#include "../utils/signals.hpp"
#include "../utils/openxc-utils.hpp"
-extern "C"
-{
- #include <afb/afb-binding.h>
-}
-
/// @brief Class constructor
///
/// @param[in] conf_file - handle to the json configuration file.
: conf_file_{conf_file}
{}
+/// @brief Take a decoded message to determine if its value comply with the wanted
+/// filtering values.
+///
+/// @param[in] vehicle_message - A decoded message to analyze
+/// @param[in] can_subscription - the subscription which will be notified depending
+/// on its filtering values. Filtering values are stored in the event_filtermember.
+///
+/// @return True if the value is compliant with event filter values, false if not...
bool can_bus_t::apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription)
{
+ bool send = false;
if(is_valid(vehicle_message))
{
- return true;
+ float min = std::isnan(can_subscription->get_min()) ? -INFINITY : can_subscription->get_min();
+ float max = std::isnan(can_subscription->get_max()) ? INFINITY : can_subscription->get_max();
+ double value = get_numerical_from_DynamicField(vehicle_message);
+ send = (value < min && value > max) ? false : true;
}
- return false;
+ return send;
}
/// @brief Will make the decoding operation on a classic CAN message. It will not
/// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
///
/// @return How many signals has been decoded.
-void can_bus_t::process_can_signals(const can_message_t& can_message)
+void can_bus_t::process_can_signals(const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
{
int subscription_id = can_message.get_sub_id();
openxc_DynamicField decoded_message;
openxc_VehicleMessage vehicle_message;
- application_t& conf = application_t::instance();
- utils::signals_manager_t& sm = utils::signals_manager_t::instance();
- {
- std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
- std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s = sm.get_subscribed_signals();
+ // First we have to found which can_signal_t it is
+ std::shared_ptr<low_can_subscription_t> sig = s[subscription_id];
- // First we have to found which can_signal_t it is
- std::shared_ptr<low_can_subscription_t> sig = s[subscription_id].first;
+ if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
+ {
+ bool send = true;
+ decoded_message = decoder_t::translateSignal(*sig->get_can_signal(), can_message, application_t::instance().get_all_can_signals(), &send);
+ openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
+ vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp());
- if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id].second))
+ if(send && apply_filter(vehicle_message, sig))
{
- bool send = true;
- decoded_message = decoder_t::translateSignal(*sig->get_can_signal(), can_message, conf.get_all_can_signals(), &send);
- openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
- vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp());
-
- if(send && apply_filter(vehicle_message, sig))
- {
- std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
- push_new_vehicle_message(subscription_id, vehicle_message);
- DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__, sig->get_name().c_str());
- }
+ std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
+ push_new_vehicle_message(subscription_id, vehicle_message);
+ DEBUG("%s CAN signals processed.", sig->get_name().c_str());
}
}
}
/// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
///
/// @return How many signals has been decoded.
-void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message)
+void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
{
int subscription_id = can_message.get_sub_id();
- utils::signals_manager_t& sm = utils::signals_manager_t::instance();
-
+ openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
+ if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
+ s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
{
- std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
- std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s = sm.get_subscribed_signals();
-
- openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
- if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
- s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id].second))
+ if (apply_filter(vehicle_message, s[subscription_id]))
{
- if (apply_filter(vehicle_message, s[subscription_id].first))
- {
- std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
- push_new_vehicle_message(subscription_id, vehicle_message);
- DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__, s[subscription_id].first->get_name().c_str());
- }
+ std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
+ push_new_vehicle_message(subscription_id, vehicle_message);
+ DEBUG("%s CAN signals processed.", s[subscription_id]->get_name().c_str());
}
}
}
/// TODO: make diagnostic messages parsing optionnal.
void can_bus_t::can_decode_message()
{
+ utils::signals_manager_t& sm = utils::signals_manager_t::instance();
+
while(is_decoding_)
{
+ std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
+ new_can_message_cv_.wait(can_message_lock);
+ while(!can_message_q_.empty())
{
- std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
- new_can_message_cv_.wait(can_message_lock);
- while(!can_message_q_.empty())
- {
- const can_message_t can_message = next_can_message();
+ const can_message_t can_message = next_can_message();
+ can_message_lock.unlock();
+ {
+ std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
+ std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
- process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), can_message);
+ {process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), can_message, s);}
else
- process_can_signals(can_message);
+ {process_can_signals(can_message, s);}
}
+ can_message_lock.lock();
}
- new_decoded_can_message_.notify_one();
+ new_decoded_can_message_.notify_one();
+ can_message_lock.unlock();
}
}
/// which are events that has to be pushed.
