ member value.
142 * @return uint32_t id_ class member
144 uint32_t get_id() const;
147 * @brief Retrieve format_ member value.
149 * @return CanMessageFormat format_ class member
151 int get_format() const;
154 * @brief Retrieve data_ member value.
156 * @return uint8_t data_ pointer class member
158 const uint8_t* get_data() const;
161 * @brief Retrieve length_ member value.
163 * @return uint8_t length_ class member
165 uint8_t get_length() const;
168 * @brief Control whether the object is correctly initialized
169 * to be sent over the CAN bus
171 * @return true if object correctly initialized and false if not...
173 bool is_correct_to_send();
176 * @brief Set id_ member value.
178 * Preferred way to initialize these members by using
179 * convert_from_canfd_frame method.
181 * @param uint32_t id_ class member
183 void set_id(const uint32_t new_id);
186 * @brief Set format_ member value.
188 * Preferred way to initialize these members by using
189 * convert_from_canfd_frame method.
191 * @param CanMessageFormat format_ class member
193 void set_format(const CanMessageFormat format);
196 * @brief Set data_ member value.
198 * Preferred way to initialize these members by using
199 * convert_from_canfd_frame method.
201 * @param uint8_t data_ array with a max size of 8 elements.
203 void set_data(const uint8_t new_data);
206 * @brief Set length_ member value.
208 * Preferred way to initialize these members by using
209 * convert_from_canfd_frame method.
211 * @param uint8_t length_ array with a max size of 8 elements.
213 void set_length(const uint8_t new_length);
216 * @brief Take a canfd_frame struct to initialize class members
218 * This is the preferred way to initialize class members.
220 * @param canfd_frame struct read from can bus device.
222 void convert_from_canfd_frame(const canfd_frame& frame);
225 * @brief Take all initialized class's members and build an
226 * canfd_frame struct that can be use to send a CAN message over
229 * @return canfd_frame struct built from class members.
231 canfd_frame convert_to_canfd_frame();
236 * @brief Object used to handle decoding and manage event queue to be pushed.
238 * This object is also used to initialize can_bus_dev_t object after reading
239 * json conf file describing the CAN devices to use. Thus, those object will read
240 * on the device the CAN frame and push them into the can_bus_t can_message_q_ queue.
242 * That queue will be later used to be decoded and pushed to subscribers.
246 int conf_file_; /*!< conf_file_ - configuration file handle used to initialize can_bus_dev_t objects.*/
248 std::thread th_decoding_; /*!< thread that'll handle decoding a can frame */
249 std::thread th_pushing_; /*!< thread that'll handle pushing decoded can frame to subscribers */
251 bool has_can_message_; /*!< boolean members that control whether or not there is can_message into the queue */
252 std::queue <can_message_t> can_message_q_; /*!< queue that'll store can_message_t to decoded */
254 bool has_vehicle_message_; /*!< boolean members that control whether or not there is openxc_VehicleMessage into the queue */
255 std::queue <openxc_VehicleMessage> vehicle_message_q_; /*!< queue that'll store openxc_VehicleMessage to pushed */
258 const struct afb_binding_interface *interface_; /*!< interface_ - afb_binding_interface pointer to the binder. Used to log messages */
261 * @brief Class constructor
263 * @param struct afb_binding_interface *interface between daemon and binding
264 * @param int file handle to the json configuration file.
266 can_bus_t(const struct afb_binding_interface *interface, int& conf_file);
269 * @brief Will initialize can_bus_dev_t objects after reading
270 * the configuration file passed in the constructor.
275 * @brief read the conf_file_ and will parse json objects
276 * in it searching for canbus objects devices name.
278 * @return Vector of can bus device name string.
280 std::vector<std::string> read_conf();
283 * @brief Will initialize threads that will decode
284 * and push subscribed events.
286 void start_threads();
289 * @brief Return first can_message_t on the queue
291 * @return a can_message_t
293 can_message_t next_can_message();
296 * @brief Push a can_message_t into the queue
298 * @param the const reference can_message_t object to push into the queue
300 void push_new_can_message(const can_message_t& can_msg);
303 * @brief Return a boolean telling if there is any can_message into the queue
305 * @return true if there is at least a can_message_t, false if not.
307 bool has_can_message() const;
310 * @brief Return first openxc_VehicleMessage on the queue
312 * @return a openxc_VehicleMessage containing a decoded can message
314 openxc_VehicleMessage next_vehicle_message();
317 * @brief Push a openxc_VehicleMessage into the queue
319 * @param the const reference openxc_VehicleMessage object to push into the queue
321 void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
324 * @brief Return a boolean telling if there is any openxc_VehicleMessage into the queue
326 * @return true if there is at least a openxc_VehicleMessage, false if not.
