return canfd_frame;
}
-/**
- * @brief start reading threads and set flag is_running_
- *
- */
void can_bus_dev_t::start_reading(can_bus_t& can_bus)
{
th_reading_ = std::thread(can_reader, std::ref(*this), std::ref(can_bus));
return is_running_;
}
-/**
- * @brief Send a can message from a can_message_t object.
- *
- * params[const can_message_t& can_msg] the can message object to send
- *
- */
int can_bus_dev_t::send_can_message(can_message_t& can_msg, const struct afb_binding_interface* interface)
{
ssize_t nbytes;
{
}
-/**
- * @brief start threads relative to the can bus: decoding and pushing
- * as the reading is handled by can_bus_dev_t object
- */
void can_bus_t::start_threads()
{
th_decoding_ = std::thread(can_decode_message, std::ref(*this));
th_pushing_ = std::thread(can_event_push, std::ref(*this));
}
-/**
- * @brief Initialize as many as can_bus_dev_t objects with their respective reading thread
- *
- * params[std::ifstream& conf_file] conf_file ifstream to the JSON configuration
- * file located at the rootdir of the binding
- */
+
int can_bus_t::init_can_dev()
{
std::vector<std::string> devices_name;
return 1;
}
-/**
- * @brief Read the conf file and extract device name
- *
- * @return[std:vector<std::string>] return a vector of device name
- */
std::vector<std::string> can_bus_t::read_conf()
{
std::vector<std::string> ret;
return ret;
}
-/**
- * @brief: Get a can_message_t from can_message_q and return it
- * then point to the next can_message_t in queue.
- *
- * @return the next queue element or NULL if queue is empty.
- */
can_message_t can_bus_t::next_can_message()
{
can_message_t can_msg(interface_);
return can_msg;
}
-/**
- * @brief Append a new element to the can message queue and set
- * has_can_message_ boolean to true
- *
- * @params[const can_message_t& can_msg] the can_message_t to append
- *
- */
void can_bus_t::push_new_can_message(const can_message_t& can_msg)
{
can_message_q_.push(can_msg);
}
-/**
- * @brief Flag that let you know when can message queue is exhausted
- *
- * @return[bool] has_can_message_ bool
- */
bool can_bus_t::has_can_message() const
{
return has_can_message_;
}
-/**
- * @brief: Get a VehicleMessage from vehicle_message_q and return it
- * then point to the next VehicleMessage in queue.
- *
- * @return the next queue element or NULL if queue is empty.
- */
openxc_VehicleMessage can_bus_t::next_vehicle_message()
{
openxc_VehicleMessage v_msg;
return v_msg;
}
-/**
- * @brief Append a new element to the vehicle message queue and set
- * has_vehicle_message_ boolean to true
- *
- * @params[const openxc_VehicleMessage& v_msg] the openxc_VehicleMessage to append
- *
- */
void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
{
vehicle_message_q_.push(v_msg);
has_vehicle_message_ = true;
}
-/**
- * @brief Flag that let you know when vehicle message queue is exhausted
- *
- * @return[bool] has_vehicle_message_ bool
- */
bool can_bus_t::has_vehicle_message() const
{
return has_vehicle_message_;
};
/**
+ * @class can_bus_t
* @brief Object used to handle decoding and manage event queue to be pushed.
*
- * @params[in] interface_ - afb_binding_interface pointer to the binder. Used to log messages
- * @params[in] conf_file_ - configuration file handle used to initialize can_bus_dev_t objects.
+ * This object is also used to initialize can_bus_dev_t object after reading
+ * json conf file describing the CAN devices to use. Thus, those object will read
+ * on the device the CAN frame and push them into the can_bus_t can_message_q_ queue.
+ *
+ * That queue will be later used to be decoded and pushed to subscribers.
*/
class can_bus_t {
private:
- int conf_file_;
+ int conf_file_; /*!< conf_file_ - configuration file handle used to initialize can_bus_dev_t objects.*/
- std::thread th_decoding_;
- std::thread th_pushing_;
+ std::thread th_decoding_; /*!< thread that'll handle decoding a can frame */
+ std::thread th_pushing_; /*!< thread that'll handle pushing decoded can frame to subscribers */
- bool has_can_message_;
- std::queue <can_message_t> can_message_q_;
+ bool has_can_message_; /*!< boolean members that control whether or not there is can_message into the queue */
+ std::queue <can_message_t> can_message_q_; /*!< queue that'll store can_message_t to decoded */
- bool has_vehicle_message_;
- std::queue <openxc_VehicleMessage> vehicle_message_q_;
+ bool has_vehicle_message_; /*!< boolean members that control whether or not there is openxc_VehicleMessage into the queue */
+ std::queue <openxc_VehicleMessage> vehicle_message_q_; /*!< queue that'll store openxc_VehicleMessage to pushed */
public:
- const struct afb_binding_interface *interface_;
+ const struct afb_binding_interface *interface_; /*!< interface_ - afb_binding_interface pointer to the binder. Used to log messages */
- can_bus_t(const struct afb_binding_interface *itf, int& conf_file);
+ /**
+ * @brief Class constructor
+ *
+ * @param struct afb_binding_interface *interface between daemon and binding
+ * @param int file handle to the json configuration file.
