* limitations under the License.
*/
-#include "can/can-bus.hpp"
-
#include <map>
#include <cerrno>
#include <vector>
#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-decoder.hpp"
+#include "../configuration.hpp"
+#include "../utils/signals.hpp"
+#include "../utils/openxc-utils.hpp"
extern "C"
{
#include <afb/afb-binding.h>
}
-/********************************************************************************
-*
-* can_bus_t method implementation
-*
-*********************************************************************************/
/**
* @brief Class constructor
*
{
}
+
+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;
+}
+
+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, "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.
+* @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
+* @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.
+*
+* 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 <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();
- }
- }
+ 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 thread to push events to suscribers. It will read subscribed_signals map to look
+* @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_);
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())
/**
* @brief Will stop all threads holded by can_bus_t object
-* which are decoding and pushing then will wait that's
+* which are decoding and pushing then will wait that's
* they'll finish their job.
*/
void can_bus_t::stop_threads()
}
/**
-* @brief Will initialize can_bus_dev_t objects after reading
+* @brief Will initialize can_bus_dev_t objects after reading
* the configuration file passed in the constructor.
*/
int can_bus_t::init_can_dev()
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_devices_.push_back(std::make_shared<can_bus_dev_t>(device, i));
+ if (can_devices_[i]->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_devices_[i]->start_reading(*this);
}
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);
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();
}
}
/**
-* @brief Return first can_message_t on the queue
+* @brief Return first can_message_t on the queue
*
-* @return a can_message_t
+* @return a can_message_t
*/
can_message_t can_bus_t::next_can_message()
{
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 Return first openxc_VehicleMessage on the queue
+* @brief Return first openxc_VehicleMessage on the queue
*
* @return a openxc_VehicleMessage containing a decoded can message
*/
DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
return v_msg;
}
-
+
return v_msg;
}
*
* @return map can_bus_dev_m_ map
*/
-std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::get_can_devices()
+const std::vector<std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const
{
- return can_devices_m_;
+ return can_devices_;
}
-
-/********************************************************************************
-*
-* can_bus_dev_t method implementation
-*
-*********************************************************************************/
-/**
-* @brief Class constructor
-*
-* @param const string representing the device name into the linux /dev tree
-*/
-can_bus_dev_t::can_bus_dev_t(const std::string& dev_name)
- : device_name_{dev_name}, can_socket_{-1}
-{}
-
-/**
-* @brief Open the can socket and returning it
-*
-* @return
-*/
-int can_bus_dev_t::open()
-{
- const int canfd_on = 1;
- const int timestamp_on = 1;
- struct ifreq ifr;
- struct timeval timeout;
-
- DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_);
- if (can_socket_ >= 0)
- return 0;
-
- can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW);
- DEBUG(binder_interface, "CAN Handler socket correctly initialized : %d", can_socket_);
- if (can_socket_ < 0)
- ERROR(binder_interface, "socket could not be created. Error was : %s", ::strerror(errno));
- else
- {
- /* Set timeout for read */
- ::setsockopt(can_socket_, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
- /* Set timestamp for receveid frame */
- if (::setsockopt(can_socket_, SOL_SOCKET, SO_TIMESTAMP, ×tamp_on, sizeof(timestamp_on)) < 0)
- WARNING(binder_interface, "setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
- DEBUG(binder_interface, "Switch CAN Handler socket to use fd mode");
- /* try to switch the socket into CAN_FD mode */
- if (::setsockopt(can_socket_, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
- {
- NOTICE(binder_interface, "Can not switch into CAN Extended frame format.");
- is_fdmode_on_ = false;
- } else {
- DEBUG(binder_interface, "Correctly set up CAN socket to use FD frames.");
- is_fdmode_on_ = true;
- }
-
- /* Attempts to open a socket to CAN bus */
- ::strcpy(ifr.ifr_name, device_name_.c_str());
- DEBUG(binder_interface, "ifr_name is : %s", ifr.ifr_name);
- if(::ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0)
- ERROR(binder_interface, "ioctl failed. Error was : %s", strerror(errno));
- else
- {
- txAddress_.can_family = AF_CAN;
- txAddress_.can_ifindex = ifr.ifr_ifindex;
-
- /* And bind it to txAddress */
- DEBUG(binder_interface, "Bind the socket");
- if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
- ERROR(binder_interface, "Bind failed. %s", strerror(errno));
- else
- return 0;
- }
- close();
- }
- return -1;
-}
-
-/**
- * @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)
-{
- 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();
- }
-}
-
-/**
-* @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)
-{
- 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;
-}
\ No newline at end of file
Code Review / apps / low-level-can-service.git / blobdiff