#include "can-bus.hpp"
+#include "can-signals.hpp"
#include "can-decoder.hpp"
#include "../configuration.hpp"
#include "../utils/signals.hpp"
#include <afb/afb-binding.h>
}
-/********************************************************************************
-*
-* can_bus_t method implementation
-*
-*********************************************************************************/
-/**
-* @brief Class constructor
-*
-* @param struct afb_binding_interface *interface between daemon and binding
-* @param int file handle to the json configuration file.
-*/
+/// @brief Class constructor
+///
+/// @param[in] conf_file - handle to the json configuration file.
can_bus_t::can_bus_t(int conf_file)
: conf_file_{conf_file}
{
}
-
-/**
-* @brief thread to decoding raw CAN messages.
-*
-* @desc It will take from the can_message_q_ queue the next can message to process then it will 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
-* 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.
-*/
-void can_bus_t::can_decode_message()
+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)
{
- can_message_t can_message;
+ int processed_signals = 0;
std::vector <can_signal_t*> signals;
- openxc_VehicleMessage vehicle_message;
openxc_DynamicField search_key, decoded_message;
+ openxc_VehicleMessage vehicle_message;
- while(is_decoding_)
+ // 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_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);
+ 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.Then it find the subscribed signal
+/// corresponding and will add the vehicle_message to the queue of event to pushed before notifying
+/// 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::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
- new_can_message_cv_.wait(can_message_lock);
- can_message = next_can_message();
+ std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
+ push_new_vehicle_message(vehicle_message);
+ processed_signals++;
+ }
+
+ return processed_signals;
+}
- /* First we have to found which can_signal_t it is */
- search_key = build_DynamicField((double)can_message.get_id());
- signals.clear();
- find_can_signals(search_key, signals);
+/// @brief thread to decoding raw CAN messages.
+///
+/// Depending on the nature of message, if arbitration ID matches ID for a diagnostic response
+/// then decoding a diagnostic message else use classic CAN signals decoding functions.
+///
+/// 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
+/// 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;
- /* Decoding the message ! Don't kill the messenger ! */
- for(auto& sig : signals)
+ while(is_decoding_)
+ {
{
- 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_generic_name()) != s.end() && afb_event_is_valid(s[sig->get_generic_name()]))
+ std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
+ new_can_message_cv_.wait(can_message_lock);
+ while(!can_message_q_.empty())
{
- decoded_message = decoder_t::translateSignal(*sig, can_message, config->get_can_signals());
+ can_message = next_can_message();
- 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);
}
}
+ new_decoded_can_message_.notify_one();
}
}
-/**
-* @brief thread to push events to suscribers. It will read subscribed_signals map to look
-* which are events that has to be pushed.
-*/
+/// @brief thread to push events to suscribers. It will read subscribed_signals map to look
+/// which are events that has to be pushed.
void can_bus_t::can_event_push()
{
openxc_VehicleMessage v_message;
{
std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
new_decoded_can_message_.wait(decoded_can_message_lock);
- v_message = next_vehicle_message();
-
- s_message = get_simple_message(v_message);
+ while(!vehicle_message_q_.empty())
{
- 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)]))
+ v_message = next_vehicle_message();
+
+ s_message = get_simple_message(v_message);
{
- jo = json_object_new_object();
- jsonify_simple(s_message, jo);
- afb_event_push(s[std::string(s_message.name)], jo);
+ 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)]))
+ {
+ 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));
+ }
}
}
}
}
-/**
- * @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;
is_pushing_ = false;
}
-/**
-* @brief Will stop all threads holded by can_bus_t object
-* which are decoding and pushing then will wait that's
-* they'll finish their job.
-*/
+/// @brief Will stop all threads holded by can_bus_t object
+/// which are decoding and pushing then will wait that's
+/// they'll finish their job.
void can_bus_t::stop_threads()
{
is_decoding_ = false;
is_pushing_ = false;
}
-/**
-* @brief Will initialize can_bus_dev_t objects after reading
-* the configuration file passed in the constructor.
-*/
+/// @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;
+ 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_m_[device] = std::make_shared<can_bus_dev_t>(device);
- if (can_devices_m_[device]->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)
{
- i++;
DEBUG(binder_interface, "Start reading thread");
NOTICE(binder_interface, "%s device opened and reading", device.c_str());
- can_devices_m_[device]->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());
+ return 1;
+ }
}
- NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
+ 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.
-*/
+/// @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;
jo = json_tokener_parse(fd_conf_content.c_str());
if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
- {/**
-* @brief Telling if the pushing thread is running
-* This is the boolean value on which the while loop
-* take its condition. Set it to false will stop the
-* according thread.
-*
-* @return true if pushing thread is running, false if not.
-*/
-
+ {
ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
ret.clear();
}
return ret;
}
-/**
-* @brief return new_can_message_cv_ member
-*
-* @return return new_can_message_cv_ member
-*/
+/// @brief return new_can_message_cv_ member
+///
+/// @return return new_can_message_cv_ member
std::condition_variable& can_bus_t::get_new_can_message_cv()
{
return new_can_message_cv_;
}
-/**
-* @brief return can_message_mutex_ member
-*
-* @return return can_message_mutex_ member
-*/
+/// @brief return can_message_mutex_ member
+///
+/// @return return can_message_mutex_ member
std::mutex& can_bus_t::get_can_message_mutex()
{
return can_message_mutex_;
}
-/**
-* @brief Return first can_message_t on the queue
-*
-* @return a can_message_t
-*/
+/// @brief Return first can_message_t on the queue
+///
+/// @return a can_message_t
can_message_t can_bus_t::next_can_message()
{
can_message_t can_msg;
return can_msg;
}
-/**
-* @brief Push a can_message_t into the queue
-*
-* @param the const reference can_message_t object to push into the queue
-*/
+/// @brief Push a can_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)
{
can_message_q_.push(can_msg);
}
-/**
-* @brief Return first openxc_VehicleMessage on the queue
-*
-* @return a openxc_VehicleMessage containing a decoded can message
-*/
+/// @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()
{
openxc_VehicleMessage v_msg;
return v_msg;
}
-/**
-* @brief Push a openxc_VehicleMessage into the queue
-*
-* @param the const reference openxc_VehicleMessage object to push into the queue
-*/
+/// @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)
{
vehicle_message_q_.push(v_msg);
}
-/**
-* @brief Return a map with the can_bus_dev_t initialized
-*
-* @return map can_bus_dev_m_ map
-*/
-std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::get_can_devices()
+/// @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_devices_m_;
+ 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_bus_t::can_devices_[bus];
+}
Code Review / apps / low-level-can-service.git / blobdiff