+ */
+ can_bus_t(const struct afb_binding_interface *interface, int& conf_file);
+
+ /**
+ * @brief Will initialize can_bus_dev_t objects after reading
+ * the configuration file passed in the constructor.
+ */
int init_can_dev();
- std::vector<std::string> read_conf();
+ /**
+ * @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<std::string> read_conf();
+
+ /**
+ * @brief Will initialize threads that will decode
+ * and push subscribed events.
+ */
void start_threads();
+ /**
+ * @brief Return first can_message_t on the queue
+ *
+ * @return a can_message_t
+ */
can_message_t next_can_message();
+
+ /**
+ * @brief Push a can_message_t into the queue
+ *
+ * @param the const reference can_message_t object to push into the queue
+ */
void push_new_can_message(const can_message_t& can_msg);
+
+ /**
+ * @brief Return a boolean telling if there is any can_message into the queue
+ *
+ * @return true if there is at least a can_message_t, false if not.
+ */
bool has_can_message() const;
+ /**
+ * @brief Return first openxc_VehicleMessage on the queue
+ *
+ * @return a openxc_VehicleMessage containing a decoded can message
+ */
openxc_VehicleMessage next_vehicle_message();
+
+ /**
+ * @brief Push a openxc_VehicleMessage into the queue
+ *
+ * @param the const reference openxc_VehicleMessage object to push into the queue
+ */
void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
+
+ /**
+ * @brief Return a boolean telling if there is any openxc_VehicleMessage into the queue
+ *
+ * @return true if there is at least a openxc_VehicleMessage, false if not.
+ */
bool has_vehicle_message() const;
};
-/**
- * @brief Object representing a can device. Handle opening, closing and reading on the
- * socket. This is the low level object to be use by can_bus_t.
+/**
+ * @class can_bus_dev_t
*
- * @params[in] std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc.
+ * @brief Object representing a can device. Handle opening, closing and reading on the
+ * socket. This is the low level object to be use by can_bus_t.
*/
class can_bus_dev_t {
private:
- std::string device_name_;
- int can_socket_;
- bool is_fdmode_on_;
- struct sockaddr_can txAddress_;
+ std::string device_name_; /*!< std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc. */
+ int can_socket_; /*!< socket handler for the can device */
+ bool is_fdmode_on_; /*!< boolean telling if whether or not the can socket use fdmode. */
+ struct sockaddr_can txAddress_; /*!< internal member using to bind to the socket */
- std::thread th_reading_;
- bool is_running_;
+ std::thread th_reading_; /*!< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t */
+ bool is_running_; /*!< boolean telling whether or not reading is running or not */
public:
+ /**
+ * @brief Class constructor
+ *
+ * @param const string representing the device name into the linux /dev tree
+ */
can_bus_dev_t(const std::string& dev_name);
+ /**
+ * @brief Open the can socket and returning it
+ *
+ * @return
+ */
int open(const struct afb_binding_interface* interface);
int close();
bool is_running();
+
+ /**
+ * @brief start reading threads and set flag is_running_
+ *
+ * @param can_bus_t reference can_bus_t. it will be passed to the thread
+ * to allow using afb_binding_interface and can_bus_t queue.
+ */
void start_reading(can_bus_t& can_bus);
+
+ /**
+ * @brief Read the can socket and retrieve canfd_frame
+ *
+ * @param const struct afb_binding_interface* interface pointer. Used to be able to log
+ * using application framework logger.
+ */
canfd_frame read(const struct afb_binding_interface *interface);
+ /**
+ * @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 send_can_message(can_message_t& can_msg, const struct afb_binding_interface* interface);
};
/**
+ * @struct CanSignalState
+ *
* @brief A state encoded (SED) signal's mapping from numerical values to
* OpenXC state names.
- *
- * @param[in] in value - The integer value of the state on the CAN bus.
- * @param[in] char* name - The corresponding string name for the state in OpenXC.
*/
struct CanSignalState {
- const int value;
- const char* name;
+ const int value; /*!< int value - The integer value of the state on the CAN bus.*/
+ const char* name; /*!< char* name - The corresponding string name for the state in OpenXC. */
};
typedef struct CanSignalState CanSignalState;
/**
- * @brief A CAN signal to decode from the bus and output over USB.
+ * @struct CanSignal
*
- * @param[in] message - The message this signal is a part of.
- * @param[in] genericName - The name of the signal to be output over USB.
- * @param[in] bitPosition - The starting bit of the signal in its CAN message (assuming
- * non-inverted bit numbering, i.e. the most significant bit of
- * each byte is 0)
- * @param[in] bitSize - The width of the bit field in the CAN message.
