X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=CAN-binder%2Flow-can-binding%2Fcan%2Fcan-bus.cpp;h=d06eb77c2c603ce1ad5d2ccd8115714a8aeaca1b;hb=5206b26e1a6811d142ffbaf12daaea0731345490;hp=90d4c74f2b8e541ec80433d05137734cdadc25aa;hpb=f546e121079088920e2a3f64bc054afa05ff945f;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 90d4c74f..d06eb77c 100644 --- a/CAN-binder/low-can-binding/can/can-bus.cpp +++ b/CAN-binder/low-can-binding/can/can-bus.cpp @@ -15,28 +15,24 @@ * limitations under the License. */ -#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" -extern "C" -{ - #include -} - /// @brief Class constructor /// /// @param[in] conf_file - handle to the json configuration file. @@ -44,7 +40,18 @@ 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) +{ + 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 @@ -56,43 +63,29 @@ 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, std::map >& s) { - 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; // 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); + std::shared_ptr sig = s[subscription_id]; - // Decoding the message ! Don't kill the messenger ! - for(auto& sig : signals) + if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event())) { - 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()); - - openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message); - vehicle_message = build_VehicleMessage(s_message); + bool send = true; + 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 && apply_filter(vehicle_message, sig)) + { std::lock_guard decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(vehicle_message); - processed_signals++; + 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 @@ -103,23 +96,21 @@ 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, std::map >& s) { - int processed_signals = 0; - - std::lock_guard subscribed_signals_lock(get_subscribed_signals_mutex()); - std::map& s = get_subscribed_signals(); + int subscription_id = can_message.get_sub_id(); 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]))) + s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event())) { - std::lock_guard decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(vehicle_message); - processed_signals++; + 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()); + } } - - return processed_signals; } /// @brief thread to decoding raw CAN messages. @@ -136,24 +127,29 @@ 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; + utils::signals_manager_t& sm = utils::signals_manager_t::instance(); while(is_decoding_) { + std::unique_lock can_message_lock(can_message_mutex_); + new_can_message_cv_.wait(can_message_lock); + while(!can_message_q_.empty()) { - std::unique_lock can_message_lock(can_message_mutex_); - 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(); + can_message_lock.unlock(); - if(configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message)) - process_diagnostic_signals(configuration_t::instance().get_diagnostic_manager(), can_message); + { + std::lock_guard subscribed_signals_lock(sm.get_subscribed_signals_mutex()); + std::map >& s = sm.get_subscribed_signals(); + if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message)) + {process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), can_message, s);} else - process_can_signals(can_message); + {process_can_signals(can_message, s);} } + can_message_lock.lock(); } - new_decoded_can_message_.notify_one(); + new_decoded_can_message_.notify_one(); + can_message_lock.unlock(); } } @@ -161,9 +157,9 @@ 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; openxc_SimpleMessage s_message; json_object* jo; + utils::signals_manager_t& sm = utils::signals_manager_t::instance(); while(is_pushing_) { @@ -171,21 +167,28 @@ void can_bus_t::can_event_push() new_decoded_can_message_.wait(decoded_can_message_lock); while(!vehicle_message_q_.empty()) { - v_message = next_vehicle_message(); - - s_message = get_simple_message(v_message); + std::pair v_message = next_vehicle_message(); + decoded_can_message_lock.unlock(); { - 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(); + s_message = get_simple_message(v_message.second); + 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) - on_no_clients(std::string(s_message.name)); + if(afb_event_push(s[v_message.first]->get_event(), jo) == 0) + { + if(v_message.second.has_diagnostic_response) + {on_no_clients(s[v_message.first], v_message.second.diagnostic_response.pid, s);} + else + {on_no_clients(s[v_message.first], s);} + } } } + decoded_can_message_lock.lock(); } + decoded_can_message_lock.unlock(); } } @@ -195,13 +198,11 @@ void can_bus_t::start_threads() { is_decoding_ = true; th_decoding_ = std::thread(&can_bus_t::can_decode_message, this); - if(!th_decoding_.joinable()) - is_decoding_ = false; + th_decoding_.detach(); is_pushing_ = true; th_pushing_ = std::thread(&can_bus_t::can_event_push, this); - if(!th_pushing_.joinable()) - is_pushing_ = false; + th_pushing_.detach(); } /// @brief Will stop all threads holded by can_bus_t object @@ -213,53 +214,6 @@ 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_raw() == 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 @@ -279,7 +233,7 @@ 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; @@ -287,7 +241,7 @@ 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; } @@ -306,15 +260,15 @@ 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; } @@ -324,17 +278,9 @@ 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 @@ -343,7 +289,39 @@ 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() { - return can_bus_t::can_devices_[bus]; + 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 +{ + 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; }