#pragma once
+#include <map>
+#include <queue>
+#include <vector>
+#include <cstdio>
#include <string>
+#include <thread>
+#include <fcntl.h>
+#include <unistd.h>
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <linux/can.h>
+#include <sys/socket.h>
+#include <json-c/json.h>
+#include <linux/can/raw.h>
+
#include "timer.hpp"
#include "openxc.pb.h"
+extern "C"
+{
+ #include <afb/afb-binding.h>
+ #include <afb/afb-service-itf.h>
+}
+
// TODO actual max is 32 but dropped to 24 for memory considerations
#define MAX_ACCEPTANCE_FILTERS 24
// TODO this takes up a ton of memory
#define CAN_ACTIVE_TIMEOUT_S 30
-/* Public: The type signature for a CAN signal decoder.
+/**
+ * @brief The type signature for a CAN signal decoder.
*
- * A SignalDecoder transforms a raw floating point CAN signal into a number,
+ * @desc A SignalDecoder transforms a raw floating point CAN signal into a number,
* string or boolean.
*
- * signal - The CAN signal that we are decoding.
- * signals - The list of all signals.
- * signalCount - The length of the signals array.
- * value - The CAN signal parsed from the message as a raw floating point
- * value.
- * send - An output parameter. If the decoding failed or the CAN signal should
- * not send for some other reason, this should be flipped to false.
+ * @param[in] CanSignal signal - The CAN signal that we are decoding.
+ * @param[in] CanSignal signals - The list of all signals.
+ * @param[in] int signalCount - The length of the signals array.
+ * @param[in] float value - The CAN signal parsed from the message as a raw floating point
+ * value.
+ * @param[out] bool send - An output parameter. If the decoding failed or the CAN signal should
+ * not send for some other reason, this should be flipped to false.
*
- * Returns a decoded value in an openxc_DynamicField struct.
+ * @return a decoded value in an openxc_DynamicField struct.
*/
typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal* signal,
CanSignal* signals, int signalCount, float value, bool* send);
/**
* @brief: The type signature for a CAN signal encoder.
*
- * A SignalEncoder transforms a number, string or boolean into a raw floating
+ * @desc A SignalEncoder transforms a number, string or boolean into a raw floating
* point value that fits in the CAN signal.
*
* @params[signal] - The CAN signal to encode.
typedef uint64_t (*SignalEncoder)(struct CanSignal* signal,
openxc_DynamicField* value, bool* send);
+/**
+ * @brief The ID format for a CAN message.
+ *
+ * STANDARD - standard 11-bit CAN arbitration ID.
+ * EXTENDED - an extended frame, with a 29-bit arbitration ID.
+ */
+enum CanMessageFormat {
+ STANDARD,
+ EXTENDED,
+};
+typedef enum CanMessageFormat CanMessageFormat;
+
+/**
+ * @brief A compact representation of a single CAN message, meant to be used in in/out
+ * buffers.
+ *
+ * param[in] uint32_t id - The ID of the message.
+ * param[in] CanMessageFormat format - the format of the message's ID.
+ * param[in] uint8_t data - The message's data field.
+ * @param[in] uint8_t length - the length of the data array (max 8).
+*************************
+* old CanMessage struct *
+*************************
+struct CanMessage {
+ uint32_t id;
+ CanMessageFormat format;
+ uint8_t data[CAN_MESSAGE_SIZE];
+ uint8_t length;
+};
+typedef struct CanMessage CanMessage;
+*/
+class can_message_t {
+ private:
+ const struct afb_binding_interface* interface_;
+ uint32_t id_;
+ CanMessageFormat format_;
+ uint8_t data_;
+ uint8_t length_;
+
+ public:
+ can_message_t(const struct afb_binding_interface* interface);
+
+ uint32_t get_id() const;
+ int get_format() const;
+ const uint8_t* get_data() const;
+ uint8_t get_length() const;
+
+ void set_id(const uint32_t new_id);
+ void set_format(const CanMessageFormat format);
+ void set_data(const uint8_t new_data);
+ void set_length(const uint8_t new_length);
+
+ void convert_from_canfd_frame(const canfd_frame& frame);
+ canfd_frame convert_to_canfd_frame();
+};
+
/**
* @brief Object representing a can device. Handle opening, closing and reading on the
* socket. This is the low level object to be use by can_bus_t.
*
- * @params[*interface_] - afb_binding_interface to the binder. Used to log messages
- * @params[device_name_] - name of the linux device handling the can bus. Generally vcan0, can0, etc.
