X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Fcan%2Fcan-bus.cpp;h=29e63b7eb1f1c37c21c59c2b24f122f2d20df293;hb=20336cf43a6b312cd03f76dbe68333db18122bd6;hp=7721132750029bb79781602dd1fa1cfb213ead82;hpb=ccd244c10988cd59d6f0b35e1b83a5eebd7bfb01;p=apps%2Fagl-service-can-low-level.git diff --git a/src/can/can-bus.cpp b/src/can/can-bus.cpp index 77211327..29e63b7e 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 * @@ -53,6 +51,88 @@ 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_generic_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. @@ -62,15 +142,15 @@ can_bus_t::can_bus_t(int conf_file) * 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_) { @@ -78,34 +158,10 @@ void can_bus_t::can_decode_message() 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); } } @@ -140,9 +196,9 @@ 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; @@ -169,12 +225,16 @@ void can_bus_t::stop_threads() /** * @brief Will initialize can_bus_dev_t objects after reading -* the configuration file passed in the constructor. +* 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(); } @@ -349,8 +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() +const std::map>& can_bus_t::get_can_devices() const { - return can_devices_m_; + 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) +{ + return can_bus_t::can_devices_[bus]; +}