/********************************************************************************
*
-* CanBus method implementation
+* can_bus_dev_t method implementation
*
*********************************************************************************/
+
can_bus_dev_t::can_bus_dev_t(afb_binding_interface *itf, const std:string &dev_name)
- : interface{itf}, deviceName{dev_name}
+ : device_name_{dev_name}
{
}
return canfd_frame;
}
+/**
+ * @brief start reading threads and set flag is_running_
+ *
+ */
+void can_bus_dev_t::start_reading()
+{
+ th_reading_ = std::thread(can_reader, this);
+ is_running_ = true;
+}
+
/*
* Return is_running_ bool
*/
return is_running_;
}
-can_bus_t::can_bus_t(afb_binding_interface *itf, const std:string &dev_name)
- : interface{itf}
-{
-}
-
-void can_bus_t::start_threads()
-{
- th_reading_ = std::thread(can_reader, interface, socket, can_message_q_);
- is_running_ = true;
-
- th_decoding_ = std::thread(can_decoder, interface, can_message_q, can_message_q_);
- th_pushing_ = std::thread(can_event_push, interface, can_message_q_);
-}
-
-/*
- * Get a CanMessage from can_message_q and return it
- * then point to the next CanMessage in queue.
+/**
+ * @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.
+ * @return the next queue element or NULL if queue is empty.
*/
can_message_t can_bus_dev_t::next_can_message()
{
can_message_q_.pop()
return &can_msg;
}
+
has_can_message_ = false;
}
/**
- * @return has_can_message_ bool
+ * @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_dev_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_dev_t::has_can_message() const
{
return has_can_message_;
}
-void can_bus_dev_t::push_new_can_message(const can_message_t& can_msg)
+/********************************************************************************
+*
+* can_bus_t method implementation
+*
+*********************************************************************************/
+
+can_bus_t::can_bus_t(afb_binding_interface *itf, std::ifstream& conf_file)
+ : interface{itf}, conf_file_{conf_file}
{
- can_message_q_.push(can_msg);
}
-/*
- * Send a can message from a can_message_t object.
+/**
+ * @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_decoder, this);
+ th_pushing_ = std::thread(can_event_push, 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
+ */
+ void init_can_dev()
+ {
+ std::vector<std::string> devices_name;
+ int i, t;
+
+ devices_name = read_conf(conf_file_);
+
+ t = devices_name.size();
+ i=0
+
+ for(const auto& device : devices_name)
+ {
+ can_bus_dev_t(device);
+ i++;
+ }
+
+ NOTICE(interface_, "Initialized %d/%d can bus device(s)", i, t);
+ }
+
+/**
+ * @brief Read the conf file and extract device name
+ *
+ * @params[std::ifstream& conf_file] conf_file JSON configuration
+ * file located at the rootdir of the binding
+ *
+ * @return[std:vector<std::string>] return a vector of device name
*/
-int can_bus_t::send_can_message(can_message_t &can_msg)
+ std::vector<std::string> read_conf(std::ifstream& conf_file)
+ {
+ std::vector<std::string> ret;
+ std::string fd_conf_content;
+ json_object jo, canbus;
+ int n, i, ok;
+
+ /* Open JSON conf file */
+ if (conf_file)
+ {
+ conf_file.seekg(0, std::ios::end);
+ conf_file.resize(conf_file.tellg());
+ conf_file.seekg(0, std::ios::beg);
+ conf_file.read(&fd_conf_content[0], fd_conf_content.size());
+ conf_file.close();
+
+ jo = json_tokener_parse(&fd_conf_content);
+
+ if (jo == NULL || !json_object_object_get_ex(&jo, "canbus", &&canbus))
+ ERROR(interface_, "Can't find canbus node in the configuration file. Please review it.");
+ else if (json_object_get_type(canbus) != json_type_array)
+ ret.push_back(json_object_get_string(a));
+ else
+ {
+ n = json_object_array_length(a);
+ ok = 0;
+ for (i = 0 ; i < n ; i++)
+ ret.push_back(json_object_get_string(json_object_array_get_idx(a, i)));
+ }
+ return ret;
+ }
+ else
+ {
+ ERROR(interface_, "Problem at reading the conf file");
+ return 0;
+ }
+}
+
+/**
+ * @brief Send a can message from a can_message_t object.
