: conf_file_{conf_file}
{}
+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))
+ {
+ 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 send;
+}
+
/// @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.
/// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
///
/// @return How many signals has been decoded.
-int 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)
{
- int processed_signals = 0;
- struct utils::signals_found signals;
- openxc_DynamicField search_key, decoded_message;
+ 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();
- // First we have to found which can_signal_t it is
- search_key = build_DynamicField((double)can_message.get_id());
- signals = sm.find_signals(search_key);
-
- // Decoding the message ! Don't kill the messenger !
- for(const auto& sig : signals.can_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();
+ std::map<int, std::shared_ptr<low_can_subscription_t> >& 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];
- if( s.find(sig->get_name()) != s.end() && afb_event_is_valid(s[sig->get_name()]))
+ 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, can_message, conf.get_all_can_signals(), &send);
+ 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(send)
+ if(send && apply_filter(vehicle_message, sig))
{
- openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
- vehicle_message = build_VehicleMessage(s_message);
-
std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
- push_new_vehicle_message(vehicle_message);
+ push_new_vehicle_message(subscription_id, vehicle_message);
+ DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__, sig->get_name().c_str());
}
- processed_signals++;
}
}
-
- DEBUG(binder_interface, "%s: %d/%d CAN signals processed.", __FUNCTION__, processed_signals, (int)signals.can_signals.size());
- return processed_signals;
}
/// @brief Will make the decoding operation on a diagnostic CAN message.Then it find the subscribed signal
/// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
///
/// @return How many signals has been decoded.
-int 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)
{
- int processed_signals = 0;
+ int subscription_id = can_message.get_sub_id();
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) &&
- (s.find(vehicle_message.simple_message.name) != s.end() && afb_event_is_valid(s[vehicle_message.simple_message.name])))
{
- std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
- push_new_vehicle_message(vehicle_message);
- processed_signals++;
- }
+ 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();
- return processed_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]->get_event()))
+ {
+ if (apply_filter(vehicle_message, s[subscription_id]))
+ {
+ 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]->get_name().c_str());
+ }
+ }
+ }
}
/// @brief thread to decoding raw CAN messages.
/// TODO: make diagnostic messages parsing optionnal.
void can_bus_t::can_decode_message()
{
- can_message_t can_message;
-
while(is_decoding_)
{
{
new_can_message_cv_.wait(can_message_lock);
while(!can_message_q_.empty())
{
- can_message = next_can_message();
+ const can_message_t can_message = next_can_message();
- if(configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
- process_diagnostic_signals(configuration_t::instance().get_diagnostic_manager(), can_message);
+ if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
+ process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), can_message);
else
process_can_signals(can_message);
}
/// which are events that has to be pushed.
void can_bus_t::can_event_push()
{
- openxc_VehicleMessage v_message;
+ std::pair<int, openxc_VehicleMessage> v_message;
openxc_SimpleMessage s_message;
json_object* jo;
utils::signals_manager_t& sm = utils::signals_manager_t::instance();
while(!vehicle_message_q_.empty())
{
v_message = next_vehicle_message();
-
- s_message = get_simple_message(v_message);
+ s_message = get_simple_message(v_message.second);
{
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)]))
+ std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
+ 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[std::string(s_message.name)], 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);}
+ on_no_clients(s[v_message.first]);
+ }
}
}
}
/// @brief Return first can_message_t on the queue
///
/// @return a can_message_t
-can_message_t can_bus_t::next_can_message()
+const can_message_t can_bus_t::next_can_message()
{
can_message_t can_msg;
/// @brief Return first openxc_VehicleMessage on the queue
///
/// @return a openxc_VehicleMessage containing a decoded can message
-openxc_VehicleMessage can_bus_t::next_vehicle_message()
+std::pair<int, openxc_VehicleMessage> can_bus_t::next_vehicle_message()
{
- openxc_VehicleMessage v_msg;
+ std::pair<int, openxc_VehicleMessage> v_msg;
if(! vehicle_message_q_.empty())
{
/// @brief Push a openxc_VehicleMessage into the queue
///
/// @param[in] v_msg - const reference openxc_VehicleMessage object to push into the queue
-void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
+void can_bus_t::push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg)
{
- vehicle_message_q_.push(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
Code Review / apps / agl-service-can-low-level.git / blobdiff