#include "can-utils.hpp"
+#include <map>
+#include <vector>
+#include <cstdio>
+#include <string>
+#include <fcntl.h>
+#include <unistd.h>
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <json-c/json.h>
+#include <linux/can/raw.h>
+
+extern "C"
+{
+ #include <afb/afb-binding.h>
+}
+
/********************************************************************************
*
* CanMessage method implementation
return frame;
}
+/********************************************************************************
+*
+* can_bus_t method implementation
+*
+*********************************************************************************/
+
+can_bus_t::can_bus_t(int& conf_file)
+ : conf_file_{conf_file}
+{
+}
+
+void can_bus_t::start_threads()
+{
+ th_decoding_ = std::thread(can_decode_message, std::ref(*this));
+ is_decoding_ = true;
+ th_pushing_ = std::thread(can_event_push, std::ref(*this));
+ is_pushing_ = true;
+}
+
+void can_bus_t::stop_threads()
+{
+ is_decoding_ = false;
+ is_pushing_ = false;
+}
+
+bool can_bus_t::is_decoding()
+{
+ return is_decoding_;
+}
+
+bool can_bus_t::is_pushing()
+{
+ return is_pushing_;
+}
+
+int can_bus_t::init_can_dev()
+{
+ std::vector<std::string> devices_name;
+ int i;
+ size_t t;
+
+ devices_name = read_conf();
+
+ if (! devices_name.empty())
+ {
+ t = devices_name.size();
+ i=0;
+
+ for(const auto& device : devices_name)
+ {
+ can_bus_dev_t can_bus_device_handler(device);
+ if (can_bus_device_handler.open())
+ i++;
+ else
+ ERROR(binder_interface, "Can't open device %s", device);
+ can_bus_device_handler.start_reading(std::ref(*this));
+ }
+
+ NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, 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;
+}
+
+std::vector<std::string> can_bus_t::read_conf()
+{
+ std::vector<std::string> ret;
+ json_object *jo, *canbus;
+ int n, i;
+
+ FILE *fd = fdopen(conf_file_, "r");
+ if (fd)
+ {
+ std::string fd_conf_content;
+ std::fseek(fd, 0, SEEK_END);
+ fd_conf_content.resize(std::ftell(fd));
+ std::rewind(fd);
+ std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
+ std::fclose(fd);
+
+ jo = json_tokener_parse(fd_conf_content.c_str());
+
+ if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
+ {
+ ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
+ ret.clear();
+ }
+ else if (json_object_get_type(canbus) != json_type_array)
+ ret.push_back(json_object_get_string(canbus));
+ else
+ {
+ n = json_object_array_length(canbus);
+ for (i = 0 ; i < n ; i++)
+ ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
+ }
+ return ret;
+ }
+ ERROR(binder_interface, "Problem at reading the conf file");
+ ret.clear();
+ return ret;
+}
+
+std::condition_variable& can_bus_t::get_new_can_message()
+{
+ return new_can_message_;
+}
+
+std::mutex& can_bus_t::get_can_message_mutex()
+{
+ return can_message_mutex_;
+}
+
+std::condition_variable& can_bus_t::get_new_decoded_can_message()
+{
+ return new_decoded_can_message_;
+}
+
+std::mutex& can_bus_t::get_decoded_can_message_mutex()
+{
+ return decoded_can_message_mutex_;
+}
+
+can_message_t can_bus_t::next_can_message()
+{
+ can_message_t can_msg;
+
+ if(!can_message_q_.empty())
+ {
+ can_msg = can_message_q_.front();
+ can_message_q_.pop();
+ DEBUG(binder_interface, "next_can_message: Here is the next can message : id %d, length %d", can_msg.get_id(), can_msg.get_length());
+ return can_msg;
+ }
+
+ NOTICE(binder_interface, "next_can_message: End of can message queue");
+ has_can_message_ = false;
+ return can_msg;
+}
+
+void can_bus_t::push_new_can_message(const can_message_t& can_msg)
+{
+ can_message_q_.push(can_msg);
+}
+
+bool can_bus_t::has_can_message() const
+{
+ return has_can_message_;
+}
+
+openxc_VehicleMessage can_bus_t::next_vehicle_message()
+{
+ openxc_VehicleMessage v_msg;
+
+ if(! vehicle_message_q_.empty())
+ {
+ v_msg = vehicle_message_q_.front();
+ vehicle_message_q_.pop();
+ DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
+ return v_msg;
+ }
+
+ NOTICE(binder_interface, "next_vehicle_message: End of vehicle message queue");
+ has_vehicle_message_ = false;