- *
+ * @params[in] std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc.
*/
class can_bus_dev_t {
private:
bool is_running_;
public:
- int open();
+ can_bus_dev_t(const std::string& dev_name);
+
+ int open(const struct afb_binding_interface* interface);
int close();
bool is_running();
+ void start_reading();
+ canfd_frame read(const struct afb_binding_interface *interface);
- can_message_t* next_can_message();
+ can_message_t next_can_message(const struct afb_binding_interface* interface);
void push_new_can_message(const can_message_t& can_msg);
bool has_can_message() const;
-}
+ int send_can_message(can_message_t& can_msg, const struct afb_binding_interface* interface);
+};
/**
* @brief Object used to handle decoding and manage event queue to be pushed.
*
- * @params[*interface_] - afb_binding_interface to the binder. Used to log messages
- * @params[conf_file_ifstream_] - stream of configuration file used to initialize
- * can_bus_dev_t objects.
+ * @params[in] interface_ - afb_binding_interface pointer to the binder. Used to log messages
+ * @params[in] conf_file_ - configuration file handle used to initialize can_bus_dev_t objects.
*/
class can_bus_t {
private:
- afb_binding_interface *interface_;
+ const struct afb_binding_interface *interface_;
+ int conf_file_;
std::thread th_decoding_;
std::thread th_pushing_;
std::queue <openxc_VehicleMessage> vehicle_message_q_;
public:
+ can_bus_t(const struct afb_binding_interface *itf, int& conf_file);
+ int init_can_dev();
+ std::vector<std::string> read_conf();
+
void start_threads();
- void init_can_dev(std::ifstream& conf_file);
- std::vector<std::string> read_conf()
-
- int send_can_message(can_message_t can_msg);
-
- openxc_VehicleMessage& next_vehicle_message();
+ openxc_VehicleMessage next_vehicle_message();
void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
bool has_vehicle_message() const;
};
-/* A compact representation of a single CAN message, meant to be used in in/out
- * buffers.
- *
- * id - The ID of the message.
- * format - the format of the message's ID.
- * data - The message's data field.
- * length - the length of the data array (max 8).
-struct CanMessage {
- uint32_t id;
- CanMessageFormat format;
- uint8_t data[CAN_MESSAGE_SIZE];
- uint8_t length;
-};
-typedef struct CanMessage CanMessage;
-*/
-class can_message_t {
- private:
- afb_binding_interface interface_;
- uint32_t id_;
- CanMessageFormat format_;
- uint8_t data_[CAN_MESSAGE_SIZE];
- uint8_t length_;
-
- public:
- uint32_t get_id() const;
- int get_format() const;
- uint8_t get_data() const;
- uint8_t get_lenght() const;
-
- void set_id(uint32_t id);
- void set_format(CanMessageFormat format);
- void set_data(uint8_t data);
- void set_lenght(uint8_t length);
-
- void convert_from_canfd_frame(canfd_frame frame);
- canfd_frame convert_to_canfd_frame();
-};
-
-QUEUE_DECLARE(can_message_t, 8);
-
-/* Public: The ID format for a CAN message.
- *
- * STANDARD - standard 11-bit CAN arbitration ID.
- * EXTENDED - an extended frame, with a 29-bit arbitration ID.
- */
-enum CanMessageFormat {
- STANDARD,
- EXTENDED,
-};
-typedef enum CanMessageFormat CanMessageFormat;
-
-/* Public: A state encoded (SED) signal's mapping from numerical values to
+/**
+ * @brief A state encoded (SED) signal's mapping from numerical values to
* OpenXC state names.
*
- * value - The integer value of the state on the CAN bus.
- * name - The corresponding string name for the state in OpenXC.
+ * @param[in] in value - The integer value of the state on the CAN bus.
+ * @param[in] char* name - The corresponding string name for the state in OpenXC.
*/
struct CanSignalState {
const int value;
};
typedef struct CanSignalState CanSignalState;
-/* Public: A CAN signal to decode from the bus and output over USB.
+/**
+ * @brief A CAN signal to decode from the bus and output over USB.
*
- * message - The message this signal is a part of.
- * genericName - The name of the signal to be output over USB.
- * bitPosition - The starting bit of the signal in its CAN message (assuming
+ * @param[in] message - The message this signal is a part of.
+ * @param[in] genericName - The name of the signal to be output over USB.
