#include <afb/afb-binding.h>
}
-/********************************************************************************
-*
-* can_bus_t method implementation
-*
-*********************************************************************************/
/**
* @brief Class constructor
*
{
}
+/**
+ * @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());
+ 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(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] entry - an active_diagnostic_request_t object that made the request
+ * about that diagnostic CAN message.
+ * @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(active_diagnostic_request_t* entry, const can_message_t& can_message)
+{
+ int processed_signals = 0;
+ openxc_VehicleMessage vehicle_message;
+
+ diagnostic_manager_t& manager = configuration_t::instance().get_diagnostic_manager();
+
+ 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(entry->get_name()) != s.end() && afb_event_is_valid(s[entry->get_name()]))
+ {
+ if(manager.get_can_bus_dev() == entry->get_can_bus_dev() && entry->get_in_flight())
+ {
+ DiagnosticResponse response = diagnostic_receive_can_frame(
+ // TODO: openXC todo task: eek, is bus address and array index this tightly coupled?
+ &manager.get_shims(),
+ entry->get_handle(), can_message.get_id(), can_message.get_data(), can_message.get_length());
+ if(response.completed && entry->get_handle()->completed)
+ {
+ if(entry->get_handle()->success)
+ {
+ vehicle_message = manager.relay_diagnostic_response(entry, response);
+ 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++;
+ }
+ else
+ DEBUG(binder_interface, "process_diagnostic_signals: Fatal error sending or receiving diagnostic request");
+ }
+ else if(!response.completed && response.multi_frame)
+ // Reset the timeout clock while completing the multi-frame receive
+ entry->get_timeout_clock().tick();
+ }
+ }
+
+ 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();
- }
- }
+ active_diagnostic_request_t* adr = configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message);
+ if(adr != nullptr)
+ process_diagnostic_signals(adr, 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()
{
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 can_devices_;
}
-