X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Fcan%2Fcan-bus.cpp;h=0c2337c5d0b062e0fb8c93f1a1d4089e73e087c3;hb=e6a4a15644b3e18232a48764aed32a9e13ec6a1f;hp=e92e2cbc9c23a8811b13a13f8fb978594ca4d6a8;hpb=9519e9d5b875b45fbf6f32267b728b1d11377276;p=apps%2Flow-level-can-service.git diff --git a/src/can/can-bus.cpp b/src/can/can-bus.cpp index e92e2cb..0c2337c 100644 --- a/src/can/can-bus.cpp +++ b/src/can/can-bus.cpp @@ -27,21 +27,19 @@ #include #include -#include "can/can-decoder.hpp" -#include "utils/openxc-utils.hpp" +#include "can-bus.hpp" + +#include "can-signals.hpp" +#include "can-decoder.hpp" +#include "../configuration.hpp" +#include "../utils/signals.hpp" +#include "../utils/openxc-utils.hpp" extern "C" { #include } -#include "can/can-bus.hpp" - -/******************************************************************************** -* -* can_bus_t method implementation -* -*********************************************************************************/ /** * @brief Class constructor * @@ -53,64 +51,122 @@ can_bus_t::can_bus_t(int conf_file) { } +std::map> can_bus_t::can_devices_; + +/** + * @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. + * + * It will add to the vehicle_message queue the decoded message and tell the event push + * thread to process it. + * + * @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 processed_signals = 0; + std::vector signals; + openxc_DynamicField search_key, 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) + { + 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); + + std::lock_guard decoded_can_message_lock(decoded_can_message_mutex_); + push_new_vehicle_message(vehicle_message); + new_decoded_can_message_.notify_one(); + processed_signals++; + } + } + + 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.It will add to + * the vehicle_message queue the decoded message and tell the event push thread to process it. + * + * @param[in] manager - the diagnostic manager object that handle diagnostic communication + * @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) +{ + int processed_signals = 0; + + 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); + 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]))) + { + std::lock_guard decoded_can_message_lock(decoded_can_message_mutex_); + push_new_vehicle_message(vehicle_message); + new_decoded_can_message_.notify_one(); + processed_signals++; + } + + return processed_signals; +} /** -* @brief thread to decoding raw CAN messages. +* @brief thread to decoding raw CAN messages. * -* @desc It will take from the can_message_q_ queue the next can message to process then it will search -* about signal subscribed if there is a valid afb_event for it. We only decode signal for which a +* @desc It will take from the can_message_q_ queue the next can message to process then it will 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 * 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. +* +* Depending on the nature of message, if id match a diagnostic request corresponding id for a response +* then decoding a diagnostic message else use classic CAN signals decoding functions. +* +* TODO: make diagnostic messages parsing optionnal. */ void can_bus_t::can_decode_message() { can_message_t can_message; - std::vector signals; - openxc_VehicleMessage vehicle_message; - openxc_DynamicField search_key, decoded_message; - - decoder_t decoder; while(is_decoding_) { std::unique_lock can_message_lock(can_message_mutex_); new_can_message_cv_.wait(can_message_lock); can_message = next_can_message(); - - /* First we have to found which CanSignal it is */ - search_key = build_DynamicField((double)can_message.get_id()); - signals.clear(); - find_can_signals(search_key, signals); - - /* Decoding the message ! Don't kill the messenger ! */ - for(auto& sig : 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)));*/ - if( s.find(sig->generic_name) != s.end() && afb_event_is_valid(s[sig->generic_name])) - { - decoded_message = decoder.translateSignal(*sig, can_message, get_can_signals()); - openxc_SimpleMessage s_message = build_SimpleMessage(sig->generic_name, decoded_message); - vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message); - - std::lock_guard decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(vehicle_message); - new_decoded_can_message_.notify_one(); - } - } + if(configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message)) + process_diagnostic_signals(configuration_t::instance().get_diagnostic_manager(), can_message); + else + process_can_signals(can_message); } } /** -* @brief thread to push events to suscribers. It will read subscribed_signals map to look +* @brief thread to push events to suscribers. It will read subscribed_signals map to look * which are events that has to be pushed. */ void can_bus_t::can_event_push() @@ -118,7 +174,7 @@ void can_bus_t::can_event_push() openxc_VehicleMessage v_message; openxc_SimpleMessage s_message; json_object* jo; - + while(is_pushing_) { std::unique_lock decoded_can_message_lock(decoded_can_message_mutex_); @@ -140,16 +196,16 @@ void can_bus_t::can_event_push() } /** - * @brief Will initialize threads that will decode - * and push subscribed events. - */ +* @brief Will initialize threads that will decode +* and push subscribed events. +*/ 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; - + is_pushing_ = true; th_pushing_ = std::thread(&can_bus_t::can_event_push, this); if(!th_pushing_.joinable()) @@ -158,7 +214,7 @@ void can_bus_t::start_threads() /** * @brief Will stop all threads holded by can_bus_t object -* which are decoding and pushing then will wait that's +* which are decoding and pushing then will wait that's * they'll finish their job. */ void can_bus_t::stop_threads() @@ -168,13 +224,17 @@ void can_bus_t::stop_threads() } /** -* @brief Will initialize can_bus_dev_t objects after reading -* the configuration file passed in the constructor. +* @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. */ int can_bus_t::init_can_dev() { std::vector devices_name; - int i; + int