* limitations under the License.
*/
-#include <map>
-#include <cerrno>
-#include <vector>
-#include <string>
#include <net/if.h>
#include <sys/socket.h>
#include <json-c/json.h>
#include <linux/can/raw.h>
+#include <map>
+#include <cerrno>
+#include <vector>
+#include <string>
+#include <algorithm>
#include "can-bus.hpp"
std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::can_devices_;
+/// @brief Listen for all device sockets and fill can_messages_queue with them.
+/// Reading blocks until message arrive on listened sockets.
+///
+/// @return 0 if ok -1 if not
+int can_bus_t::can_reader()
+{
+ fd_set rfds;
+ int sock_max = INVALID_SOCKET;
+
+ FD_ZERO(&rfds);
+
+ for(auto& can_dev : can_devices_)
+ {
+ FD_SET(can_dev.second->get_socket().socket(), &rfds);
+ if (sock_max < can_dev.second->get_socket().socket())
+ sock_max = can_dev.second->get_socket().socket();
+ }
+
+ int ret;
+ while(is_reading_)
+ {
+ ret = select(sock_max + 1, &rfds, nullptr, nullptr, nullptr);
+
+ if(ret == -1)
+ perror("select()");
+ else if(ret > 0)
+ {
+ for(const auto& s: can_devices_)
+ {
+ if(FD_ISSET(s.second->get_socket().socket(), &rfds))
+ {
+ can_message_t msg;
+ s.second->get_socket() >> msg;
+ push_new_can_message(msg);
+ }
+ }
+ }
+ else
+ printf("Timeout\n");
+ }
+ return 0;
+}
+
/// @brief Will make the decoding operation on a classic CAN message. It will not
/// handle CAN commands nor diagnostic messages that have their own method to get
/// this happens.
int can_bus_t::process_can_signals(can_message_t& can_message)
{
int processed_signals = 0;
- std::vector <can_signal_t*> signals;
+ struct utils::signals_found signals;
openxc_DynamicField search_key, decoded_message;
openxc_VehicleMessage vehicle_message;
+ configuration_t& conf = configuration_t::instance();
+ utils::signals_manager_t& sm = utils::signals_manager_t::instance();
// First we have to found which can_signal_t it is
search_key = build_DynamicField((double)can_message.get_id());
- configuration_t::instance().find_can_signals(search_key, signals);
+ signals = sm.find_signals(search_key);
// Decoding the message ! Don't kill the messenger !
- for(auto& sig : signals)
+ for(auto& sig : signals.can_signals)
{
- std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
- std::map<std::string, struct afb_event>& s = get_subscribed_signals();
+ std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
+ std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals();
// DEBUG message to make easier debugger STL containers...
//DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[sig.generic_name]));
//DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.generic_name));
if( s.find(sig->get_name()) != s.end() && afb_event_is_valid(s[sig->get_name()]))
{
- decoded_message = decoder_t::translateSignal(*sig, can_message, configuration_t::instance().get_can_signals());
+ decoded_message = decoder_t::translateSignal(*sig, can_message, conf.get_can_signals());
openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
vehicle_message = build_VehicleMessage(s_message);
}
}
- DEBUG(binder_interface, "process_can_signals: %d/%d CAN signals processed.", processed_signals, (int)signals.size());
+ DEBUG(binder_interface, "%s: %d/%d CAN signals processed.", __FUNCTION__, processed_signals, (int)signals.can_signals.size());
return processed_signals;
}
{
int processed_signals = 0;
- std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
- std::map<std::string, struct afb_event>& s = get_subscribed_signals();
+ 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<std::string, 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) &&
openxc_VehicleMessage v_message;
openxc_SimpleMessage s_message;
json_object* jo;
+ utils::signals_manager_t& sm = utils::signals_manager_t::instance();
while(is_pushing_)
{
s_message = get_simple_message(v_message);
{
- std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
- std::map<std::string, struct afb_event>& s = get_subscribed_signals();
+ std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
+ std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals();
if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)]))
{
jo = json_object_new_object();
/// and push subscribed events.
void can_bus_t::start_threads()
{
+ is_reading_ = true;
+ th_reading_ = std::thread(&can_bus_t::can_reader, this);
+ if(!th_reading_.joinable())
+ is_reading_ = false;
+
is_decoding_ = true;
th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
if(!th_decoding_.joinable())
/// they'll finish their job.
void can_bus_t::stop_threads()
{
+ is_reading_ = false;
is_decoding_ = false;
is_pushing_ = false;
}
for(const auto& device : devices_name)
{
can_bus_t::can_devices_[device] = std::make_shared<can_bus_dev_t>(device, i);
- if (can_bus_t::can_devices_[device]->open() == 0)
+ if (can_bus_t::can_devices_[device]->open() >= 0)
{
- DEBUG(binder_interface, "Start reading thread");
- NOTICE(binder_interface, "%s device opened and reading", device.c_str());
- can_bus_t::can_devices_[device]->start_reading(*this);
+ can_bus_t::can_devices_[device]->configure();
+ DEBUG(binder_interface, "%s: Start reading thread", __FUNCTION__);
+ NOTICE(binder_interface, "%s: %s device opened and reading", __FUNCTION__, device.c_str());
+ //can_bus_t::can_devices_[device]->start_reading(*this);
i++;
}
else
{
- ERROR(binder_interface, "Can't open device %s", device.c_str());
+ ERROR(binder_interface, "%s: Can't open device %s", __FUNCTION__, device.c_str());
return 1;
}
}
- NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, (int)t);
+ NOTICE(binder_interface, "%s: Initialized %d/%d can bus device(s)", __FUNCTION__, i, (int)t);
return 0;
}
- ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read from configuration file");
+ ERROR(binder_interface, "%s: Error at CAN device initialization. No devices read from configuration file", __FUNCTION__);
return 1;
}
- ERROR(binder_interface, "init_can_dev: Can't read INI configuration file");
+ ERROR(binder_interface, "%s: Can't read INI configuration file", __FUNCTION__);
return 2;
}
{
can_msg = can_message_q_.front();
can_message_q_.pop();
- DEBUG(binder_interface, "next_can_message: 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(),
+ 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(),
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, "next_vehicle_message: next vehicle message poped");
+ DEBUG(binder_interface, "%s: next vehicle message poped", __FUNCTION__);
return v_msg;
}
vehicle_message_q_.push(v_msg);
}
+/// @brief Create a RX_SETUP receive job for the BCM socket of a CAN signal.
+///
+/// @return 0 if ok -1 if not.
+ int can_bus_t::create_rx_filter(const can_signal_t& s)
+ {
+ const std::string& bus = s.get_message().get_bus_name();
+ return can_bus_t::can_devices_[bus]->create_rx_filter(s);
+ }
+
/// @brief Return a map with the can_bus_dev_t initialized
///
/// @return map can_bus_dev_m_ map
Code Review / apps / agl-service-can-low-level.git / blobdiff