+ * @param[in] bitPosition - The starting bit of the signal in its CAN message (assuming
* non-inverted bit numbering, i.e. the most significant bit of
* each byte is 0)
- * bitSize - The width of the bit field in the CAN message.
- * factor - The final value will be multiplied by this factor. Use 1 if you
+ * @param[in] bitSize - The width of the bit field in the CAN message.
+ * @param[in] factor - The final value will be multiplied by this factor. Use 1 if you
* don't need a factor.
- * offset - The final value will be added to this offset. Use 0 if you
+ * @param[in] offset - The final value will be added to this offset. Use 0 if you
* don't need an offset.
- * minValue - The minimum value for the processed signal.
- * maxValue - The maximum value for the processed signal.
- * frequencyClock - A FrequencyClock struct to control the maximum frequency to
+ * @param[in] minValue - The minimum value for the processed signal.
+ * @param[in] maxValue - The maximum value for the processed signal.
+ * @param[in] frequencyClock - A FrequencyClock struct to control the maximum frequency to
* process and send this signal. To process every value, set the
* clock's frequency to 0.
- * sendSame - If true, will re-send even if the value hasn't changed.
- * forceSendChanged - If true, regardless of the frequency, it will send the
+ * @param[in] sendSame - If true, will re-send even if the value hasn't changed.
+ * @param[in] forceSendChanged - If true, regardless of the frequency, it will send the
* value if it has changed.
- * states - An array of CanSignalState describing the mapping
+ * @param[in] states - An array of CanSignalState describing the mapping
* between numerical and string values for valid states.
- * stateCount - The length of the states array.
- * writable - True if the signal is allowed to be written from the USB host
+ * @param[in] stateCount - The length of the states array.
+ * @param[in] writable - True if the signal is allowed to be written from the USB host
* back to CAN. Defaults to false.
- * decoder - An optional function to decode a signal from the bus to a human
- * readable value. If NULL, the default numerical decoder is used.
- * encoder - An optional function to encode a signal value to be written to
+ * @param[in] decoder - An optional function to decode a signal from the bus to a human
+ * readable value. If NULL, the default numerical decoder is used.
+ * @param[in] encoder - An optional function to encode a signal value to be written to
* CAN into a byte array. If NULL, the default numerical encoder
* is used.
- * received - True if this signal has ever been received.
- * lastValue - The last received value of the signal. If 'received' is false,
+ * @param[in] received - True if this signal has ever been received.
+ * @param[in] lastValue - The last received value of the signal. If 'received' is false,
* this value is undefined.
*/
struct CanSignal {
};
typedef struct CanSignal CanSignal;
-/* Public: The definition of a CAN message. This includes a lot of metadata, so
+/**
+ * @brief The definition of a CAN message. This includes a lot of metadata, so
* to save memory this struct should not be used for storing incoming and
* outgoing CAN messages.
*
- * bus - A pointer to the bus this message is on.
- * id - The ID of the message.
- * format - the format of the message's ID.
- * clock - an optional frequency clock to control the output of this
+ * @param[in] bus - A pointer to the bus this message is on.
+ * @param[in] id - The ID of the message.
+ * @param[in] format - the format of the message's ID.
+ * @param[in] clock - an optional frequency clock to control the output of this
* message, if sent raw, or simply to mark the max frequency for custom
- * handlers to retrieve.
- * forceSendChanged - If true, regardless of the frequency, it will send CAN
+ * handlers to retriec++ if ? syntaxve.
+ * @param[in] forceSendChanged - If true, regardless of the frequency, it will send CAN
* message if it has changed when using raw passthrough.
- * lastValue - The last received value of the message. Defaults to undefined.
+ * @param[in] lastValue - The last received value of the message. Defaults to undefined.
* This is required for the forceSendChanged functionality, as the stack
* needs to compare an incoming CAN message with the previous frame.
*/
};
typedef struct CanMessageDefinition CanMessageDefinition;
-/* Private: An entry in the list of acceptance filters for each CanBus.
- *
- * This struct is meant to be used with a LIST type from <sys/queue.h>.
- *
- * filter - the value for the CAN acceptance filter.
- * activeUserCount - The number of active consumers of this filter's messages.
- * When 0, this filter can be removed.
- * format - the format of the ID for the filter.
-struct AcceptanceFilterListEntry {
- uint32_t filter;
- uint8_t activeUserCount;
- CanMessageFormat format;
- LIST_ENTRY(AcceptanceFilterListEntry) entries;
-};
- */
-
-/* Private: A type of list containing CAN acceptance filters.
