X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=CAN-binder%2Flow-can-binding%2Fcan%2Fcan-bus.cpp;h=9ee649cd86e223d9bfd3e745773786b5a1d26646;hb=5b992c19e04ccb3c4ba0b3314fd4152a9919d98c;hp=0ce6dc6a032b56213d3b16255633accf99177c6a;hpb=1f4eb8c5562bf5c0bc6ebd1b35977cd71d9b3a83;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 0ce6dc6a..9ee649cd 100644 --- a/CAN-binder/low-can-binding/can/can-bus.cpp +++ b/CAN-binder/low-can-binding/can/can-bus.cpp @@ -45,6 +45,19 @@ can_bus_t::can_bus_t(utils::config_parser_t conf_file) : conf_file_{conf_file} {} +bool can_bus_t::apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr can_subscription) +{ + bool send = false; + if(is_valid(vehicle_message)) + { + float min = std::isnan(can_subscription->get_min()) ? -INFINITY : can_subscription->get_min(); + float max = std::isnan(can_subscription->get_max()) ? INFINITY : can_subscription->get_max(); + double value = get_numerical_from_DynamicField(vehicle_message); + send = (value < min && value > max) ? false : true; + } + return send; +} + /// @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. @@ -55,44 +68,35 @@ can_bus_t::can_bus_t(utils::config_parser_t conf_file) /// @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(const can_message_t& can_message) +void can_bus_t::process_can_signals(const can_message_t& can_message) { - int processed_signals = 0; - struct utils::signals_found 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()); - signals = sm.find_signals(search_key); - - // Decoding the message ! Don't kill the messenger ! - for(const auto& sig : signals.can_signals) { std::lock_guard subscribed_signals_lock(sm.get_subscribed_signals_mutex()); - std::map, struct afb_event> >& s = sm.get_subscribed_signals(); + 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(can_message.get_sub_id()) != s.end() && afb_event_is_valid(s[can_message.get_sub_id()].second)) + 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, can_message, conf.get_all_can_signals(), &send); + decoded_message = decoder_t::translateSignal(*sig->get_can_signal(), can_message, application_t::instance().get_all_can_signals(), &send); + openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message); + vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp()); - if(send) + if(send && apply_filter(vehicle_message, sig)) { - openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_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(std::make_pair(can_message.get_sub_id(), vehicle_message)); + push_new_vehicle_message(subscription_id, vehicle_message); + DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__, sig->get_name().c_str()); } - processed_signals++; } } - - DEBUG(binder_interface, "%s: %d/%d CAN signals processed.", __FUNCTION__, processed_signals, (int)signals.can_signals.size()); - return processed_signals; } /// @brief Will make the decoding operation on a diagnostic CAN message.Then it find the subscribed signal @@ -103,25 +107,28 @@ int can_bus_t::process_can_signals(const 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(); utils::signals_manager_t& sm = utils::signals_manager_t::instance(); - std::lock_guard subscribed_signals_lock(sm.get_subscribed_signals_mutex()); - std::map, struct afb_event> >& s = sm.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(can_message.get_sub_id()) != s.end() && afb_event_is_valid(s[can_message.get_sub_id()].second))) { - std::lock_guard decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(std::make_pair(can_message.get_sub_id(), 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. @@ -173,16 +180,15 @@ void can_bus_t::can_event_push() while(!vehicle_message_q_.empty()) { v_message = next_vehicle_message(); - s_message = get_simple_message(v_message.second); { std::lock_guard subscribed_signals_lock(sm.get_subscribed_signals_mutex()); - std::map, struct afb_event> >& s = sm.get_subscribed_signals(); - if(s.find(v_message.first) != s.end() && afb_event_is_valid(s[v_message.first].second)) + 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[v_message.first].second, jo) == 0) + if(afb_event_push(s[v_message.first]->get_event(), jo) == 0) on_no_clients(std::string(s_message.name)); } } @@ -278,9 +284,9 @@ std::pair 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 std::pair& v_msg) +void can_bus_t::push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg) { - vehicle_message_q_.push(v_msg); + vehicle_message_q_.push(std::make_pair(subscription_id, v_msg)); } /// @brief Return the shared pointer on the can_bus_dev_t initialized