/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Copyright (C) 2015, 2018 "IoT.bzh"
* Author "Romain Forlot" <romain.forlot@iot.bzh>
*
* Licensed under the Apache License, Version 2.0 (the "License");
* limitations under the License.
*/
-#include <map>
-#include <cerrno>
-#include <vector>
-#include <string>
-#include <fcntl.h>
-#include <unistd.h>
#include <net/if.h>
-#include <sys/ioctl.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"
-#include "can-signals.hpp"
+#include "signals.hpp"
#include "can-decoder.hpp"
-#include "../configuration.hpp"
+#include "../binding/application.hpp"
#include "../utils/signals.hpp"
#include "../utils/openxc-utils.hpp"
-extern "C"
+/// @brief Class destructor
+///
+/// @param[in] conf_file - Stop threads and unlock them to correctly finish them
+/// even without any activity on the CAN bus.
+can_bus_t::~can_bus_t()
{
- #include <afb/afb-binding.h>
+ stop_threads();
+ new_can_message_cv_.notify_one();
}
/// @brief Class constructor
+can_bus_t::can_bus_t()
+{}
+
+/// @brief Fills the CAN device map member with value from device
///
-/// @param[in] conf_file - handle to the json configuration file.
-can_bus_t::can_bus_t(int conf_file)
- : conf_file_{conf_file}
+/// @param[in] mapping configuration section.
+void can_bus_t::set_can_devices(json_object *mapping)
{
+ if (! mapping)
+ {
+ AFB_ERROR("Can't initialize CAN buses with this empty mapping.");
+ return;
+ }
+
+ struct json_object_iterator it = json_object_iter_begin(mapping);
+ struct json_object_iterator end = json_object_iter_end(mapping);
+ while (! json_object_iter_equal(&it, &end)) {
+ can_devices_mapping_.push_back(std::make_pair(
+ json_object_iter_peek_name(&it),
+ json_object_get_string(json_object_iter_peek_value(&it))
+ ));
+ json_object_iter_next(&it);
+ }
}
-std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::can_devices_;
+/// @brief Fills the CAN device map member with given values
+///
+/// @param[in] mapping configuration section.
+void can_bus_t::set_can_devices(const std::vector<std::pair<std::string, std::string> >& mapping)
+{
+ can_devices_mapping_ = mapping;
+}
+
+/// @brief Take a decoded message to determine if its value complies with the desired
+/// filters.
+///
+/// @param[in] vehicle_message - The decoded message to be analyzed.
+/// @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))
+ {
+ float min = can_subscription->get_min();
+ float max = 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
/// @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)
+void can_bus_t::process_signals(std::shared_ptr<message_t> message, map_subscription& s)
{
- int processed_signals = 0;
- std::vector <can_signal_t*> signals;
- openxc_DynamicField search_key, decoded_message;
+ int subscription_id = message->get_sub_id();
+ openxc_DynamicField decoded_message;
openxc_VehicleMessage vehicle_message;
- // 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);
-
- // Decoding the message ! Don't kill the messenger !
- for(auto& sig : signals)
+ if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
{
- std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
- std::map<std::string, struct afb_event>& s = 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()]))
+ bool send = true;
+ // First we have to found which signal_t it is
+ std::shared_ptr<low_can_subscription_t> subscription = s[subscription_id];
+ openxc_SimpleMessage s_message;
+
+ // messages
+ if(subscription->get_message_definition() != nullptr)
{
- decoded_message = decoder_t::translateSignal(*sig, can_message, configuration_t::instance().get_can_signals());
+ openxc_DynamicField dynamicField_tmp;
+ json_object *signal_json_tmp;
+ decoded_message = build_DynamicField_json(json_object_new_array());
+ for(std::shared_ptr<signal_t> sig : subscription->get_message_definition()->get_signals())
+ {
+ signal_json_tmp = json_object_new_object();
+ dynamicField_tmp = decoder_t::translate_signal(*sig, message, &send);
+ json_object_object_add(signal_json_tmp,"name", json_object_new_string(sig->get_name().c_str()));
+ jsonify_DynamicField(dynamicField_tmp,signal_json_tmp);
+ if(sig != nullptr && sig->get_unit() != "")
+ json_object_object_add(signal_json_tmp, "unit", json_object_new_string(sig->get_unit().c_str()));
+ json_object_array_add(decoded_message.json_value,signal_json_tmp);
+ }
+ }
+ else // signal
+ {
+ decoded_message = decoder_t::translate_signal(*subscription->get_signal(), message, &send);
+ }
- openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
- vehicle_message = build_VehicleMessage(s_message);
+ s_message = build_SimpleMessage(subscription->get_name(), decoded_message);
+ vehicle_message = build_VehicleMessage(s_message, message->get_timestamp());
+ if(send && apply_filter(vehicle_message, subscription))
+ {
std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
- push_new_vehicle_message(vehicle_message);
- processed_signals++;
+ push_new_vehicle_message(subscription_id, vehicle_message);
+ AFB_DEBUG("%s CAN signals processed.", subscription->get_name().c_str());
}
}
-
- DEBUG(binder_interface, "process_can_signals: %d/%d CAN signals processed.", processed_signals, (int)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, std::shared_ptr<message_t> message, map_subscription& s)
{
- int processed_signals = 0;
+ int subscription_id = message->get_sub_id();
- std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
- std::map<std::string, struct afb_event>& s = get_subscribed_signals();
-
- openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
+ openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(message);
+ if (message->get_timestamp())
+ vehicle_message.timestamp = message->get_timestamp();
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(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
{
- std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
- push_new_vehicle_message(vehicle_message);
- processed_signals++;
+ 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);
+ AFB_DEBUG("%s CAN signals processed.", s[subscription_id]->get_name().c_str());
+ }
}
-
- return processed_signals;
}
/// @brief thread to decoding raw CAN messages.
