#include "can-signals.hpp"
#include "can-decoder.hpp"
-#include "../configuration.hpp"
+#include "../binding/application.hpp"
#include "../utils/signals.hpp"
#include "../utils/openxc-utils.hpp"
: conf_file_{conf_file}
{}
-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.
/// @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(can_message_t& can_message)
+int can_bus_t::process_can_signals(const can_message_t& can_message)
{
+ int subscription_id = can_message.get_sub_id();
int processed_signals = 0;
struct utils::signals_found signals;
- openxc_DynamicField search_key, decoded_message;
+ openxc_DynamicField decoded_message;
openxc_VehicleMessage vehicle_message;
- configuration_t& conf = configuration_t::instance();
+ 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
- search_key = build_DynamicField((double)can_message.get_id());
- signals = sm.find_signals(search_key);
+ std::shared_ptr<low_can_subscription_t> sig = s[subscription_id].first;
- // Decoding the message ! Don't kill the messenger !
- for(auto& sig : signals.can_signals)
+ if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id].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();
-
- // 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, "Operator[] key string: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[std::string(sig.generic_name)]));
- //DEBUG(binder_interface, "Nb elt matched char: %d", (int)s.count(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, conf.get_can_signals());
+ 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);
+ if(send)
+ {
+ openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_sig_name(), decoded_message);
+ vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp());
+ push_new_vehicle_message(std::make_pair(can_message.get_sub_id(), vehicle_message));
std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
- push_new_vehicle_message(vehicle_message);
- processed_signals++;
}
+ processed_signals++;
+ }
}
DEBUG(binder_interface, "%s: %d/%d CAN signals processed.", __FUNCTION__, processed_signals, (int)signals.can_signals.size());
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();
+ 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(vehicle_message.simple_message.name) != s.end() && afb_event_is_valid(s[vehicle_message.simple_message.name])))
+ (s.find(can_message.get_sub_id()) != s.end() && afb_event_is_valid(s[can_message.get_sub_id()].second)))
{
std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
- push_new_vehicle_message(vehicle_message);
+ push_new_vehicle_message(std::make_pair(can_message.get_sub_id(), vehicle_message));
processed_signals++;
}
+ }
return processed_signals;
}
/// 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::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))
{
jo = json_object_new_object();
jsonify_simple(s_message, jo);
- if(afb_event_push(s[std::string(s_message.name)], jo) == 0)
+ if(afb_event_push(s[v_message.first].second, jo) == 0)
on_no_clients(std::string(s_message.name));
}
}
/// 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;
}
-/// @brief Will initialize can_bus_dev_t objects after reading
-/// the configuration file passed in the constructor. All CAN buses
-/// Initialized here will be added to a vector holding them for
-/// inventory and later access.
-///
-/// That will initialize CAN socket reading too using a new thread.
-///
-/// @return 0 if ok, other if not.
-int can_bus_t::init_can_dev()
-{
- std::vector<std::string> devices_name;
- int i = 0;
- size_t t;
-
- if(conf_file_.check_conf())
- {
- devices_name = conf_file_.get_devices_name();
- if (! devices_name.empty())
- {
- t = devices_name.size();
-
- 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)
- {
- 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, "%s: Can't open device %s", __FUNCTION__, device.c_str());
- return 1;
- }
- }
- NOTICE(binder_interface, "%s: Initialized %d/%d can bus device(s)", __FUNCTION__, i, (int)t);
- return 0;
- }
- ERROR(binder_interface, "%s: Error at CAN device initialization. No devices read from configuration file", __FUNCTION__);
- return 1;
- }
- ERROR(binder_interface, "%s: Can't read INI configuration file", __FUNCTION__);
- return 2;
-}
-
/// @brief return new_can_message_cv_ member
///
/// @return return new_can_message_cv_ member
/// @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(const std::pair<int, openxc_VehicleMessage>& 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
-const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const
-{
- return can_bus_t::can_devices_;
-}
-
/// @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
-std::shared_ptr<can_bus_dev_t> can_bus_t::get_can_device(std::string bus)
+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());
+ }
+}
+
+int can_bus_t::get_can_device_index(const std::string& bus_name) const
{
- return can_bus_t::can_devices_[bus];
+ int i = 0;
+ for(const auto& d: can_devices_)
+ {
+ if(d.first == bus_name)
+ break;
+ i++;
+ }
+ return i;
}
+
+const std::string can_bus_t::get_can_device_name(const std::string& id_name) const
+{
+ std::string ret;
+ for(const auto& d: can_devices_)
+ {
+ if(d.first == id_name)
+ {
+ ret = d.second;
+ break;
+ }
+ }
+ return ret;
+}
\ No newline at end of file