328 bool has_vehicle_message() const;
332 * @class can_bus_dev_t
334 * @brief Object representing a can device. Handle opening, closing and reading on the
335 * socket. This is the low level object to be use by can_bus_t.
337 class can_bus_dev_t {
339 std::string device_name_; /*!< std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc. */
340 int can_socket_; /*!< socket handler for the can device */
341 bool is_fdmode_on_; /*!< boolean telling if whether or not the can socket use fdmode. */
342 struct sockaddr_can txAddress_; /*!< internal member using to bind to the socket */
344 std::thread th_reading_; /*!< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t */
345 bool is_running_; /*!< boolean telling whether or not reading is running or not */
349 * @brief Class constructor
351 * @param const string representing the device name into the linux /dev tree
353 can_bus_dev_t(const std::string& dev_name);
356 * @brief Open the can socket and returning it
360 int open(const struct afb_binding_interface* interface);
365 * @brief start reading threads and set flag is_running_
367 * @param can_bus_t reference can_bus_t. it will be passed to the thread
368 * to allow using afb_binding_interface and can_bus_t queue.
370 void start_reading(can_bus_t& can_bus);
373 * @brief Read the can socket and retrieve canfd_frame
375 * @param const struct afb_binding_interface* interface pointer. Used to be able to log
376 * using application framework logger.
378 canfd_frame read(const struct afb_binding_interface *interface);
381 * @brief Send a can message from a can_message_t object.
383 * @param const can_message_t& can_msg: the can message object to send
384 * @param const struct afb_binding_interface* interface pointer. Used to be able to log
385 * using application framework logger.
387 int send_can_message(can_message_t& can_msg, const struct afb_binding_interface* interface);
391 * @struct CanSignalState
393 * @brief A state encoded (SED) signal's mapping from numerical values to
394 * OpenXC state names.
396 struct CanSignalState {
397 const int value; /*!< int value - The integer value of the state on the CAN bus.*/
398 const char* name; /*!< char* name - The corresponding string name for the state in OpenXC. */
400 typedef struct CanSignalState CanSignalState;
405 * @brief A CAN signal to decode from the bus and output over USB.
408 struct CanMessageDefinition* message; /*!< message - The message this signal is a part of. */
409 const char* genericName; /*!< genericName - The name of the signal to be output over USB.*/
410 uint8_t bitPosition; /*!< bitPosition - The starting bit of the signal in its CAN message (assuming
411 * non-inverted bit numbering, i.e. the most significant bit of
413 uint8_t bitSize; /*!< bitSize - The width of the bit field in the CAN message. */
414 float factor; /*!< factor - The final value will be multiplied by this factor. Use 1 if you
415 * don't need a factor. */
416 float offset; /*!< offset - The final value will be added to this offset. Use 0 if you
417 * don't need an offset. */
418 float minValue; /*!< minValue - The minimum value for the processed signal.*/
419 float maxValue; /*!< maxValue - The maximum value for the processed signal. */
420 FrequencyClock frequencyClock; /*!< frequencyClock - A FrequencyClock struct to control the maximum frequency to
421 * process and send this signal. To process every value, set the
422 * clock's frequency to 0. */
423 bool sendSame; /*!< sendSame - If true, will re-send even if the value hasn't changed.*/
424 bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send the
425 * value if it has changed. */
426 const CanSignalState* states; /*!< states - An array of CanSignalState describing the mapping
427 * between numerical and string values for valid states. */
428 uint8_t stateCount; /*!< stateCount - The length of the states array. */
429 bool writable; /*!< writable - True if the signal is allowed to be written from the USB host
430 * back to CAN. Defaults to false.*/
431 SignalDecoder decoder; /*!< decoder - An optional function to decode a signal from the bus to a human
432 * readable value. If NULL, the default numerical decoder is used. */
433 SignalEncoder encoder; /*!< encoder - An optional function to encode a signal value to be written to
434 * CAN into a byte array. If NULL, the default numerical encoder
436 bool received; /*!< received - True if this signal has ever been received.*/
437 float lastValue; /*!< lastValue - The last received value of the signal. If 'received' is false,
438 * this value is undefined. */
440 typedef struct CanSignal CanSignal;
443 * @brief The definition of a CAN message. This includes a lot of metadata, so
444 * to save memory this struct should not be used for storing incoming and
445 * outgoing CAN messages.
447 * @param[in] bus - A pointer to the bus this message is on.
448 * @param[in] id - The ID of the message.
449 * @param[in] format - the format of the message's ID.
450 * @param[in] clock - an optional frequency clock to control the output of this
451 * message, if sent raw, or simply to mark the max frequency for custom
452 * handlers to retriec++ if ? syntaxve.
