#include <json-c/json.h>
#include <linux/can/raw.h>
-#include "can/can-decoder.hpp"
-#include "utils/openxc-utils.hpp"
+#include "can-bus.hpp"
+
+#include "can-signals.hpp"
+#include "can-decoder.hpp"
+#include "../configuration.hpp"
+#include "../utils/signals.hpp"
+#include "../utils/openxc-utils.hpp"
extern "C"
{
#include <afb/afb-binding.h>
}
-#include "can/can-bus.hpp"
-
-/********************************************************************************
-*
-* 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}
{
}
+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_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.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::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.
-*
-* @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.
-*/
+/// @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;
- std::vector <CanSignal*> signals;
- openxc_VehicleMessage vehicle_message;
- openxc_DynamicField search_key, decoded_message;
-
- decoder_t decoder;
while(is_decoding_)
{
std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
new_can_message_cv_.wait(can_message_lock);
can_message = next_can_message();
-
- /* First we have to found which CanSignal it is */
- search_key = build_DynamicField((double)can_message.get_id());
- signals.clear();
- 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->generic_name) != s.end() && afb_event_is_valid(s[sig->generic_name]))
- {
- decoded_message = decoder.translateSignal(*sig, can_message, get_can_signals());
-
- openxc_SimpleMessage s_message = build_SimpleMessage(sig->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 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;
openxc_SimpleMessage s_message;
json_object* jo;
-
+
while(is_pushing_)
{
std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
}
}
-/**
- * @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;
th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
if(!th_decoding_.joinable())
is_decoding_ = false;
-
+
is_pushing_ = true;
th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
if(!th_pushing_.joinable())
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);
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;
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;
}
-
+
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;
DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
return 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()
-{
- return can_devices_m_;
-}
-
-/********************************************************************************
-*
-* can_bus_dev_t method implementation
-*
-*********************************************************************************/
-
-/**
- * @brief Open the can socket and returning it
- *
- * @return
- */
-int can_bus_dev_t::close()
-{
- ::close(can_socket_);
- can_socket_ = -1;
- return can_socket_;
-}
-
-/**
-* @brief Read the can socket and retrieve canfd_frame
-*
-* @param const struct afb_binding_interface* interface pointer. Used to be able to log
-* using application framework logger.
-*/
-std::pair<struct canfd_frame&, size_t> can_bus_dev_t::read()
-{
- ssize_t nbytes;
- //int maxdlen;
- struct canfd_frame cfd;
-
- /* Test that socket is really opened */
- if (can_socket_ < 0)
- {
- ERROR(binder_interface, "read_can: Socket unavailable. Closing thread.");
- is_running_ = false;
- }
-
- nbytes = ::read(can_socket_, &cfd, CANFD_MTU);
-
- /* if we did not fit into CAN sized messages then stop_reading. */
- if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
- {
- if (errno == ENETDOWN)
- ERROR(binder_interface, "read: %s CAN device down", device_name_);
- ERROR(binder_interface, "read: Incomplete CAN(FD) frame");
- ::memset(&cfd, 0, sizeof(cfd));
- }
-
- DEBUG(binder_interface, "read: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", cfd.can_id, cfd.len,
- cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]);
- return std::pair<struct canfd_frame&, size_t>(cfd, nbytes);
-}
-
-/**
-* @brief start reading threads and set flag is_running_
-*
-* @param can_bus_t reference can_bus_t. it will be passed to the thread
-* to allow using can_bus_t queue.
-*/
-void can_bus_dev_t::start_reading(can_bus_t& can_bus)
-{
- DEBUG(binder_interface, "Launching reading thread");
- is_running_ = true;
- th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
- if(!th_reading_.joinable())
- is_running_ = false;
-}
-
-/**
-* @brief stop the reading thread setting flag is_running_ to false and
-* and wait that the thread finish its job.
-*/
-void can_bus_dev_t::stop_reading()
-{
- is_running_ = false;
-}
-
-/**
-*
-* @brief Thread function used to read the can socket.
-*
-* @param[in] can_bus_dev_t object to be used to read the can socket
-* @param[in] can_bus_t object used to fill can_message_q_ queue
-*/
-void can_bus_dev_t::can_reader(can_bus_t& can_bus)
+/// @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
{
- can_message_t can_message;
-
- while(is_running_)
- {
- can_message.convert_from_canfd_frame(read());
-
- {
- std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex());
- can_bus.push_new_can_message(can_message);
- }
- can_bus.get_new_can_message_cv().notify_one();
- }
+ return can_bus_t::can_devices_;
}
-/**
-* @brief Send a can message from a can_message_t object.
-*
-* @param const can_message_t& can_msg: the can message object to send
-* @param const struct afb_binding_interface* interface pointer. Used to be able to log
-* using application framework logger.
-*/
-int can_bus_dev_t::send_can_message(can_message_t& can_msg)
+/// @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)
{
- ssize_t nbytes;
- canfd_frame f;
-
- f = can_msg.convert_to_canfd_frame();
-
- if(can_socket_ >= 0)
- {
- nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0,
- (struct sockaddr*)&txAddress_, sizeof(txAddress_));
- if (nbytes == -1)
- {
- ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
- return -1;
- }
- return (int)nbytes;
- }
- else
- {
- ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
- open();
- }
- return 0;
+ return can_bus_t::can_devices_[bus];
}