+ return v_msg;
+}
+
+void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
+{
+ vehicle_message_q_.push(v_msg);
+ has_vehicle_message_ = true;
+}
+
+bool can_bus_t::has_vehicle_message() const
+{
+ return has_vehicle_message_;
+}
+
/********************************************************************************
*
* can_bus_dev_t method implementation
/* And bind it to txAddress */
if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
- {
ERROR(binder_interface, "Bind failed");
- }
else
- {
- ::fcntl(can_socket_, F_SETFL, O_NONBLOCK);
return 0;
- }
}
close();
}
void can_bus_dev_t::start_reading(can_bus_t& can_bus)
{
th_reading_ = std::thread(can_reader, std::ref(*this), std::ref(can_bus));
-
is_running_ = true;
}
open();
}
return 0;
-}
-/********************************************************************************
-*
-* can_bus_t method implementation
-*
-*********************************************************************************/
-
-can_bus_t::can_bus_t(int& conf_file)
- : conf_file_{conf_file}
-{
-}
-
-void can_bus_t::start_threads()
-{
- th_decoding_ = std::thread(can_decode_message, std::ref(*this));
- th_pushing_ = std::thread(can_event_push, std::ref(*this));
-}
-
-
-int can_bus_t::init_can_dev()
-{
- std::vector<std::string> devices_name;
- int i;
- size_t t;
-
- devices_name = read_conf();
-
- if (! devices_name.empty())
- {
- t = devices_name.size();
- i=0;
-
- for(const auto& device : devices_name)
- {
- can_bus_dev_t can_bus_device_handler(device);
- can_bus_device_handler.open();
- can_bus_device_handler.start_reading(std::ref(*this));
- i++;
- }
-
- NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
- return 0;
- }
- ERROR(binder_interface, "init_can_dev: Error at CAN device initialization.");
- return 1;
-}
-
-std::vector<std::string> can_bus_t::read_conf()
-{
- std::vector<std::string> ret;
- json_object *jo, *canbus;
- int n, i;
-
- FILE *fd = fdopen(conf_file_, "r");
- if (fd)
- {
- std::string fd_conf_content;
- std::fseek(fd, 0, SEEK_END);
- fd_conf_content.resize(std::ftell(fd));
- std::rewind(fd);
- std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
- std::fclose(fd);
-
- jo = json_tokener_parse(fd_conf_content.c_str());
-
- if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
- {
- ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
- ret.clear();
- }
- else if (json_object_get_type(canbus) != json_type_array)
- ret.push_back(json_object_get_string(canbus));
- else
- {
- n = json_object_array_length(canbus);
- for (i = 0 ; i < n ; i++)
- ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
- }
- return ret;
- }
- ERROR(binder_interface, "Problem at reading the conf file");
- ret.clear();
- return ret;
-}
-
-can_message_t can_bus_t::next_can_message()
-{
- can_message_t can_msg;
-
- if(!can_message_q_.empty())
- {
- can_msg = can_message_q_.front();
- can_message_q_.pop();
- DEBUG(binder_interface, "next_can_message: Here is the next can message : id %d, length %d", can_msg.get_id(), can_msg.get_length());
- return can_msg;
- }
-
- NOTICE(binder_interface, "next_can_message: End of can message queue");
- has_can_message_ = false;
- return can_msg;
-}
-
-void can_bus_t::push_new_can_message(const can_message_t& can_msg)
-{
- can_message_q_.push(can_msg);
-}
-
-bool can_bus_t::has_can_message() const
-{
- return has_can_message_;
-}
-
-openxc_VehicleMessage can_bus_t::next_vehicle_message()
-{
- openxc_VehicleMessage v_msg;
-
- if(! vehicle_message_q_.empty())
- {
- v_msg = vehicle_message_q_.front();
- vehicle_message_q_.pop();
- DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
- return v_msg;
- }
-
- NOTICE(binder_interface, "next_vehicle_message: End of vehicle message queue");
- has_vehicle_message_ = false;
- return v_msg;
-}
-
-void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
-{
- vehicle_message_q_.push(v_msg);
- has_vehicle_message_ = true;
-}
-
-bool can_bus_t::has_vehicle_message() const
-{
- return has_vehicle_message_;
}
\ No newline at end of file
Code Review / apps / agl-service-can-low-level.git / blobdiff