X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=CAN-binder%2Flow-can-binding%2Fcan%2Fcan-bus.cpp;h=56cde475e13325f970e5bd9cd0c3a38aa068ab0a;hb=e9b00c3af0c469726e32755715a69395ad1d3718;hp=8befec6a06116a7061390a2a486099f37004ebf9;hpb=44d7237fde80af222939445055a94a0e50e82935;p=apps%2Fagl-service-can-low-level.git diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp index 8befec6a..56cde475 100644 --- a/CAN-binder/low-can-binding/can/can-bus.cpp +++ b/CAN-binder/low-can-binding/can/can-bus.cpp @@ -15,23 +15,21 @@ * limitations under the License. */ -#include -#include -#include -#include -#include -#include #include -#include #include #include #include +#include +#include +#include +#include +#include #include "can-bus.hpp" #include "can-signals.hpp" #include "can-decoder.hpp" -#include "../configuration.hpp" +#include "../binding/application.hpp" #include "../utils/signals.hpp" #include "../utils/openxc-utils.hpp" @@ -47,7 +45,14 @@ can_bus_t::can_bus_t(utils::config_parser_t conf_file) : conf_file_{conf_file} {} -std::map> can_bus_t::can_devices_; +bool can_bus_t::apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr can_subscription) +{ + if(is_valid(vehicle_message)) + { + return true; + } + return false; +} /// @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 @@ -59,43 +64,36 @@ std::map> can_bus_t::can_devices_; /// @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) +void can_bus_t::process_can_signals(const can_message_t& can_message) { - int processed_signals = 0; - std::vector signals; - openxc_DynamicField search_key, decoded_message; + int subscription_id = can_message.get_sub_id(); + openxc_DynamicField decoded_message; openxc_VehicleMessage vehicle_message; + application_t& conf = application_t::instance(); + utils::signals_manager_t& sm = utils::signals_manager_t::instance(); - // 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 subscribed_signals_lock(get_subscribed_signals_mutex()); - std::map& 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()); + std::lock_guard subscribed_signals_lock(sm.get_subscribed_signals_mutex()); + std::map >& s = sm.get_subscribed_signals(); + + // First we have to found which can_signal_t it is + std::shared_ptr sig = s[subscription_id]; + if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event())) + { + bool send = true; + decoded_message = decoder_t::translateSignal(*sig->get_can_signal(), can_message, conf.get_all_can_signals(), &send); openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message); - vehicle_message = build_VehicleMessage(s_message); + vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp()); - std::lock_guard decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(vehicle_message); - processed_signals++; + if(send && apply_filter(vehicle_message, sig)) + { + std::lock_guard decoded_can_message_lock(decoded_can_message_mutex_); + push_new_vehicle_message(subscription_id, vehicle_message); + DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__, sig->get_name().c_str()); + } } } - - 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 @@ -106,23 +104,28 @@ int can_bus_t::process_can_signals(can_message_t& 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(diagnostic_manager_t& manager, const can_message_t& can_message) +void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message) { - int processed_signals = 0; + int subscription_id = can_message.get_sub_id(); - std::lock_guard subscribed_signals_lock(get_subscribed_signals_mutex()); - std::map& s = get_subscribed_signals(); + utils::signals_manager_t& sm = utils::signals_manager_t::instance(); - 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 decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(vehicle_message); - processed_signals++; - } + std::lock_guard subscribed_signals_lock(sm.get_subscribed_signals_mutex()); + std::map >& s = sm.get_subscribed_signals(); - return processed_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(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event())) + { + if (apply_filter(vehicle_message, s[subscription_id])) + { + std::lock_guard decoded_can_message_lock(decoded_can_message_mutex_); + push_new_vehicle_message(subscription_id, vehicle_message); + DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__, s[subscription_id]->get_name().c_str()); + } + } + } } /// @brief thread to decoding raw CAN messages. @@ -139,8 +142,6 @@ int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const c /// TODO: make diagnostic messages parsing optionnal. void can_bus_t::can_decode_message() { - can_message_t can_message; - while(is_decoding_) { { @@ -148,10 +149,10 @@ void can_bus_t::can_decode_message() new_can_message_cv_.wait(can_message_lock); while(!can_message_q_.empty()) { - can_message = next_can_message(); + const can_message_t can_message = next_can_message(); - if(configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message)) - process_diagnostic_signals(configuration_t::instance().get_diagnostic_manager(), can_message); + if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message)) + process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), can_message); else process_can_signals(can_message); } @@ -164,9 +165,10 @@ void can_bus_t::can_decode_message() /// which are events that has to be pushed. void can_bus_t::can_event_push() { - openxc_VehicleMessage v_message; + std::pair v_message; openxc_SimpleMessage s_message; json_object* jo; + utils::signals_manager_t& sm = utils::signals_manager_t::instance(); while(is_pushing_) { @@ -175,16 +177,15 @@ void can_bus_t::can_event_push() while(!vehicle_message_q_.empty()) { v_message = next_vehicle_message(); - - s_message = get_simple_message(v_message); + s_message = get_simple_message(v_message.second); { - std::lock_guard subscribed_signals_lock(get_subscribed_signals_mutex()); - std::map& s = get_subscribed_signals(); - if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)])) + std::lock_guard subscribed_signals_lock(sm.get_subscribed_signals_mutex()); + std::map >& s = sm.get_subscribed_signals(); + if(s.find(v_message.first) != s.end() && afb_event_is_valid(s[v_message.first]->get_event())) { jo = json_object_new_object(); jsonify_simple(s_message, jo); - if(afb_event_push(s[std::string(s_message.name)], jo) == 0) + if(afb_event_push(s[v_message.first]->get_event(), jo) == 0) on_no_clients(std::string(s_message.name)); } } @@ -216,53 +217,6 @@ void can_bus_t::stop_threads() is_pushing_ = false; } -/// @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 devices_name; - int i = 0; - size_t t; - - if(conf_file_.check_conf()) - { - devices_name = conf_file_.get_devices_name(); - if (! devices_name.empty()) - { - t = devices_name.size(); - - for(const auto& device : devices_name) - { - can_bus_t::can_devices_[device] = std::make_shared(device, i); - if (can_bus_t::can_devices_[device]->open() == 0) - { - DEBUG(binder_interface, "Start reading thread"); - NOTICE(binder_interface, "%s device opened and reading", device.c_str()); - 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, (int)t); - return 0; - } - ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read from configuration file"); - return 1; - } - ERROR(binder_interface, "init_can_dev: Can't read INI configuration file"); - return 2; -} - /// @brief return new_can_message_cv_ member /// /// @return return new_can_message_cv_ member @@ -282,7 +236,7 @@ std::mutex& can_bus_t::get_can_message_mutex() /// @brief Return first can_message_t on the queue /// /// @return a can_message_t -can_message_t can_bus_t::next_can_message() +const can_message_t can_bus_t::next_can_message() { can_message_t can_msg; @@ -290,7 +244,7 @@ can_message_t can_bus_t::next_can_message() { can_msg = can_message_q_.front(); can_message_q_.pop(); - DEBUG(binder_interface, "next_can_message: Here is the next can message : id %X, length %X, data %02X%02X%02X%02X%02X%02X%02X%02X", can_msg.get_id(), can_msg.get_length(), + DEBUG(binder_interface, "%s: Here is the next can message : id %X, length %X, data %02X%02X%02X%02X%02X%02X%02X%02X", __FUNCTION__, can_msg.get_id(), can_msg.get_length(), 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; } @@ -309,15 +263,15 @@ void can_bus_t::push_new_can_message(const can_message_t& can_msg) /// @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() +std::pair can_bus_t::next_vehicle_message() { - openxc_VehicleMessage v_msg; + std::pair 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"); + DEBUG(binder_interface, "%s: next vehicle message poped", __FUNCTION__); return v_msg; } @@ -327,17 +281,9 @@ openxc_VehicleMessage can_bus_t::next_vehicle_message() /// @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 -const std::map>& can_bus_t::get_can_devices() const +void can_bus_t::push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg) { - return can_bus_t::can_devices_; + vehicle_message_q_.push(std::make_pair(subscription_id, v_msg)); } /// @brief Return the shared pointer on the can_bus_dev_t initialized @@ -346,7 +292,39 @@ const std::map>& can_bus_t::get_can_ /// @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_t::get_can_device(std::string bus) +void can_bus_t::set_can_devices() +{ + can_devices_ = conf_file_.get_devices_name(); + + if(can_devices_.empty()) + { + ERROR(binder_interface, "%s: No mapping found in config file: '%s'. Check it that it have a CANbus-mapping section.", + __FUNCTION__, conf_file_.filepath().c_str()); + } +} + +int can_bus_t::get_can_device_index(const std::string& bus_name) const { - return can_bus_t::can_devices_[bus]; + int i = 0; + for(const auto& d: can_devices_) + { + if(d.first == bus_name) + break; + i++; + } + return i; } + +const std::string can_bus_t::get_can_device_name(const std::string& id_name) const +{ + std::string ret; + for(const auto& d: can_devices_) + { + if(d.first == id_name) + { + ret = d.second; + break; + } + } + return ret; +} \ No newline at end of file