+ * TODO: specify which can_dev to use as we can use many
+ *
+ * params[const can_message_t& can_msg] the can message object to send
+ *
+ */
+int can_bus_t::send_can_message(const can_message_t &can_msg)
{
int nbytes;
canfd_frame *f;
return 0;
}
-/*
- * Get a VehicleMessage from vehicle_message_q and return it
+/**
+ * @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.
+ * @return the next queue element or NULL if queue is empty.
*/
openxc_VehicleMessage* can_bus_t::next_vehicle_message()
{
has_vehicle_message_ = false;
}
+/**
+ * @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;
}
-/*
- * Return has_can_message_ bool
+/**
+ * @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
{
#pragma once
#include <string>
-#include "timer.h"
+#include "timer.hpp"
#include "openxc.pb.h"
// TODO actual max is 32 but dropped to 24 for memory considerations
class can_bus_dev_t {
private:
std::string device_name_;
- int can_socket_;
-
int can_socket_;
bool is_fdmode_on_;
struct sockaddr_can txAddress_;
can_message_t* next_can_message();
void push_new_can_message(const can_message_t& can_msg);
+ bool has_can_message() const;
}
class can_bus_t {
private:
afb_binding_interface *interface_;
-
- std::vector<can_bus_dev_t> devices;
-
+
std::thread th_decoding_;
std::thread th_pushing_;
public:
void start_threads();
+
+ void init_can_dev(std::ifstream& conf_file);
+ std::vector<std::string> read_conf()
int send_can_message(can_message_t can_msg);
openxc_VehicleMessage& next_vehicle_message();
void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
+ bool has_vehicle_message() const;
};
/* A compact representation of a single CAN message, meant to be used in in/out
#include <afb/afb-binding.h>
#include <afb/afb-service-itf.h>
-#include "obd2.hpp"
+//#include "obd2.hpp"
+#include "can-utils.hpp"
+#include "can-signals.hpp"
/*
* Interface between the daemon and the binding
/*
* TBF TBF TBF
* called on an event on the CAN bus
- */
-static int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata)
+ static int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata)
{
openxc_CanMessage can_message;
can_message = openxc_CanMessage_init_default;
/* read available data */
+ /*
if ((revents & EPOLLIN) != 0)
{
read_can(&can_message);
send_event();
}
-
+*/
/* check if error or hangup */
+/*
if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
{
sd_event_source_unref(s);
return 0;
}
-
+*/
/*
* USELESS SINCE THREADS SEPARATION
*
*
*********************************************************************************/
-static int subscribe_unsubscribe_signal(struct afb_req request, int subscribe, std::map<CanSignal, struct afb_event>::iterator *s_sig)
+static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, std::vector<CanSignal>::const_iterator& sig_i)
{
- if (!afb_event_is_valid(s_sig->second)) {
- if (!subscribe)
- return 1;
- sig->event = afb_daemon_make_event(afbitf->daemon, s_sig->first->genericName);
- if (!afb_event_is_valid(s_sig->second)) {
- return 0;
- }
- }
-
- if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s_sig->second)) < 0) {
- return 0;
+ int ret;
+
+ const auto& ss_i = subscribed_signals.find(sig_i);
+ if (ss_i != subscribed_signals.end())
+ {
+ if(!afb_event_is_valid(ss_i->second))
+ {
+ if(!subscribe)
+ {
+ NOTICE(interface, "Event isn't valid, it can't be unsubscribed.");
+ ret = 1;
+ }
+ else
+ {
+ ss_i->second = afb_daemon_make_event(afbitf->daemon, ss_i->first.genericName);
+ if (!afb_event_is_valid(ss_i->second))
+ {
+ ERROR(interface, "Can't create an event, something goes wrong.");
+ ret = 0;
+ }
+ }
+ }
+ }
+ else
+ {
+ subscribed_signals[sig_i] = afb_daemon_make_event(afbitf->daemon, sig_i.genericName);
+ if (!afb_event_is_valid(ss_i->second))
+ {
+ ERROR(interface, "Can't create an event, something goes wrong.");
