#include "can-bus.hpp"
+#include "can-signals.hpp"
#include "can-decoder.hpp"
#include "../configuration.hpp"
#include "../utils/signals.hpp"
{
}
+std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::can_devices_;
+
+/**
+ * @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.
+ *
+ * It will add to the vehicle_message queue the decoded message and tell the event push
+ * thread to process it.
+ *
+ * @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 processed_signals = 0;
+ std::vector <can_signal_t*> signals;
+ openxc_DynamicField search_key, 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)
+ {
+ 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()]))
+ {
+ decoded_message = decoder_t::translateSignal(*sig, can_message, configuration_t::instance().get_can_signals());
+
+ openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_generic_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);
+ new_decoded_can_message_.notify_one();
+ processed_signals++;
+ }
+ }
+
+ 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.It will add to
+ * the vehicle_message queue the decoded message and tell the event push thread to process it.
+ *
+ * @param[in] manager - the diagnostic manager object that handle diagnostic communication
+ * @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)
+{
+ 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();
+
+ 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);
+ new_decoded_can_message_.notify_one();
+ processed_signals++;
+ }
+
+ return processed_signals;
+}
/**
* @brief thread to decoding raw CAN messages.
* subscription has been made. Can message will be decoded using translateSignal 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.
+*
+* Depending on the nature of message, if id match a diagnostic request corresponding id for a response
+* then decoding a diagnostic message else use classic CAN signals decoding functions.
+*
+* TODO: make diagnostic messages parsing optionnal.
*/
void can_bus_t::can_decode_message()
{
can_message_t can_message;
- std::vector <can_signal_t*> signals;
- openxc_VehicleMessage vehicle_message;
- openxc_DynamicField search_key, decoded_message;
while(is_decoding_)
{
new_can_message_cv_.wait(can_message_lock);
can_message = next_can_message();
- /* First we have to found which can_signal_t it is */
- search_key = build_DynamicField((double)can_message.get_id());
- signals.clear();
- configuration_t::instance().find_can_signals(search_key, signals);
-
- /* Decoding the message ! Don't kill the messenger ! */
- for(auto& sig : signals)
- {
- 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()]))
- {
- decoded_message = decoder_t::translateSignal(*sig, can_message, configuration_t::instance().get_can_signals());
-
- openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_generic_name(), decoded_message);
- vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message);
-
- std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
- push_new_vehicle_message(vehicle_message);
- new_decoded_can_message_.notify_one();
- }
- }
+ if(configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
+ process_diagnostic_signals(configuration_t::instance().get_diagnostic_manager(), can_message);
+ else
+ process_can_signals(can_message);
}
}
}
/**
- * @brief Will initialize threads that will decode
- * and push subscribed events.
- */
+* @brief Will initialize threads that will decode
+* and push subscribed events.
+*/
void can_bus_t::start_threads()
{
is_decoding_ = true;
/**
* @brief Will initialize can_bus_dev_t objects after reading
-* the configuration file passed in the constructor.
+* 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.
*/
int can_bus_t::init_can_dev()
{
std::vector<std::string> devices_name;
- int i;
+ int i = 0;
size_t t;
devices_name = read_conf();
if (! devices_name.empty())
{
t = devices_name.size();
- i=0;
for(const auto& device : devices_name)
{
- can_devices_.push_back(std::make_shared<can_bus_dev_t>(device, i));
- if (can_devices_[i]->open() == 0)
+ 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_devices_[i]->start_reading(*this);
+ can_bus_t::can_devices_[device]->start_reading(*this);
+ i++;
}
else
ERROR(binder_interface, "Can't open device %s", device.c_str());
- i++;
}
NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
*
* @return map can_bus_dev_m_ map
*/
-const std::vector<std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const
+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)
{
- return can_devices_;
+ return can_bus_t::can_devices_[bus];
}
Code Review / apps / agl-service-can-low-level.git / blobdiff