X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=CAN-binder%2Flow-can-binding%2Fcan%2Fcan-bus.cpp;h=d83ef5d9b9f91fbd450609f372096650071b9198;hb=48e2e51bae1b71a0ae0d214ed8c165c6113c6b61;hp=6f9e78d958f7e71682dfb458d2de56e725e6ed36;hpb=e00c07be2835dd082862730189c87baacbfbdbeb;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 6f9e78d9..d83ef5d9 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 "../configuration.hpp" +#include "../binding/application.hpp" #include "../utils/signals.hpp" #include "../utils/openxc-utils.hpp" @@ -45,51 +45,6 @@ can_bus_t::can_bus_t(utils::config_parser_t conf_file) : conf_file_{conf_file} {} -std::map> can_bus_t::can_devices_; - -/// @brief Listen for all device sockets and fill can_messages_queue with them. -/// Reading blocks until message arrive on listened sockets. -/// -/// @return 0 if ok -1 if not -int can_bus_t::can_reader() -{ - fd_set rfds; - int sock_max = INVALID_SOCKET; - - FD_ZERO(&rfds); - - for(auto& can_dev : can_devices_) - { - FD_SET(can_dev.second->get_socket().socket(), &rfds); - if (sock_max < can_dev.second->get_socket().socket()) - sock_max = can_dev.second->get_socket().socket(); - } - - int ret; - while(is_reading_) - { - ret = select(sock_max + 1, &rfds, nullptr, nullptr, nullptr); - - if(ret == -1) - perror("select()"); - else if(ret > 0) - { - for(const auto& s: can_devices_) - { - if(FD_ISSET(s.second->get_socket().socket(), &rfds)) - { - can_message_t msg; - s.second->get_socket() >> msg; - push_new_can_message(msg); - } - } - } - else - printf("Timeout\n"); - } - return 0; -} - /// @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. @@ -100,41 +55,38 @@ int can_bus_t::can_reader() /// @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) +int can_bus_t::process_can_signals(const can_message_t& can_message) { + int subscription_id = can_message.get_sub_id(); int processed_signals = 0; struct utils::signals_found signals; - openxc_DynamicField search_key, decoded_message; + openxc_DynamicField decoded_message; openxc_VehicleMessage vehicle_message; - configuration_t& conf = configuration_t::instance(); + application_t& conf = application_t::instance(); 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(); + // 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); + std::shared_ptr sig = s[subscription_id].first; - // Decoding the message ! Don't kill the messenger ! - for(auto& sig : signals.can_signals) + if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id].second)) { - std::lock_guard subscribed_signals_lock(sm.get_subscribed_signals_mutex()); - std::map& s = sm.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, conf.get_can_signals()); + 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); + if(send) + { + openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_sig_name(), decoded_message); + vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp()); + push_new_vehicle_message(std::make_pair(can_message.get_sub_id(), vehicle_message)); std::lock_guard decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(vehicle_message); - processed_signals++; } + processed_signals++; + } } DEBUG(binder_interface, "%s: %d/%d CAN signals processed.", __FUNCTION__, processed_signals, (int)signals.can_signals.size()); @@ -155,17 +107,19 @@ int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const c 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(); + 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(vehicle_message.simple_message.name) != s.end() && afb_event_is_valid(s[vehicle_message.simple_message.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(vehicle_message); + push_new_vehicle_message(std::make_pair(can_message.get_sub_id(), vehicle_message)); processed_signals++; } + } return processed_signals; } @@ -184,8 +138,6 @@ 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_) { { @@ -193,10 +145,10 @@ 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); } @@ -209,7 +161,7 @@ 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(); @@ -221,16 +173,15 @@ 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, 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)) { 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].second, jo) == 0) on_no_clients(std::string(s_message.name)); } } @@ -242,11 +193,6 @@ void can_bus_t::can_event_push() /// and push subscribed events. void can_bus_t::start_threads() { - is_reading_ = true; - th_reading_ = std::thread(&can_bus_t::can_reader, this); - if(!th_reading_.joinable()) - is_reading_ = false; - is_decoding_ = true; th_decoding_ = std::thread(&can_bus_t::can_decode_message, this); if(!th_decoding_.joinable()) @@ -263,59 +209,10 @@ void can_bus_t::start_threads() /// they'll finish their job. void can_bus_t::stop_threads() { - is_reading_ = false; is_decoding_ = false; 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) - { - can_bus_t::can_devices_[device]->configure(); - DEBUG(binder_interface, "%s: Start reading thread", __FUNCTION__); - NOTICE(binder_interface, "%s: %s device opened and reading", __FUNCTION__, device.c_str()); - //can_bus_t::can_devices_[device]->start_reading(*this); - i++; - } - else - { - ERROR(binder_interface, "%s: Can't open device %s", __FUNCTION__, device.c_str()); - return 1; - } - } - NOTICE(binder_interface, "%s: Initialized %d/%d can bus device(s)", __FUNCTION__, i, (int)t); - return 0; - } - ERROR(binder_interface, "%s: Error at CAN device initialization. No devices read from configuration file", __FUNCTION__); - return 1; - } - ERROR(binder_interface, "%s: Can't read INI configuration file", __FUNCTION__); - return 2; -} - /// @brief return new_can_message_cv_ member /// /// @return return new_can_message_cv_ member @@ -335,7 +232,7 @@ 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; @@ -362,9 +259,9 @@ 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()) { @@ -380,35 +277,50 @@ 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(const std::pair& v_msg) { vehicle_message_q_.push(v_msg); } -/// @brief Create a RX_SETUP receive job for the BCM socket of a CAN signal. -/// -/// @return 0 if ok -1 if not. - int can_bus_t::create_rx_filter(const can_signal_t& s) - { - const std::string& bus = s.get_message().get_bus_name(); - return can_bus_t::can_devices_[bus]->create_rx_filter(s); - } - -/// @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 -{ - return can_bus_t::can_devices_; -} - /// @brief Return the shared pointer on the can_bus_dev_t initialized /// with device_name "bus" /// /// @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