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=c2968054b3ec6f829947b0107fd23995c6dabe8b;hpb=53e09a3a8e9ff405ee5936f4765659d3817991e6;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 c2968054..9ee649cd 100644 --- a/CAN-binder/low-can-binding/can/can-bus.cpp +++ b/CAN-binder/low-can-binding/can/can-bus.cpp @@ -29,7 +29,7 @@ #include "can-signals.hpp" #include "can-decoder.hpp" -#include "../binding/configuration.hpp" +#include "../binding/application.hpp" #include "../utils/signals.hpp" #include "../utils/openxc-utils.hpp" @@ -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; - configuration_t& conf = configuration_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& 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(sig->get_name()) != s.end() && afb_event_is_valid(s[sig->get_name()])) + 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); - std::lock_guard decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(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& 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(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. @@ -138,8 +145,6 @@ 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_) { { @@ -147,10 +152,10 @@ 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); } @@ -163,7 +168,7 @@ 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(); @@ -175,16 +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); + s_message = get_simple_message(v_message.second); { std::lock_guard subscribed_signals_lock(sm.get_subscribed_signals_mutex()); - std::map& s = sm.get_subscribed_signals(); - if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)])) + 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)); } } @@ -235,7 +239,7 @@ 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; @@ -262,9 +266,9 @@ 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()) { @@ -280,9 +284,9 @@ 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) +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