CAN Bus Manager

canlink/busmanager.go

@@ -0,0 +1,242 @@
+// Package canlink provides utilities to interact with a
+// Controller Area Network (CAN Bus).
+package canlink
+
+import (
+	"context"
+	"errors"
+	"net"
+	"sync"
+	"time"
+
+	"go.einride.tech/can/pkg/socketcan"
+	"go.uber.org/zap"
+)
+
+// Default buffered channel length for the broadcast and
+// incoming receive channels.
+//
+// In order to preserve the real time broadcast requirement,
+// BusManager will drop messages for any Handler that is
+// unable to keep up with the broadcast rate.
+const _channelBufferLength = 1000
+
+// BusManager is a centralized node responsible for orchestrating
+// all interactions with a CAN bus.
+//
+// It acts as a message broker supporting the transmission
+// of bus traffic to registered handlers and receiving incoming
+// messages from these handlers to write to the bus.
+//
+// BusManager uses SocketCAN on the Linux platform. Note that
+// it does not manage the lifetime of the network socket connection.
+//
+// Example:
+//
+//	 package main
+//
+//	 import (
+//	   "context"
+//	   "fmt"
+//	   "time"
+//
+//	   "go.einride.tech/can/pkg/socketcan"
+//	   "go.uber.org/zap"
+//	 )
+//
+//	 func main () {
+//	   ctx := context.Background()
+//
+//	   loggerConfig := zap.NewDevelopmentConfig()
+//	   logger, err := loggerConfig.Build()
+//
+//		 // Create a network connection for vcan0
+//		 conn, err := socketcan.DialContext(context.Background(), "can", "vcan0")
+//		 if err != nil {
+//		   return
+//		 }
+//
+//	   manager := canlink.NewBusManager(logger, conn)
+//	   handler = NewHandler(...)
+//
+//	   broadcastChan, transmitChan := manager.Register(handler)
+//
+//	   handler.Handle(...)
+//
+//	   manager.Start(ctx)
+//
+//	   ...
+//
+//	   manager.Stop()
+//	   manager.Close()
+type BusManager struct {
+	broadcastChan map[Handler]chan TimestampedFrame
+	incomingChan  chan TimestampedFrame
+
+	receiver    *socketcan.Receiver
+	transmitter *socketcan.Transmitter
+
+	l         *zap.Logger
+	stop      chan struct{}
+	isRunning bool
+	mu        sync.Mutex
+}
+
+// NewBusManager returns a BusManager object.
+//
+// The network connection is injected into the BusManager
+// and provides the interface for a single bus.
+//
+// See usage example.
+func NewBusManager(l *zap.Logger, conn *net.Conn) *BusManager {
+	busManager := &BusManager{
+		l: l.Named("bus_manager"),
+
+		broadcastChan: make(map[Handler]chan TimestampedFrame),
+		incomingChan:  make(chan TimestampedFrame, _channelBufferLength),
+
+		receiver:    socketcan.NewReceiver(*conn),
+		transmitter: socketcan.NewTransmitter(*conn),
+	}
+
+	return busManager
+}
+
+// Register a Handler with the BusManager.
+//
+// Register returns two channels for the specified Handler.
+// The broadcast channel is a stream of traffic received from
+// the bus. The incoming channel enables the Handler to write
+// a frame to the bus.
+//
+// The channels operate on a TimestampedFrame object.
+func (b *BusManager) Register(
+	handler Handler,
+) (chan TimestampedFrame, chan TimestampedFrame) {
+	b.mu.Lock()
+	defer b.mu.Unlock()
+
+	b.l.Info("registering handler")
+
+	subscription := make(chan TimestampedFrame, _channelBufferLength)
+	b.broadcastChan[handler] = subscription
+
+	b.l.Info("registered handler")
+
+	return subscription, b.incomingChan
+}
+
+// Unregister a Handler from the BusManager.
+//
+// Deletes the broadcast channel that was previously
+// provided from BusManager.
+func (b *BusManager) Unregister(handler *Handler) {
+	b.mu.Lock()
+	defer b.mu.Unlock()
+
+	delete(b.broadcastChan, *handler)
+}
+
+// Start the traffic broadcast and incoming frame listener
+// for each of the registered handlers.
+//
+// The broadcast stream will begin. If handlers cannot keep up
+// with the broadcast, frames for that handler will be dropped.
+//
+// The handlers can now send CAN frames to the BusManager to be
+// transmitted out onto the bus.
+func (b *BusManager) Start(ctx context.Context) {
+	if b.isRunning {
+		b.l.Warn("bus manager is already started")
+		return
+	}
+
+	b.l.Info("start broadcast and process incoming")
+
+	b.stop = make(chan struct{})
+
+	go b.broadcast(ctx)
+	go b.processIncoming(ctx)
+
+	b.isRunning = true
+}
+
+// Stop the traffic broadcast and incoming frame listener.
+//
+// Preserves registered handlers and their assosciated channels.
+func (b *BusManager) Stop() {
+	if !b.isRunning {
+		b.l.Warn("bus manager is already stopped")
+		return
+	}
+
+	b.l.Info("stop broadcast and process incoming")
+
+	close(b.stop)
+	b.isRunning = false
+}
+
+// Close cleans up the bus network connection.
+func (b *BusManager) Close() error {
+	if b.isRunning {
+		b.l.Info("stopping bus manager")
+		b.Stop()
+	}
+
+	b.l.Info("closing socketcan receiver and transmitter")
+
+	b.receiver.Close()
+	b.transmitter.Close()
+
+	return nil
+}
+
+func (b *BusManager) broadcast(ctx context.Context) {
+	for b.receiver.Receive() {
+		timeFrame := TimestampedFrame{b.receiver.Frame(), time.Now()}
+
+		b.mu.Lock()
+
+		for handler, ch := range b.broadcastChan {
+			select {
+			case <-ctx.Done():
+				b.l.Info("context deadline exceeded")
+				return
+			case _, ok := <-ch:
+				if !ok {
+					b.l.Info("broadcast channel closed, exiting broadcast routine")
+					return
+				}
+			case <-b.stop:
+				b.l.Info("stop signal received")
+				return
+			case ch <- timeFrame:
+				b.l.Info("broadcasted can frame")
+			default:
+				b.l.Warn("dropping frames on handler", zap.String("handler", handler.Name()))
+			}
+		}
+
+		b.mu.Unlock()
+	}
+}
+
+func (b *BusManager) processIncoming(ctx context.Context) {
+	for {
+		select {
+		case <-ctx.Done():
+			b.l.Info("context deadline exceeded")
+			return
+		case <-b.stop:
+			b.l.Info("stop signal received")
+			return
+		case frame, ok := <-b.incomingChan:
+			if !ok {
+				b.l.Info("incoming channel closed, exiting process routine")
+				return
+			}
+
+			b.transmitter.TransmitFrame(ctx, frame.Frame)
+		}
+	}
+}

