X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=CAN-binder%2Flow-can-binding%2Fcan%2Fcan-bus.cpp;h=e4f22e544ccddc884ac9cd6255bd5a6a66684014;hb=acb0ad5052b81c111333a75f99bdf4bafe299792;hp=33f58fd96e9556069ea87514ea7f77669f1c416e;hpb=49fe0eec8f17698fc5f86d0abe01777af1fb2b23;p=apps%2Flow-level-can-service.git diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp index 33f58fd..e4f22e5 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/configuration.hpp" #include "../utils/signals.hpp" #include "../utils/openxc-utils.hpp" @@ -43,10 +41,9 @@ extern "C" /// @brief Class constructor /// /// @param[in] conf_file - handle to the json configuration file. -can_bus_t::can_bus_t(int conf_file) +can_bus_t::can_bus_t(utils::config_parser_t conf_file) : conf_file_{conf_file} -{ -} +{} std::map> can_bus_t::can_devices_; @@ -60,42 +57,43 @@ 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) +int can_bus_t::process_can_signals(const can_message_t& can_message) { int processed_signals = 0; - std::vector signals; + struct utils::signals_found signals; openxc_DynamicField search_key, 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()); - configuration_t::instance().find_can_signals(search_key, signals); + signals = sm.find_signals(search_key); // Decoding the message ! Don't kill the messenger ! - for(auto& sig : signals) + for(const auto& sig : signals.can_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)); + std::lock_guard subscribed_signals_lock(sm.get_subscribed_signals_mutex()); + std::map& s = sm.get_subscribed_signals(); + 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()); + bool send = true; + decoded_message = decoder_t::translateSignal(*sig, can_message, conf.get_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_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); + std::lock_guard decoded_can_message_lock(decoded_can_message_mutex_); + push_new_vehicle_message(vehicle_message); + } processed_signals++; } } - DEBUG(binder_interface, "process_can_signals: %d/%d CAN signals processed.", processed_signals, (int)signals.size()); + DEBUG(binder_interface, "%s: %d/%d CAN signals processed.", __FUNCTION__, processed_signals, (int)signals.can_signals.size()); return processed_signals; } @@ -111,8 +109,10 @@ int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const c { int processed_signals = 0; - 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(); + + 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) && @@ -168,6 +168,7 @@ 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_) { @@ -179,8 +180,8 @@ void can_bus_t::can_event_push() s_message = get_simple_message(v_message); { - std::lock_guard subscribed_signals_lock(get_subscribed_signals_mutex()); - std::map& s = get_subscribed_signals(); + 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)])) { jo = json_object_new_object(); @@ -231,82 +232,38 @@ int can_bus_t::init_can_dev() int i = 0; size_t t; - devices_name = read_conf(); - - if (! devices_name.empty()) + if(conf_file_.check_conf()) { - t = devices_name.size(); - - for(const auto& device : devices_name) + devices_name = conf_file_.get_devices_name(); + if (! devices_name.empty()) { - 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 + t = devices_name.size(); + + for(const auto& device : devices_name) { - ERROR(binder_interface, "Can't open device %s", device.c_str()); - return 1; + 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; } - - 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. Did you specify canbus JSON object ?"); - return 1; -} - -/// @brief read the conf_file_ and will parse json objects -/// in it searching for canbus objects devices name. -/// -/// @return Vector of can bus device name string. -std::vector can_bus_t::read_conf() -{ - std::vector ret; - json_object *jo, *canbus; - int n, i; - const char* taxi; - - FILE *fd = fdopen(conf_file_, "r"); - if (fd) - { - std::string fd_conf_content; - std::fseek(fd, 0, SEEK_END); - fd_conf_content.resize(std::ftell(fd)); - std::rewind(fd); - std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd); - std::fclose(fd); - - DEBUG(binder_interface, "Configuration file content : %s", fd_conf_content.c_str()); - jo = json_tokener_parse(fd_conf_content.c_str()); - - if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus)) - { - ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it."); - ret.clear(); - } - else if (json_object_get_type(canbus) != json_type_array) - { - taxi = json_object_get_string(canbus); - DEBUG(binder_interface, "Can bus found: %s", taxi); - ret.push_back(std::string(taxi)); - } - else - { - n = json_object_array_length(canbus); - for (i = 0 ; i < n ; i++) - ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i))); - } - return ret; + ERROR(binder_interface, "%s: Error at CAN device initialization. No devices read from configuration file", __FUNCTION__); + return 1; } - ERROR(binder_interface, "Problem at reading the conf file"); - ret.clear(); - return ret; + ERROR(binder_interface, "%s: Can't read INI configuration file", __FUNCTION__); + return 2; } /// @brief return new_can_message_cv_ member @@ -336,7 +293,7 @@ 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; } @@ -363,7 +320,7 @@ openxc_VehicleMessage can_bus_t::next_vehicle_message() { 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; }