X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Fcan%2Fcan-bus.cpp;h=a81c142fbea42cededbc1254281f6b4da91bd1b3;hb=7591838644a3fcb5145b9ccc7200166debe7ba87;hp=d2b51bf2cf6f2f1654874cdd28350ae2b2f83bfb;hpb=c54a5d14c001d544a72f3cd27553036e0649f3b1;p=apps%2Fagl-service-can-low-level.git diff --git a/src/can/can-bus.cpp b/src/can/can-bus.cpp index d2b51bf2..a81c142f 100644 --- a/src/can/can-bus.cpp +++ b/src/can/can-bus.cpp @@ -29,6 +29,7 @@ #include "can-bus.hpp" +#include "can-signals.hpp" #include "can-decoder.hpp" #include "../configuration.hpp" #include "../utils/signals.hpp" @@ -39,38 +40,109 @@ extern "C" #include } -/******************************************************************************** -* -* can_bus_t method implementation -* -*********************************************************************************/ -/** -* @brief Class constructor -* -* @param struct afb_binding_interface *interface between daemon and binding -* @param int file handle to the json configuration file. -*/ +/// @brief Class constructor +/// +/// @param[in] conf_file - handle to the json configuration file. can_bus_t::can_bus_t(int conf_file) : conf_file_{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.Then it find the subscribed signal +/// corresponding and will add the vehicle_message to the queue of event to pushed before notifying +/// 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++; + } -/** -* @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 -* 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. -*/ + return processed_signals; +} + +/// @brief thread to decoding raw CAN messages. +/// +/// Depending on the nature of message, if arbitration ID matches ID for a diagnostic response +/// then decoding a diagnostic message else use classic CAN signals decoding functions. +/// +/// 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 +/// 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; - std::vector signals; - openxc_VehicleMessage vehicle_message; - openxc_DynamicField search_key, decoded_message; while(is_decoding_) { @@ -78,41 +150,15 @@ 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 can_signal_t it is */ - search_key = build_DynamicField((double)can_message.get_id()); - signals.clear(); - 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_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 -* which are events that has to be pushed. -*/ +/// @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() { openxc_VehicleMessage v_message; @@ -139,10 +185,8 @@ 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; @@ -156,25 +200,27 @@ void can_bus_t::start_threads() is_pushing_ = false; } -/** -* @brief Will stop all threads holded by can_bus_t object -* which are decoding and pushing then will wait that's -* they'll finish their job. -*/ +/// @brief Will stop all threads holded by can_bus_t object +/// which are decoding and pushing then will wait that's +/// they'll finish their job. void can_bus_t::stop_threads() { is_decoding_ = false; is_pushing_ = false; } -/** -* @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. +/// +/// @return 0 if ok, other if not. int can_bus_t::init_can_dev() { std::vector devices_name; - int i; + int i = 0; size_t t; devices_name = read_conf(); @@ -182,20 +228,19 @@ 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_.push_back(std::make_shared(device, i)); - if (can_devices_[i]->open() == 0) + 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_devices_[i]->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()); - i++; } NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t); @@ -205,12 +250,10 @@ int can_bus_t::init_can_dev() 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. -*/ +/// @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; @@ -232,15 +275,7 @@ 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(); } @@ -263,31 +298,25 @@ std::vector can_bus_t::read_conf() return ret; } -/** -* @brief return new_can_message_cv_ member -* -* @return return new_can_message_cv_ member -*/ +/// @brief return new_can_message_cv_ member +/// +/// @return return new_can_message_cv_ member std::condition_variable& can_bus_t::get_new_can_message_cv() { return new_can_message_cv_; } -/** -* @brief return can_message_mutex_ member -* -* @return return can_message_mutex_ member -*/ +/// @brief return can_message_mutex_ member +/// +/// @return return can_message_mutex_ member std::mutex& can_bus_t::get_can_message_mutex() { return can_message_mutex_; } -/** -* @brief Return first can_message_t on the queue -* -* @return a can_message_t -*/ +/// @brief Return first can_message_t on the queue +/// +/// @return a can_message_t can_message_t can_bus_t::next_can_message() { can_message_t can_msg; @@ -304,21 +333,17 @@ can_message_t can_bus_t::next_can_message() return can_msg; } -/** -* @brief Push a can_message_t into the queue -* -* @param the const reference can_message_t object to push into the queue -*/ +/// @brief Push a can_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) { can_message_q_.push(can_msg); } -/** -* @brief Return first openxc_VehicleMessage on the queue -* -* @return a openxc_VehicleMessage containing a decoded can message -*/ +/// @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() { openxc_VehicleMessage v_msg; @@ -334,23 +359,29 @@ openxc_VehicleMessage can_bus_t::next_vehicle_message() return v_msg; } -/** -* @brief Push a openxc_VehicleMessage into the queue -* -* @param the const reference openxc_VehicleMessage object to push into the queue -*/ +/// @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) { vehicle_message_q_.push(v_msg); } -/** -* @brief Return a map with the can_bus_dev_t initialized -* -* @return map can_bus_dev_m_ map -*/ -const std::vector>& can_bus_t::get_can_devices() const +/// @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 { - return can_devices_; + 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]; +}