meta-agl-demo - meta-agl-demo layer (demo/staging/"one-shot")

Age	Commit message (Expand)	Author	Files	Lines
2017-12-18	Enable the AGL Navigation API library for C++	Naoto Yamaguchi	1	-0/+16

/* * Copyright (C) 2015, 2016 "IoT.bzh" * Author "Romain Forlot" <romain.forlot@iot.bzh> * Author "Loic Collignon" <loic.collignon@iot.bzh> * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. */ #include "low-can-hat.hpp" #include <map> #include <queue> #include <mutex> #include <vector> #include <thread> #include <json-c/json.h> #include <systemd/sd-event.h> #include "openxc.pb.h" #include "configuration.hpp" #include "../can/can-bus.hpp" #include "../can/can-signals.hpp" #include "../can/can-message.hpp" #include "../utils/timer.hpp" #include "../utils/signals.hpp" #include "../diagnostic/diagnostic-message.hpp" #include "../utils/openxc-utils.hpp" extern "C" { #include <afb/afb-service-itf.h> }; void on_no_clients(std::string message) { DiagnosticRequest* diag_req = configuration_t::instance().get_request_from_diagnostic_message(message); if(diag_req != nullptr) { active_diagnostic_request_t* adr = configuration_t::instance().get_diagnostic_manager().find_recurring_request(diag_req); if( adr != nullptr) configuration_t::instance().get_diagnostic_manager().cleanup_request(adr, true); } } int read(sd_event_source *s, int fd, uint32_t revents, void *userdata) { can_signal_t* sig= (can_signal_t*)userdata; sig->read_socket(); /* check if error or hangup */ if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0) { sd_event_source_unref(s); sig->get_socket().close(); sig->create_rx_filter(); } return 0; } ///****************************************************************************** /// /// Subscription and unsubscription /// ///*******************************************************************************/ static int make_subscription_unsubscription(struct afb_req request, const std::string& sig_name, std::map<std::string, struct afb_event>& s, bool subscribe) { /* Make the subscription or unsubscription to the event */ if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[sig_name])) < 0) { ERROR(binder_interface, "%s: Operation goes wrong for signal: %s", __FUNCTION__, sig_name.c_str()); return 0; } return 1; } static int create_event_handle(const std::string& sig_name, std::map<std::string, struct afb_event>& s) { s[sig_name] = afb_daemon_make_event(binder_interface->daemon, sig_name.c_str()); if (!afb_event_is_valid(s[sig_name])) { ERROR(binder_interface, "%s: Can't create an event for %s, something goes wrong.", __FUNCTION__, sig_name.c_str()); return 0; } return 1; } /// @brief Will determine if it is needed or not to create the event handle and checks it to be sure that /// we got a valid afb_event to get subscribe or unsubscribe. Then launch the subscription or unsubscription /// against the application framework using that event handle. static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, const std::string& sig) { int ret; utils::signals_manager_t& sm = utils::signals_manager_t::instance(); std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals(); if (s.find(sig) != s.end()) { if (!afb_event_is_valid(s[sig]) && !subscribe) { NOTICE(binder_interface, "%s: Event isn't valid, no need to unsubscribed.", __FUNCTION__); ret = -1; } else { // Event it isn't valid annymore, recreate it ret = create_event_handle(sig, s); } } else { /* Event doesn't exist , so let's create it */ struct afb_event empty_event = {nullptr, nullptr}; s[sig] = empty_event; ret = create_event_handle(sig, s); } // Check whether or not the event handler has been correctly created and // make the subscription/unsubscription operation is so. if (ret <= 0) return ret; return make_subscription_unsubscription(request, sig, s, subscribe); } /// /// @brief subscribe to all signals in the vector signals /// /// @param[in] afb_req request : contain original request use to subscribe or unsubscribe /// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription /// @param[in] signals - struct containing vectors with can_signal_t and diagnostic_messages to subscribe /// /// @return Number of correctly subscribed signal /// static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals) { int ret, rets = 0; //TODO: Implement way to dynamically call the right function no matter // how much signals types we have. configuration_t& conf = configuration_t::instance(); for(const auto& sig : signals.diagnostic_messages) { diagnostic_manager_t& diag_m = conf.get_diagnostic_manager(); DiagnosticRequest* diag_req = conf.get_request_from_diagnostic_message(sig->get_name()); // If the requested diagnostic message isn't supported by the car then unsubcribe it // no matter what we want, worse case will be a fail unsubscription but at least we don't // poll a PID for nothing. if(sig->get_supported() && subscribe) { float frequency = sig->get_frequency(); subscribe = diag_m.add_recurring_request( diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), (float)frequency); //TODO: Adding callback requesting ignition status: diag_req, sig.c_str(), false, diagnostic_message_t::decode_obd2_response, diagnostic_message_t::check_ignition_status, frequency); } else { diag_m.cleanup_request( diag_m.find_recurring_request(diag_req), true); WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, sig->get_name().c_str()); return -1; } ret = subscribe_unsubscribe_signal(request, subscribe, sig->get_name()); if(ret <= 0) return ret; rets++; DEBUG(binder_interface, "%s: Signal: %s subscribed", __FUNCTION__, sig->get_name().c_str()); } for(const auto& sig: signals.can_signals) { if(sig->create_rx_filter() <= 0 && subscribe_unsubscribe_signal(request, subscribe, sig->get_name()) <=0) { return -1; } struct sd_event_source* e_source; sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &e_source, sig->get_socket().socket(), EPOLLIN, read, sig); rets++; DEBUG(binder_interface, "%s: signal: %s subscribed", __FUNCTION__, sig->get_name().c_str()); } return rets; } static const std::vector<std::string> parse_args_from_request(struct afb_req request, bool subscribe) { int i, n; std::vector<std::string> ret; struct json_object *args, *a, *x; /* retrieve signals to subscribe */ args = afb_req_json(request); if (args == NULL || !json_object_object_get_ex(args, "event", &a)) { ret.push_back("*"); } else if (json_object_get_type(a) != json_type_array) { ret.push_back(json_object_get_string(a)); } else { n = json_object_array_length(a); for (i = 0 ; i < n ; i++) { x = json_object_array_get_idx(a, i); ret.push_back(json_object_get_string(x)); } } return ret; } void subscribe(struct afb_req request) { std::vector<std::string> args; struct utils::signals_found sf; int ok = 0, total = 0; bool subscribe = true; args = parse_args_from_request(request, subscribe); for(const auto& sig: args) { openxc_DynamicField search_key = build_DynamicField(sig); sf = utils::signals_manager_t::instance().find_signals(search_key); total = (int)sf.can_signals.size() + (int)sf.diagnostic_messages.size(); if (sf.can_signals.empty() && sf.diagnostic_messages.empty()) NOTICE(binder_interface, "%s: No signal(s) found for %s.", __FUNCTION__, sig.c_str()); else ok = subscribe_unsubscribe_signals(request, subscribe, sf); } NOTICE(binder_interface, "%s: Subscribed/unsubscribe correctly to %d/%d signal(s).", __FUNCTION__, ok, total); if (ok > 0) afb_req_success(request, NULL, NULL); else afb_req_fail(request, "error", NULL); } void unsubscribe(struct afb_req request) { parse_args_from_request(request, false); }