- * @param[in] factor - The final value will be multiplied by this factor. Use 1 if you
- * don't need a factor.
- * @param[in] offset - The final value will be added to this offset. Use 0 if you
- * don't need an offset.
- * @param[in] minValue - The minimum value for the processed signal.
- * @param[in] maxValue - The maximum value for the processed signal.
- * @param[in] frequencyClock - A FrequencyClock struct to control the maximum frequency to
- * process and send this signal. To process every value, set the
- * clock's frequency to 0.
- * @param[in] sendSame - If true, will re-send even if the value hasn't changed.
- * @param[in] forceSendChanged - If true, regardless of the frequency, it will send the
- * value if it has changed.
- * @param[in] states - An array of CanSignalState describing the mapping
- * between numerical and string values for valid states.
- * @param[in] stateCount - The length of the states array.
- * @param[in] writable - True if the signal is allowed to be written from the USB host
- * back to CAN. Defaults to false.
- * @param[in] decoder - An optional function to decode a signal from the bus to a human
- * readable value. If NULL, the default numerical decoder is used.
- * @param[in] encoder - An optional function to encode a signal value to be written to
- * CAN into a byte array. If NULL, the default numerical encoder
- * is used.
- * @param[in] received - True if this signal has ever been received.
- * @param[in] lastValue - The last received value of the signal. If 'received' is false,
- * this value is undefined.
+ * @brief A CAN signal to decode from the bus and output over USB.
*/
struct CanSignal {
- struct CanMessageDefinition* message;
- const char* genericName;
- uint8_t bitPosition;
- uint8_t bitSize;
- float factor;
- float offset;
- float minValue;
- float maxValue;
- FrequencyClock frequencyClock;
- bool sendSame;
- bool forceSendChanged;
- const CanSignalState* states;
- uint8_t stateCount;
- bool writable;
- SignalDecoder decoder;
- SignalEncoder encoder;
- bool received;
- float lastValue;
+ struct CanMessageDefinition* message; /*!< message - The message this signal is a part of. */
+ const char* genericName; /*!< genericName - The name of the signal to be output over USB.*/
+ uint8_t bitPosition; /*!< bitPosition - The starting bit of the signal in its CAN message (assuming
+ * non-inverted bit numbering, i.e. the most significant bit of
+ * each byte is 0) */
+ uint8_t bitSize; /*!< bitSize - The width of the bit field in the CAN message. */
+ float factor; /*!< factor - The final value will be multiplied by this factor. Use 1 if you
+ * don't need a factor. */
+ float offset; /*!< offset - The final value will be added to this offset. Use 0 if you
+ * don't need an offset. */
+ float minValue; /*!< minValue - The minimum value for the processed signal.*/
+ float maxValue; /*!< maxValue - The maximum value for the processed signal. */
+ FrequencyClock frequencyClock; /*!< frequencyClock - A FrequencyClock struct to control the maximum frequency to
+ * process and send this signal. To process every value, set the
+ * clock's frequency to 0. */
+ bool sendSame; /*!< sendSame - If true, will re-send even if the value hasn't changed.*/
+ bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send the
+ * value if it has changed. */
+ const CanSignalState* states; /*!< states - An array of CanSignalState describing the mapping
+ * between numerical and string values for valid states. */
+ uint8_t stateCount; /*!< stateCount - The length of the states array. */
+ bool writable; /*!< writable - True if the signal is allowed to be written from the USB host
+ * back to CAN. Defaults to false.*/
+ SignalDecoder decoder; /*!< decoder - An optional function to decode a signal from the bus to a human
+ * readable value. If NULL, the default numerical decoder is used. */
+ SignalEncoder encoder; /*!< encoder - An optional function to encode a signal value to be written to
+ * CAN into a byte array. If NULL, the default numerical encoder
+ * is used. */
+ bool received; /*!< received - True if this signal has ever been received.*/
+ float lastValue; /*!< lastValue - The last received value of the signal. If 'received' is false,
+ * this value is undefined. */
};
typedef struct CanSignal CanSignal;
void logBusStatistics(can_bus_dev_t* buses, const int busCount);
/**
- * @brief Function representing thread activated by can bus objects
+ * @fn void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus);
+ *
+ * @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_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus);
+
+/**
+ * @fn void can_decode_message(can_bus_t& can_bus);
+ *
+ * @brief Thread function used to decode can messages read into the can_message_q_
+ *
+ * @param[in] can_bus_t object used to pop can_message_q_ queue and fill decoded message
+ * into vehicle_message_q_ queue.
+ */
void can_decode_message(can_bus_t& can_bus);
+
+/**
+ * @fn void can_decode_message(can_bus_t& can_bus);
+ *
+ * @brief Thread function used to push afb_event
+ *
+ * @param[in] can_bus_t object used to pop can_message_q_ queue and fill decoded message
+ * into vehicle_message_q_ queue.
+ */
void can_event_push(can_bus_t& can_bus);
\ No newline at end of file
Code Review / apps / low-level-can-service.git / commitdiff