X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fcan%2Fcan-bus.cpp;h=11b7770c743cc9398c550ecbaac94b4c183b1d98;hb=9e23caa4c56259044604c38f107f7c637001b846;hp=33f58fd96e9556069ea87514ea7f77669f1c416e;hpb=a58d40b5ae336a54408201963b065ee049b43acd;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 33f58fd9..11b7770c 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"); @@ -15,40 +15,88 @@ * 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 "signals.hpp" #include "can-decoder.hpp" -#include "../configuration.hpp" +#include "../binding/application.hpp" #include "../utils/signals.hpp" #include "../utils/openxc-utils.hpp" -extern "C" +/// @brief Class destructor +/// +/// @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() { - #include + stop_threads(); + new_can_message_cv_.notify_one(); } /// @brief Class constructor +can_bus_t::can_bus_t() +{} + +/// @brief Fills the CAN device map member with value from device /// -/// @param[in] conf_file - handle to the json configuration file. -can_bus_t::can_bus_t(int conf_file) - : conf_file_{conf_file} +/// @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); + } } -std::map> can_bus_t::can_devices_; +/// @brief Fills the CAN device map member with given values +/// +/// @param[in] mapping configuration section. +void can_bus_t::set_can_devices(const std::vector >& mapping) +{ + can_devices_mapping_ = mapping; +} + +/// @brief Take a decoded message to determine if its value complies with the desired +/// filters. +/// +/// @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. +/// +/// @return True if the value is compliant with event filter values, false if not... +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 = 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; + } + 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 @@ -60,43 +108,51 @@ 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_signals(std::shared_ptr message, map_subscription& s) { - int processed_signals = 0; - std::vector signals; - openxc_DynamicField search_key, decoded_message; + 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 - search_key = build_DynamicField((double)can_message.get_id()); - configuration_t::instance().find_can_signals(search_key, signals); - - // 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()])) + bool send = true; + // First we have to found which signal_t it is + std::shared_ptr subscription = s[subscription_id]; + openxc_SimpleMessage s_message; + + // messages + if(subscription->get_message_definition() != nullptr) { - decoded_message = decoder_t::translateSignal(*sig, can_message, configuration_t::instance().get_can_signals()); + openxc_DynamicField dynamicField_tmp; + json_object *signal_json_tmp; + decoded_message = build_DynamicField_json(json_object_new_array()); + for(std::shared_ptr sig : subscription->get_message_definition()->get_signals()) + { + signal_json_tmp = json_object_new_object(); + dynamicField_tmp = decoder_t::translate_signal(*sig, message, &send); + json_object_object_add(signal_json_tmp,"name", json_object_new_string(sig->get_name().c_str())); + jsonify_DynamicField(dynamicField_tmp,signal_json_tmp); + if(sig != nullptr && sig->get_unit() != "") + json_object_object_add(signal_json_tmp, "unit", json_object_new_string(sig->get_unit().c_str())); + json_object_array_add(decoded_message.json_value,signal_json_tmp); + } + } + else // signal + { + decoded_message = decoder_t::translate_signal(*subscription->get_signal(), message, &send); + } - openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message); - vehicle_message = build_VehicleMessage(s_message); + s_message = build_SimpleMessage(subscription->get_name(), decoded_message); + vehicle_message = build_VehicleMessage(s_message, message->get_timestamp()); + if(send && apply_filter(vehicle_message, subscription)) + { 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); + AFB_DEBUG("%s CAN signals processed.", subscription->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 @@ -107,23 +163,23 @@ 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, std::shared_ptr message, map_subscription& s) { - int processed_signals = 0; + int subscription_id = message->get_sub_id(); - std::lock_guard subscribed_signals_lock(get_subscribed_signals_mutex()); - std::map& s = get_subscribed_signals(); - - 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(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); + AFB_DEBUG("%s CAN signals processed.", s[subscription_id]->get_name().c_str()); + } } - - return processed_signals; } /// @brief thread to decoding raw CAN messages. @@ -133,31 +189,36 @@ int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const c /// /// 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. /// /// 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(); + std::shared_ptr 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()); + 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); + process_signals(message, s); } + can_message_lock.lock(); } new_decoded_can_message_.notify_one(); + can_message_lock.unlock(); } } @@ -165,9 +226,8 @@ 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_) { @@ -175,21 +235,27 @@ 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()); + 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); - if(afb_event_push(s[std::string(s_message.name)], jo) == 0) - on_no_clients(std::string(s_message.name)); + jsonify_vehicle(v_message.second, s[v_message.first]->get_signal(), 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); + else + on_no_clients(s[v_message.first], s); + } } } + decoded_can_message_lock.lock(); } + decoded_can_message_lock.unlock(); } } @@ -199,13 +265,11 @@ 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 @@ -217,98 +281,6 @@ 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; - - devices_name = read_conf(); - - 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) - { - 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. 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, "Problem at reading the conf file"); - ret.clear(); - return ret; -} - /// @brief return new_can_message_cv_ member /// /// @return return new_can_message_cv_ member @@ -328,42 +300,42 @@ 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() +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(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(), - 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 /// /// @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"); + AFB_DEBUG("next vehicle message poped"); return v_msg; } @@ -373,26 +345,38 @@ 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 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 +/// @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 { - return can_bus_t::can_devices_; + int i = 0; + for(const auto& d: can_devices_mapping_) + { + if(d.first == bus_name) + break; + i++; + } + return i; } -/// @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) +/// @brief Return CAN device name from a logical CAN device name gotten from +/// the signals.json description file which comes from a CAN databases file in +/// general. +const std::string can_bus_t::get_can_device_name(const std::string& id_name) const { - return can_bus_t::can_devices_[bus]; + std::string ret = ""; + for(const auto& d: can_devices_mapping_) + { + if(d.first == id_name) + { + ret = d.second; + break; + } + } + return ret; }