void can_bus_t::can_event_push()
{
- std::pair<int, openxc_VehicleMessage> v_message;
openxc_SimpleMessage s_message;
json_object* jo;
utils::signals_manager_t& sm = utils::signals_manager_t::instance();
new_decoded_can_message_.wait(decoded_can_message_lock);
while(!vehicle_message_q_.empty())
{
- v_message = next_vehicle_message();
- s_message = get_simple_message(v_message.second);
+ std::pair<int, openxc_VehicleMessage> v_message = next_vehicle_message();
+ decoded_can_message_lock.unlock();
{
std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
- std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s = sm.get_subscribed_signals();
- if(s.find(v_message.first) != s.end() && afb_event_is_valid(s[v_message.first].second))
+ std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
+ s_message = get_simple_message(v_message.second);
+ if(s.find(v_message.first) != s.end() && afb_event_is_valid(s[v_message.first]->get_event()))
{
jo = json_object_new_object();
jsonify_simple(s_message, jo);
- if(afb_event_push(s[v_message.first].second, jo) == 0)
- on_no_clients(std::string(s_message.name));
+ if(afb_event_push(s[v_message.first]->get_event(), jo) == 0)
+ {
+ if(v_message.second.has_diagnostic_response)
+ {on_no_clients(s[v_message.first], v_message.second.diagnostic_response.pid, s);}
+ else
+ {on_no_clients(s[v_message.first], s);}
+ }
}
}
+ decoded_can_message_lock.lock();
}
+ decoded_can_message_lock.unlock();
}
}
{
is_decoding_ = true;
th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
- if(!th_decoding_.joinable())
- is_decoding_ = false;
+ th_decoding_.detach();
is_pushing_ = true;
th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
- if(!th_pushing_.joinable())
- is_pushing_ = false;
+ th_pushing_.detach();
}
/// @brief Will stop all threads holded by can_bus_t object
{
can_msg = can_message_q_.front();
can_message_q_.pop();
- DEBUG(binder_interface, "%s: Here is the next can message : id %X, length %X, data %02X%02X%02X%02X%02X%02X%02X%02X", __FUNCTION__, can_msg.get_id(), can_msg.get_length(),
+ DEBUG("Here is the next can message : id %X, length %X, data %02X%02X%02X%02X%02X%02X%02X%02X", can_msg.get_id(), can_msg.get_length(),
can_msg.get_data()[0], can_msg.get_data()[1], can_msg.get_data()[2], can_msg.get_data()[3], can_msg.get_data()[4], can_msg.get_data()[5], can_msg.get_data()[6], can_msg.get_data()[7]);
return can_msg;
}
{
v_msg = vehicle_message_q_.front();
vehicle_message_q_.pop();
- DEBUG(binder_interface, "%s: next vehicle message poped", __FUNCTION__);
+ DEBUG("next vehicle message poped");
return v_msg;
}
vehicle_message_q_.push(std::make_pair(subscription_id, v_msg));
}
-/// @brief Return the shared pointer on the can_bus_dev_t initialized
-/// with device_name "bus"
-///
-/// @param[in] bus - CAN bus device name to retrieve.
-///
-/// @return A shared pointer on an object can_bus_dev_t
+/// @brief Fills the CAN device map member with value from device
+/// mapping configuration file read at initialization.
void can_bus_t::set_can_devices()
{
can_devices_ = conf_file_.get_devices_name();
if(can_devices_.empty())
{
- ERROR(binder_interface, "%s: No mapping found in config file: '%s'. Check it that it have a CANbus-mapping section.",
- __FUNCTION__, conf_file_.filepath().c_str());
+ ERROR("No mapping found in config file: '%s'. Check it that it have a CANbus-mapping section.",
+ conf_file_.filepath().c_str());
}
}
+
+/// @brief Return the CAN device index from the map
+/// map are sorted so index depend upon alphabetical sorting.
int can_bus_t::get_can_device_index(const std::string& bus_name) const
{
int i = 0;
return i;
}
+/// @brief Return CAN device name from a logical CAN device name gotten from
+/// the signals.json description file which comes from a CAN databases file in
+/// general.
const std::string can_bus_t::get_can_device_name(const std::string& id_name) const
{
std::string ret;
}
}
return ret;
-}
\ No newline at end of file
+}
Code Review / apps / agl-service-can-low-level.git / blobdiff