///
/// It will take from the can_message_q_ queue the next can message to process then it search
/// about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
-/// subscription has been made. Can message will be decoded using translateSignal that will pass it to the
+/// subscription has been made. Can message will be decoded using translate_signal that will pass it to the
/// corresponding decoding function if there is one assigned for that signal. If not, it will be the default
/// noopDecoder function that will operate on it.
///
/// TODO: make diagnostic messages parsing optionnal.
void can_bus_t::can_decode_message()
{
- can_message_t can_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())
- {
- can_message = next_can_message();
+ std::shared_ptr<message_t> message = next_can_message();
+ can_message_lock.unlock();
- if(configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
- process_diagnostic_signals(configuration_t::instance().get_diagnostic_manager(), can_message);
+ {
+ std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
+ map_subscription& s = sm.get_subscribed_signals();
+ if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(message))
+ process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), message, s);
else
- process_can_signals(can_message);
+ process_signals(message, s);
}
+ can_message_lock.lock();
}
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()
{
- openxc_VehicleMessage v_message;
- openxc_SimpleMessage s_message;
json_object* jo;
+ utils::signals_manager_t& sm = utils::signals_manager_t::instance();
while(is_pushing_)
{
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);
+ std::pair<int, openxc_VehicleMessage> v_message = next_vehicle_message();
+ decoded_can_message_lock.unlock();
{
- std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
- std::map<std::string, struct afb_event>& s = get_subscribed_signals();
- if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)]))
+ std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
+ map_subscription& 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));
+ jsonify_vehicle(v_message.second, s[v_message.first]->get_signal(), jo);
+ 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
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;
-
- devices_name = read_conf();
-
- 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)
- {
- 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);
- i++;
- }
- else
- {
- ERROR(binder_interface, "Can't open device %s", device.c_str());
- return 1;
- }
- }
-
- NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, (int)t);
- return 0;
- }
- ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read from configuration file. Did you specify canbus JSON object ?");
- return 1;
-}
-
-/// @brief read the conf_file_ and will parse json objects
-/// in it searching for canbus objects devices name.
-///
-/// @return Vector of can bus device name string.
-std::vector<std::string> can_bus_t::read_conf()
-{
- std::vector<std::string> ret;
- json_object *jo, *canbus;
- int n, i;
- const char* taxi;
-
- FILE *fd = fdopen(conf_file_, "r");
- if (fd)
- {
- std::string fd_conf_content;
- std::fseek(fd, 0, SEEK_END);
- fd_conf_content.resize(std::ftell(fd));
- std::rewind(fd);
- std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
- std::fclose(fd);
-
- DEBUG(binder_interface, "Configuration file content : %s", fd_conf_content.c_str());
- jo = json_tokener_parse(fd_conf_content.c_str());
-
- if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
- {
- ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
- ret.clear();
- }
- else if (json_object_get_type(canbus) != json_type_array)
- {
- taxi = json_object_get_string(canbus);
- DEBUG(binder_interface, "Can bus found: %s", taxi);
- ret.push_back(std::string(taxi));
- }
- else
- {
- n = json_object_array_length(canbus);
- for (i = 0 ; i < n ; i++)
- ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
- }
- return ret;
- }
- ERROR(binder_interface, "Problem at reading the conf file");
- ret.clear();
- return ret;
-}
-
/// @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()
+std::shared_ptr<message_t> can_bus_t::next_can_message()
{
- can_message_t can_msg;
+ std::shared_ptr<message_t> msg;
if(!can_message_q_.empty())
{
- can_msg = can_message_q_.front();
+ 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(),
- 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;
+ std::string debug = msg->get_debug_message();
+ AFB_DEBUG(debug.c_str());
+ return msg;
}
- return can_msg;
+ return msg;
}
-/// @brief Push a can_message_t into the queue
+/// @brief Push a message_t into the queue
///
-/// @param[in] can_msg - the const reference can_message_t object to push into the queue
-void can_bus_t::push_new_can_message(const can_message_t& can_msg)
+/// @param[in] msg - the const reference message_t object to push into the queue
+void can_bus_t::push_new_can_message(std::shared_ptr<message_t> msg)
{
- can_message_q_.push(can_msg);
+ can_message_q_.push(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())
{
v_msg = vehicle_message_q_.front();
vehicle_message_q_.pop();
- DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
+ AFB_DEBUG("next vehicle message poped");
return v_msg;
}
/// @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 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
+/// @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
{
- return can_bus_t::can_devices_;
+ int i = 0;
+ for(const auto& d: can_devices_mapping_)
+ {
+ if(d.first == bus_name)
+ break;
+ i++;
+ }
+ return i;
}
-/// @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)
+/// @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
{
- return can_bus_t::can_devices_[bus];
+ std::string ret = "";
+ for(const auto& d: can_devices_mapping_)
+ {
+ if(d.first == id_name)
+ {
+ ret = d.second;
+ break;
+ }
+ }
+ return ret;
}
Code Review / apps / agl-service-can-low-level.git / blobdiff