+ ret = 0;
+ }
+ }
+
+ if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, subscribed_signals[sig_i])) < 0)
+ {
+ ERROR(interface, "Operation goes wrong for signal: %s", sig_i.genericName);
+ ret = 0;
}
-
- return 1;
+ else
+ ret = 1;
+
+ return ret;
}
-static int subscribe_unsubscribe_signals(struct afb_req request, int subscribe, std:vector<CanSignal> *signals)
+static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const std:vector<CanSignal>& signals)
{
std::vector<CanSignal>::iterator signal_i;
std::map <CanSignal, struct afb_event>::iterator s_signal_i;
-
- for(signal_i=signals.begin(); signal_i != signals.end(); signal_i++)
+ int ret;
+
+ // TODO: lock the subscribed_signals when insert/remove
+ for(const auto& signal_i : signals)
{
- s_signal_i = subscribed_signals.find(signal_i);
- if(s_signal_i != subscribed_signals.end())
- subscribe_unsubscribe_signal(request, subscribe, s_signal_i);
- else
- {
- std::map <CanSignal, struct afb_event>::iterator it = subscribed_signals.begin();
- it = subscribed_signals.insert(it, std::pair<CanSignal, struct afb_event>(signal_i, NULL);
- subscribe_unsubscribe_signal(request, subscribe, it);
- }
- return 0;
+ ret = subscribe_unsubscribe_signal(request, subscribe, signal_i);
+ if(ret == 0)
+ return ret;
}
}
-static int subscribe_unsubscribe_all(struct afb_req request, int subscribe)
+static int subscribe_unsubscribe_all(struct afb_req request, bool subscribe)
{
int i, n, e;
return e == 0;
}
-static int subscribe_unsubscribe_name(struct afb_req request, int subscribe, const char *name)
+static int subscribe_unsubscribe_name(struct afb_req request, bool subscribe, const char *name)
{
- std::vector <CanSignal> *sig;
-
- if (0 == strcmp(name, "*"))
- return subscribe_unsubscribe_all(request, subscribe);
-
- if(obd2_handler_c.is_obd2_signal(name))
+ std::vector<CanSignal> sig;
+ int ret = 0;
+ if (!strcmp(name, "*"))
+ ret = subscribe_unsubscribe_all(request, subscribe);
else
- find_can_signals(name, sig);
- if (sig == NULL) {
- return 0;
- }
-
- return subscribe_unsubscribe_sig(request, subscribe, sig);
+ {
+ //if(obd2_handler_c.is_obd2_signal(name))
+ if(false)
+ {
+ // TODO
+ }
+ else
+ {
+ sig = find_can_signals(name);
+ if (sig.empty())
+ ret = 0;
+ }
+ ret = subscribe_unsubscribe_signals(request, subscribe, sig);
+ }
+ return ret;
}
-static void subscribe_unsubscribe(struct afb_req request, int subscribe)
+static void subscribe_unsubscribe(struct afb_req request, bool subscribe)
{
int ok, i, n;
struct json_object *args, *a, *x;
static void subscribe(struct afb_req request)
{
- subscribe_unsubscribe(request, 1);
+ subscribe_unsubscribe(request, true);
}
static void unsubscribe(struct afb_req request)
{
- subscribe_unsubscribe(request, 0);
+ subscribe_unsubscribe(request, false);
}
static const struct afb_verb_desc_v1 verbs[]=
{
int afbBindingV1ServiceInit(struct afb_service service)
{
std::ifstream fd_conf;
- std::string fd_conf_content;
- json_object jo_canbus;
-
- /* Open JSON conf file */
- jo_canbus = json_object_new_object();
- fd_conf = afb_daemon_rootdir_open_locale(interface->daemon, "canbus.json", O_RDONLY, NULL);
- if (fd_conf)
- {
- fd_conf.seekg(0, std::ios::end);
- fd_conf_content.resize(fd_conf.tellg());
- fd_conf.seekg(0, std::ios::beg);
- fd_conf.read(&fd_conf_content[0], fd_conf_content.size());
- fd_conf.close();
- }
-
- jo_canbus = json_tokener_parse(&fd_conf_content);
+ fd_conf = afb_daemon_rootdir_open_locale(interface->daemon, "can_bus.json", O_RDONLY, NULL);
/* Open CAN socket */
- can_bus_t CanBus_handler(interface, json_object_get_string(json_object_object_get(jo_canbus, "deviceName"));
+ can_bus_t can_bus_handler(interface, ));
CanBus_handler.open();
CanBus_handler.start_threads();
}
Code Review / apps / low-level-can-service.git / commitdiff