i = 0; size_t t; devices_name = read_conf(); @@ -182,17 +242,16 @@ int can_bus_t::init_can_dev() if (! devices_name.empty()) { t = devices_name.size(); - i=0; for(const auto& device : devices_name) { - can_devices_m_[device] = std::make_shared(device); - if (can_devices_m_[device]->open() == 0) + can_bus_t::can_devices_[device] = std::make_shared(device, i); + if (can_bus_t::can_devices_[device]->open() == 0) { - i++; DEBUG(binder_interface, "Start reading thread"); NOTICE(binder_interface, "%s device opened and reading", device.c_str()); - can_devices_m_[device]->start_reading(*this); + can_bus_t::can_devices_[device]->start_reading(*this); + i++; } else ERROR(binder_interface, "Can't open device %s", device.c_str()); @@ -232,15 +291,7 @@ std::vector can_bus_t::read_conf() jo = json_tokener_parse(fd_conf_content.c_str()); if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus)) - {/** -* @brief Telling if the pushing thread is running -* This is the boolean value on which the while loop -* take its condition. Set it to false will stop the -* according thread. -* -* @return true if pushing thread is running, false if not. -*/ - + { ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it."); ret.clear(); } @@ -284,9 +335,9 @@ std::mutex& can_bus_t::get_can_message_mutex() } /** -* @brief Return first can_message_t on the queue +* @brief Return first can_message_t on the queue * -* @return a can_message_t +* @return a can_message_t */ can_message_t can_bus_t::next_can_message() { @@ -300,7 +351,7 @@ can_message_t can_bus_t::next_can_message() 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; } - + return can_msg; } @@ -315,7 +366,7 @@ void can_bus_t::push_new_can_message(const can_message_t& can_msg) } /** -* @brief Return first openxc_VehicleMessage on the queue +* @brief Return first openxc_VehicleMessage on the queue * * @return a openxc_VehicleMessage containing a decoded can message */ @@ -330,7 +381,7 @@ openxc_VehicleMessage can_bus_t::next_vehicle_message() DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped"); return v_msg; } - + return v_msg; } @@ -349,140 +400,20 @@ void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg) * * @return map can_bus_dev_m_ map */ -std::map> can_bus_t::get_can_devices() -{ - return can_devices_m_; -} - -/******************************************************************************** -* -* can_bus_dev_t method implementation -* -*********************************************************************************/ - -/** - * @brief Open the can socket and returning it - * - * @return - */ -int can_bus_dev_t::close() +const std::map>& can_bus_t::get_can_devices() const { - ::close(can_socket_); - can_socket_ = -1; - return can_socket_; + return can_bus_t::can_devices_; } /** -* @brief Read the can socket and retrieve canfd_frame +* @brief Return the shared pointer on the can_bus_dev_t initialized +* with device_name "bus" * -* @param const struct afb_binding_interface* interface pointer. Used to be able to log -* using application framework logger. -*/ -std::pair can_bus_dev_t::read() -{ - ssize_t nbytes; - //int maxdlen; - struct canfd_frame cfd; - - /* Test that socket is really opened */ - if (can_socket_ < 0) - { - ERROR(binder_interface, "read_can: Socket unavailable. Closing thread."); - is_running_ = false; - } - - nbytes = ::read(can_socket_, &cfd, CANFD_MTU); - - /* if we did not fit into CAN sized messages then stop_reading. */ - if (nbytes != CANFD_MTU && nbytes != CAN_MTU) - { - if (errno == ENETDOWN) - ERROR(binder_interface, "read: %s CAN device down", device_name_); - ERROR(binder_interface, "read: Incomplete CAN(FD) frame"); - ::memset(&cfd, 0, sizeof(cfd)); - } - - DEBUG(binder_interface, "read: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", cfd.can_id, cfd.len, - cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]); - return std::pair(cfd, nbytes); -} - -/** -* @brief start reading threads and set flag is_running_ +* @param[in] bus - CAN bus device name to retrieve. * -* @param can_bus_t reference can_bus_t. it will be passed to the thread -* to allow using can_bus_t queue. -*/ -void can_bus_dev_t::start_reading(can_bus_t& can_bus) -{ - DEBUG(binder_interface, "Launching reading thread"); - is_running_ = true; - th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus)); - if(!th_reading_.joinable()) - is_running_ = false; -} - -/** -* @brief stop the reading thread setting flag is_running_ to false and -* and wait that the thread finish its job. +* @return A shared pointer on an object can_bus_dev_t */ -void can_bus_dev_t::stop_reading() +std::shared_ptr can_bus_t::get_can_device(std::string bus) { - is_running_ = false; -} - -/** -* -* @brief Thread function used to read the can socket. -* -* @param[in] can_bus_dev_t object to be used to read the can socket -* @param[in] can_bus_t object used to fill can_message_q_ queue -*/ -void can_bus_dev_t::can_reader(can_bus_t& can_bus) -{ - can_message_t can_message; - - while(is_running_) - { - can_message.convert_from_canfd_frame(read()); - - { - std::lock_guard can_message_lock(can_bus.get_can_message_mutex()); - can_bus.push_new_can_message(can_message); - } - can_bus.get_new_can_message_cv().notify_one(); - } -} - -/** -* @brief Send a can message from a can_message_t object. -* -* @param const can_message_t& can_msg: the can message object to send -* @param const struct afb_binding_interface* interface pointer. Used to be able to log -* using application framework logger. -*/ -int can_bus_dev_t::send_can_message(can_message_t& can_msg) -{ - ssize_t nbytes; - canfd_frame f; - - f = can_msg.convert_to_canfd_frame(); - - if(can_socket_ >= 0) - { - nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0, - (struct sockaddr*)&txAddress_, sizeof(txAddress_)); - if (nbytes == -1) - { - ERROR(binder_interface, "send_can_message: Sending CAN frame failed."); - return -1; - } - return (int)nbytes; - } - else - { - ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket."); - open(); - } - return 0; + return can_bus_t::can_devices_[bus]; }