X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fcan%2Fcan-bus.cpp;h=0510998bd47d4e215fe0011350c79c27e897e301;hb=244a40656a2aff974b25418791e58703502f566b;hp=616733502bc6247d00061ceb8746b29d9aa46b24;hpb=32e25cbca210a359b09768537b6f443fe90a3070;p=apps%2Fagl-service-can-low-level.git diff --git a/low-can-binding/can/can-bus.cpp b/low-can-binding/can/can-bus.cpp index 61673350..0510998b 100644 --- a/low-can-binding/can/can-bus.cpp +++ b/low-can-binding/can/can-bus.cpp @@ -1,5 +1,5 @@ /* - * Copyright (C) 2015, 2016 "IoT.bzh" + * Copyright (C) 2015, 2018 "IoT.bzh" * Author "Romain Forlot" * * Licensed under the Apache License, Version 2.0 (the "License"); @@ -27,23 +27,52 @@ #include "can-bus.hpp" -#include "can-signals.hpp" +#include "signals.hpp" #include "can-decoder.hpp" #include "../binding/application.hpp" #include "../utils/signals.hpp" #include "../utils/openxc-utils.hpp" -/// @brief Class constructor +/// @brief Class destructor /// -/// @param[in] conf_file - handle to the json configuration file. -can_bus_t::can_bus_t(utils::config_parser_t conf_file) - : conf_file_{conf_file} +/// @param[in] conf_file - Stop threads and unlock them to correctly finish them +/// even without any activity on the CAN bus. +can_bus_t::~can_bus_t() +{ + stop_threads(); + new_can_message_cv_.notify_one(); +} + +/// @brief Class constructor +can_bus_t::can_bus_t() {} -/// @brief Take a decoded message to determine if its value comply with the wanted -/// filtering values. +/// @brief Fills the CAN device map member with value from device +/// +/// @param[in] mapping configuration section. +void can_bus_t::set_can_devices(json_object *mapping) +{ + if (! mapping) + { + AFB_ERROR("Can't initialize CAN buses with this empty mapping."); + return; + } + + struct json_object_iterator it = json_object_iter_begin(mapping); + struct json_object_iterator end = json_object_iter_end(mapping); + while (! json_object_iter_equal(&it, &end)) { + can_devices_mapping_.push_back(std::make_pair( + json_object_iter_peek_name(&it), + json_object_get_string(json_object_iter_peek_value(&it)) + )); + json_object_iter_next(&it); + } +} + +/// @brief Take a decoded message to determine if its value complies with the desired +/// filters. /// -/// @param[in] vehicle_message - A decoded message to analyze +/// @param[in] vehicle_message - The decoded message to be analyzed. /// @param[in] can_subscription - the subscription which will be notified depending /// on its filtering values. Filtering values are stored in the event_filtermember. /// @@ -53,10 +82,10 @@ bool can_bus_t::apply_filter(const openxc_VehicleMessage& vehicle_message, std:: 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(); + float min = can_subscription->get_min(); + float max = can_subscription->get_max(); double value = get_numerical_from_DynamicField(vehicle_message); - send = (value < min && value > max) ? false : true; + send = (value < min || value > max) ? false : true; } return send; } @@ -71,27 +100,27 @@ bool can_bus_t::apply_filter(const openxc_VehicleMessage& vehicle_message, std:: /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode. /// /// @return How many signals has been decoded. -void can_bus_t::process_can_signals(const can_message_t& can_message, std::map >& s) +void can_bus_t::process_signals(std::shared_ptr message, map_subscription& s) { - int subscription_id = can_message.get_sub_id(); + int subscription_id = message->get_sub_id(); openxc_DynamicField decoded_message; openxc_VehicleMessage vehicle_message; - // First we have to found which can_signal_t it is - std::shared_ptr sig = s[subscription_id]; - 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->get_can_signal(), can_message, application_t::instance().get_all_can_signals(), &send); + // First we have to found which signal_t it is + std::shared_ptr sig = s[subscription_id]; + + decoded_message = decoder_t::translate_signal(*sig->get_signal(), message, &send); openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message); - vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp()); + vehicle_message = build_VehicleMessage(s_message, 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(subscription_id, vehicle_message); - DEBUG("%s CAN signals processed.", sig->get_name().c_str()); + AFB_DEBUG("%s CAN signals processed.", sig->get_name().c_str()); } } } @@ -104,11 +133,13 @@ void can_bus_t::process_can_signals(const can_message_t& can_message, std::map >& s) +void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, std::shared_ptr message, map_subscription& s) { - int subscription_id = can_message.get_sub_id(); + int subscription_id = message->get_sub_id(); - openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message); + openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(message); + if (message->get_timestamp()) + vehicle_message.timestamp = message->get_timestamp(); 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())) { @@ -116,7 +147,7 @@ void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const { std::lock_guard decoded_can_message_lock(decoded_can_message_mutex_); push_new_vehicle_message(subscription_id, vehicle_message); - DEBUG("%s CAN signals processed.", s[subscription_id]->get_name().c_str()); + AFB_DEBUG("%s CAN signals processed.", s[subscription_id]->get_name().c_str()); } } } @@ -128,7 +159,7 @@ void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const /// /// It will take from the can_message_q_ queue the next can message to process then it search /// about signal subscribed if there is a valid afb_event for it. We only decode signal for which a -/// subscription has been made. Can message will be decoded using translateSignal that will pass it to the +/// subscription has been made. Can message will be decoded using translate_signal that will pass it to the /// corresponding decoding function if there is one assigned for that signal. If not, it will be the default /// noopDecoder function that will operate on it. /// @@ -143,21 +174,21 @@ void can_bus_t::can_decode_message() new_can_message_cv_.wait(can_message_lock); while(!can_message_q_.empty()) { - const can_message_t can_message = next_can_message(); + std::shared_ptr message = next_can_message(); can_message_lock.unlock(); { 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);} + map_subscription& s = sm.get_subscribed_signals(); + if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(message)) + process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), message, s); else - {process_can_signals(can_message, s);} + process_signals(message, s); } can_message_lock.lock(); } - new_decoded_can_message_.notify_one(); - can_message_lock.unlock(); + new_decoded_can_message_.notify_one(); + can_message_lock.unlock(); } } @@ -165,7 +196,6 @@ void can_bus_t::can_decode_message() /// which are events that has to be pushed. void can_bus_t::can_event_push() { - openxc_SimpleMessage s_message; json_object* jo; utils::signals_manager_t& sm = utils::signals_manager_t::instance(); @@ -179,18 +209,17 @@ void can_bus_t::can_event_push() decoded_can_message_lock.unlock(); { 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); + map_subscription& 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); + jsonify_vehicle(v_message.second, jo); 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);} + on_no_clients(s[v_message.first], v_message.second.diagnostic_response.pid, s); else - {on_no_clients(s[v_message.first], s);} + on_no_clients(s[v_message.first], s); } } } @@ -241,28 +270,28 @@ std::mutex& can_bus_t::get_can_message_mutex() /// @brief Return first can_message_t on the queue /// /// @return a can_message_t -const can_message_t can_bus_t::next_can_message() +std::shared_ptr can_bus_t::next_can_message() { - can_message_t can_msg; + std::shared_ptr msg; if(!can_message_q_.empty()) { - can_msg = can_message_q_.front(); + msg = can_message_q_.front(); can_message_q_.pop(); - DEBUG("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(), - 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; + std::string debug = msg->get_debug_message(); + AFB_DEBUG(debug.c_str()); + return msg; } - return can_msg; + return msg; } -/// @brief Push a can_message_t into the queue +/// @brief Push a message_t into the queue /// -/// @param[in] can_msg - the const reference can_message_t object to push into the queue -void can_bus_t::push_new_can_message(const can_message_t& can_msg) +/// @param[in] msg - the const reference message_t object to push into the queue +void can_bus_t::push_new_can_message(std::shared_ptr msg) { - can_message_q_.push(can_msg); + can_message_q_.push(msg); } /// @brief Return first openxc_VehicleMessage on the queue @@ -276,7 +305,7 @@ std::pair can_bus_t::next_vehicle_message() { v_msg = vehicle_message_q_.front(); vehicle_message_q_.pop(); - DEBUG("next vehicle message poped"); + AFB_DEBUG("next vehicle message poped"); return v_msg; } @@ -291,26 +320,12 @@ void can_bus_t::push_new_vehicle_message(int subscription_id, const openxc_Vehic vehicle_message_q_.push(std::make_pair(subscription_id, v_msg)); } -/// @brief Fills the CAN device map member with value from device -/// mapping configuration file read at initialization. -void can_bus_t::set_can_devices() -{ - can_devices_ = conf_file_.get_devices_name(); - - if(can_devices_.empty()) - { - ERROR("No mapping found in config file: '%s'. Check it that it have a CANbus-mapping section.", - conf_file_.filepath().c_str()); - } -} - - /// @brief Return the CAN device index from the map /// map are sorted so index depend upon alphabetical sorting. int can_bus_t::get_can_device_index(const std::string& bus_name) const { int i = 0; - for(const auto& d: can_devices_) + for(const auto& d: can_devices_mapping_) { if(d.first == bus_name) break; @@ -324,8 +339,8 @@ int can_bus_t::get_can_device_index(const std::string& bus_name) const /// general. 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_) + std::string ret = ""; + for(const auto& d: can_devices_mapping_) { if(d.first == id_name) {