453 * @param[in] forceSendChanged - If true, regardless of the frequency, it will send CAN
454 * message if it has changed when using raw passthrough.
455 * @param[in] lastValue - The last received value of the message. Defaults to undefined.
456 * This is required for the forceSendChanged functionality, as the stack
457 * needs to compare an incoming CAN message with the previous frame.
459 struct CanMessageDefinition {
462 CanMessageFormat format;
463 FrequencyClock frequencyClock;
464 bool forceSendChanged;
465 uint8_t lastValue[CAN_MESSAGE_SIZE];
467 typedef struct CanMessageDefinition CanMessageDefinition;
470 * @brief A parent wrapper for a particular set of CAN messages and associated
471 * CAN buses(e.g. a vehicle or program).
473 * @param[in] index - A numerical ID for the message set, ideally the index in an array
475 * @param[in] name - The name of the message set.
476 * @param[in] busCount - The number of CAN buses defined for this message set.
477 * @param[in] messageCount - The number of CAN messages (across all buses) defined for
479 * @param[in] signalCount - The number of CAN signals (across all messages) defined for
481 * @param[in] commandCount - The number of CanCommmands defined for this message set.
487 unsigned short messageCount;
488 unsigned short signalCount;
489 unsigned short commandCount;
493 * @brief The type signature for a function to handle a custom OpenXC command.
495 * @param[in] char* name - the name of the received command.
496 * @param[in] openxc_DynamicField* value - the value of the received command, in a DynamicField. The actual type
497 * may be a number, string or bool.
498 * @param[in] openxc_DynamicField* event - an optional event from the received command, in a DynamicField. The
499 * actual type may be a number, string or bool.
500 * @param[in] CanSignal* signals - The list of all signals.
501 * @param[in] int signalCount - The length of the signals array.
503 typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
504 openxc_DynamicField* event, CanSignal* signals, int signalCount);
506 /* Public: The structure to represent a supported custom OpenXC command.
508 * For completely customized CAN commands without a 1-1 mapping between an
509 * OpenXC message from the host and a CAN signal, you can define the name of the
510 * command and a custom function to handle it in the VI. An example is
511 * the "turn_signal_status" command in OpenXC, which has a value of "left" or
512 * "right". The vehicle may have separate CAN signals for the left and right
513 * turn signals, so you will need to implement a custom command handler to send
514 * the correct signals.
516 * Command handlers are also useful if you want to trigger multiple CAN messages
517 * or signals from a signal OpenXC message.
519 * genericName - The name of the command.
520 * handler - An function to process the received command's data and perform some
524 const char* genericName;
525 CommandHandler handler;
529 * @brief Pre initialize actions made before CAN bus initialization
531 * @param[in] can_bus_dev_t bus - A CanBus struct defining the bus's metadata
532 * @param[in] bool writable - configure the controller in a writable mode. If false, it will be
533 * configured as "listen only" and will not allow writes or even CAN ACKs.
534 * @param[in] buses - An array of all CAN buses.
535 * @param[in] int busCount - The length of the buses array.
537 void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
539 /* Post-initialize actions made after CAN bus initialization and before the
540 * event loop connection.
542 * bus - A CanBus struct defining the bus's metadata
543 * writable - configure the controller in a writable mode. If false, it will be
544 * configured as "listen only" and will not allow writes or even CAN ACKs.
545 * buses - An array of all CAN buses.
546 * busCount - The length of the buses array.
548 void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
550 /* Public: Check if the device is connected to an active CAN bus, i.e. it's
551 * received a message in the recent past.
553 * Returns true if a message was received on the CAN bus within
554 * CAN_ACTIVE_TIMEOUT_S seconds.
556 bool isBusActive(can_bus_dev_t* bus);
558 /* Public: Log transfer statistics about all active CAN buses to the debug log.
560 * buses - an array of active CAN buses.
561 * busCount - the length of the buses array.
563 void logBusStatistics(can_bus_dev_t* buses, const int busCount);
566 * @fn void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus);
568 * @brief Thread function used to read the can socket.
570 * @param[in] can_bus_dev_t object to be used to read the can socket
571 * @param[in] can_bus_t object used to fill can_message_q_ queue
573 void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus);
576 * @fn void can_decode_message(can_bus_t& can_bus);
578 * @brief Thread function used to decode can messages read into the can_message_q_
580 * @param[in] can_bus_t object used to pop can_message_q_ queue and fill decoded message
581 * into vehicle_message_q_ queue.
583 void can_decode_message(can_bus_t& can_bus);
586 * @fn void can_decode_message(can_bus_t& can_bus);
588 * @brief Thread function used to push afb_event
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_event_push(can_bus_t& can_bus);