canlink/handler.go

@@ -0,0 +1,6 @@
+package canlink
+
+type Handler interface {
+	Name() string
+	Handle(chan TimestampedFrame, chan TimestampedFrame)
+}

canlink/timestampedframe.go

@@ -6,7 +6,7 @@ import (
 	"go.einride.tech/can"
 )
 
-// TimestampedFrame contains a single CAN frame along with the time it was received
+// TimestampedFrame contains a single CAN frame along with the time it was received.
 type TimestampedFrame struct {
 	Frame can.Frame
 	Time  time.Time

cmd/busmanager/main.go

@@ -0,0 +1,87 @@
+package main
+
+import (
+	"context"
+	"fmt"
+	"time"
+
+	"go.einride.tech/can/pkg/socketcan"
+	"go.uber.org/zap"
+
+	"github.com/macformula/hil/canlink"
+)
+
+type Handler struct {
+	name string
+}
+
+func NewHandler() *Handler {
+	handler := &Handler{
+		name: "testHandler",
+	}
+
+	return handler
+}
+
+func (h *Handler) Handle(
+	broadcast chan canlink.TimestampedFrame,
+	transmit chan canlink.TimestampedFrame,
+) {
+	go func() {
+		for {
+			select {
+			case frame := <-broadcast:
+				fmt.Println("RECEIVED: ", frame.Frame)
+			default:
+			}
+		}
+	}()
+
+	go func() {
+		var i byte
+
+		for {
+			time.Sleep(2 * time.Millisecond)
+
+			frame := canlink.TimestampedFrame{}
+			copy(frame.Frame.Data[:], []byte{i})
+			frame.Time = time.Now()
+
+			i = i + 1
+
+			transmit <- frame
+		}
+	}()
+}
+
+func (h *Handler) Name() string {
+	return "Handler"
+}
+
+func main() {
+	ctx := context.Background()
+
+	loggerConfig := zap.NewDevelopmentConfig()
+	logger, err := loggerConfig.Build()
+
+	conn, err := socketcan.DialContext(context.Background(), "can", "vcan0")
+	if err != nil {
+		logger.Error("failed to create socket can connection",
+			zap.String("can_interface", "vcan0"),
+			zap.Error(err),
+		)
+		return
+	}
+
+	manager := canlink.NewBusManager(logger, &conn)
+	handler := NewHandler()
+
+	broadcast, transmit := manager.Register(handler)
+
+	handler.Handle(broadcast, transmit)
+
+	manager.Start(ctx)
+
+	for {
+	}
+}

cmd/tracetest/main.go

@@ -7,12 +7,12 @@ import (
 	"os/signal"
 	"time"
 
+	"github.com/pkg/errors"
 	"go.einride.tech/can/pkg/socketcan"
 	"go.uber.org/zap"
 
 	"github.com/macformula/hil/canlink"
 	"github.com/macformula/hil/macformula/cangen/vehcan"
-	"github.com/pkg/errors"
 )
 
 const (
@@ -144,7 +144,12 @@ func waitForSigTerm(stop chan struct{}, logger *zap.Logger) {
 }
 
 func startSendMessageRoutine(
-	ctx context.Context, stop chan struct{}, msgPeriod time.Duration, cc *canlink.CanClient, l *zap.Logger) {
+	ctx context.Context,
+	stop chan struct{},
+	msgPeriod time.Duration,
+	cc *canlink.CanClient,
+	l *zap.Logger,
+) {
 	packState := vehcan.NewPack_State()
 	packState.SetPopulated_Cells(_numCells)
 	packState.SetPack_Current(0)
@@ -179,7 +184,11 @@ func startSendMessageRoutine(
 				// +packCurrentDeviation on even i, -packCurrentDeviation on odd i
 				packCurrentDeviation := _packCurrentDeviation * float64(i%2+1) * (-1)
 				packCurrentIncr := float64(msgPeriod/time.Second) * _packCurrentIncrPerSec
-				packCurrent := clamp(packState.Pack_Current()+packCurrentIncr, _minPackCurrent, _maxPackCurrent)
+				packCurrent := clamp(
+					packState.Pack_Current()+packCurrentIncr,
+					_minPackCurrent,
+					_maxPackCurrent,
+				)
 				packCurrent += packCurrentDeviation
 				packState.SetPack_Current(packCurrent)
 			} else {