-LIST_HEAD(AcceptanceFilterList, AcceptanceFilterListEntry);
-
-struct CanMessageDefinitionListEntry {
- CanMessageDefinition definition;
- LIST_ENTRY(CanMessageDefinitionListEntry) entries;
-};
-LIST_HEAD(CanMessageDefinitionList, CanMessageDefinitionListEntry);
- */
-
-/** Public: A parent wrapper for a particular set of CAN messages and associated
+/**
+ * @brief A parent wrapper for a particular set of CAN messages and associated
* CAN buses(e.g. a vehicle or program).
*
- * index - A numerical ID for the message set, ideally the index in an array
+ * @param[in] index - A numerical ID for the message set, ideally the index in an array
* for fast lookup
- * name - The name of the message set.
- * busCount - The number of CAN buses defined for this message set.
- * messageCount - The number of CAN messages (across all buses) defined for
+ * @param[in] name - The name of the message set.
+ * @param[in] busCount - The number of CAN buses defined for this message set.
+ * @param[in] messageCount - The number of CAN messages (across all buses) defined for
* this message set.
- * signalCount - The number of CAN signals (across all messages) defined for
+ * @param[in] signalCount - The number of CAN signals (across all messages) defined for
* this message set.
- * commandCount - The number of CanCommmands defined for this message set.
+ * @param[in] commandCount - The number of CanCommmands defined for this message set.
*/
typedef struct {
uint8_t index;
unsigned short commandCount;
} CanMessageSet;
-/* Public: The type signature for a function to handle a custom OpenXC command.
+/**
+ * @brief The type signature for a function to handle a custom OpenXC command.
*
- * name - the name of the received command.
- * value - the value of the received command, in a DynamicField. The actual type
+ * @param[in] char* name - the name of the received command.
+ * @param[in] openxc_DynamicField* value - the value of the received command, in a DynamicField. The actual type
* may be a number, string or bool.
- * event - an optional event from the received command, in a DynamicField. The
+ * @param[in] openxc_DynamicField* event - an optional event from the received command, in a DynamicField. The
* actual type may be a number, string or bool.
- * signals - The list of all signals.
- * signalCount - The length of the signals array.
+ * @param[in] CanSignal* signals - The list of all signals.
+ * @param[in] int signalCount - The length of the signals array.
*/
typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
openxc_DynamicField* event, CanSignal* signals, int signalCount);
* genericName - The name of the command.
* handler - An function to process the received command's data and perform some
* action.
+ */
typedef struct {
const char* genericName;
CommandHandler handler;
} CanCommand;
- */
-class CanCommand_c {
- private:
- const char* genericName;
- CommandHandler handler;
-};
-
-/* Pre initialize actions made before CAN bus initialization
+/**
+ * @brief Pre initialize actions made before CAN bus initialization
*
- * bus - A CanBus struct defining the bus's metadata
- * writable - configure the controller in a writable mode. If false, it will be
+ * @param[in] can_bus_dev_t bus - A CanBus struct defining the bus's metadata
+ * @param[in] bool writable - configure the controller in a writable mode. If false, it will be
* configured as "listen only" and will not allow writes or even CAN ACKs.
- * buses - An array of all CAN buses.
- * busCount - The length of the buses array.
+ * @param[in] buses - An array of all CAN buses.
+ * @param[in] int busCount - The length of the buses array.
*/
-void pre_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCount);
+void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
/* Post-initialize actions made after CAN bus initialization and before the
* event loop connection.
* buses - An array of all CAN buses.
* busCount - The length of the buses array.
*/
-void post_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCount);
+void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
/* Public: Check if the device is connected to an active CAN bus, i.e. it's
* received a message in the recent past.
* Returns true if a message was received on the CAN bus within
* CAN_ACTIVE_TIMEOUT_S seconds.
*/
-bool isBusActive(CanBus* bus);
+bool isBusActive(can_bus_dev_t* bus);
/* Public: Log transfer statistics about all active CAN buses to the debug log.
*
* buses - an array of active CAN buses.
* busCount - the length of the buses array.
*/
-void logBusStatistics(CanBus* buses, const int busCount);
+void logBusStatistics(can_bus_dev_t* buses, const int busCount);
+
+/**
+ * @brief Function representing thread activated by can bus objects
+ */
+void can_reader(can_bus_dev_t& can_bus);
+void can_decode_message(can_bus_t& can_bus);
+void can_event_push(can_bus_t& can_bus);
\ No newline at end of file
Code Review / apps / agl-service-can-low-level.git / blobdiff