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path: root/recipes-support/udisks/udisks2_agldemo.inc

Age	Commit message (Collapse)	Author	Files	Lines
2021-08-20	Convert to new override syntax	Scott Murray	1	-5/+5
	This is the result of running a slightly customized version of the convert-overrides.py script from poky with additional overrides added. The intent of these changes is to minimize the effort to keep the "next" branch that builds against poky master up to date and tested in preparation for the switch to the next Yocto LTS release in early 2022. Bug-AGL: SPEC-4052 Signed-off-by: Scott Murray <scott.murray@konsulko.com> Change-Id: I6eeadd2c985c008b04f8f9815bf0f6fb064bedac
2020-12-17	SPEC-3723: restructure meta-agl-demo	Jan-Simon Moeller	1	-0/+27
	All demo related components should be in here now. We keep the packagegroups on purpose for now to stay backward-compatible. v2: layer does pass yocto-check-layer, dependencies adapted v3: remove the dynamic-layer setup, use all-in-one approach v4: Fixed comments from Paul Barker. Tnx! v5: Removed wayland/weston/agl-compositor additions, except for demo specific weston-init bbappend Follow-up changes required later: - massaging packagegroups - scrub of recipes Bug-AGL: SPEC-3723 Signed-off-by: Jan-Simon Moeller <jsmoeller@linuxfoundation.org> Signed-off-by: Scott Murray <scott.murray@konsulko.com> Change-Id: I47cefd8c23d46b2cdd063470e3f7d97d5ad952d8

Copyright © 2015 The Linux Foundation. All rights reserved.

Linux Foundation, Linux Standard Base, LSB, LSB Certified, IAccessible2, MeeGo are registered trademarks of the Linux Foundation.

Linux is a registered trademark of Linus Torvalds. Please see our privacy policy.

/*
 * 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 <unistd.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/socket.h>
#include <sys/ioctl.h>
#include <net/if.h>
#include <linux/can.h>
#include <linux/can/raw.h>
#include <fcntl.h>
#include <systemd/sd-event.h>
#include <errno.h>
#include <vector>
#include <map>
#include <queue>
#include <string>
#include <functional>
#include <memory>


#include <json-c/json.h>
#include <openxc.pb.h>

#include <afb/afb-binding.h>
#include <afb/afb-service-itf.h>

#include "ll-can-binding.h"
#include "obd2.h"

/*************************************************************************/
/*************************************************************************/
/**									**/
/**									**/
/**	   SECTION: UTILITY FUNCTIONS					**/
/**									**/
/**									**/
/*************************************************************************/
/*************************************************************************/

/*
 * Browse chained list and return the one with specified id
 *
 * param uint32_t id : can arbitration identifier
 *
 * return can_event
 */
static can_event *get_event_list_of_id(uint32_t id)
{
	can_event *current;

	/* create and return if lists not exists */
	if (!can_events_list)
	{
		can_events_list = (can_event*)calloc(1, sizeof(can_event));
		can_events_list->id = id;
		return can_events_list;
	}

	/* search for id */
	current = can_events_list;
	while(current)
	{
		if (current->id == id)
			return current;
		if (!current->next)
		{
			current->next = (can_event*)calloc(1, sizeof(can_event));
			current->next->id = id;
			return current->next;
		}
		current = current->next;
	}

	return nullptr;
}

/*
 * Take an id and return it into a char array
 */
static char* create_name(uint32_t id)
{
	char name[32];
	size_t nchar;

	nchar = (size_t)sprintf(name, "can_%u", id);
	if (nchar > 0)
	{
		char *result = (char*)malloc(nchar + 1);
		memcpy(result, name, nchar);
		result[nchar] = 0;
		return result;
	}

	return nullptr;
}

/*
 * Create json object that will be pushed through event_loop to any subscriber
 *
 *  param : openxc_CanMessage structure complete with data to put into json
 *  object.
 *
 *  return : json object
 */
static json_object* create_json_from_openxc_CanMessage(event *event)
{
	struct json_object *json;

	/*
	 * TODO: process the openxc_CanMessage struct. Should be a call to a
	 * decoder function relative to that msg

	openxc_CanMessage can_message;
	can_message = event->can_message;
	 */

	json = json_object_new_object();
	json_object_object_add(json, "name", json_object_new_string(event->name));

	return json;
}

/*************************************************************************/
/*************************************************************************/
/**									**/
/**									**/
/**	   SECTION: HANDLE CAN DEVICE					**/
/**									**/
/**									**/
/*************************************************************************/
/*************************************************************************/

/*
 * open the can socket
 */
int CanBus::open()
{
	const int canfd_on = 1;
	struct ifreq ifr;
	struct timeval timeout = {1, 0};

	DEBUG(interface, "open_can_dev: CAN Handler socket : %d", socket);
	if (socket >= 0)
		close(socket);

	socket = socket(PF_CAN, SOCK_RAW, CAN_RAW);
	if (socket < 0)
	{
		ERROR(interface, "open_can_dev: socket could not be created");
	}
	else
	{
		/* Set timeout for read */
		setsockopt(socket, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
		/* try to switch the socket into CAN_FD mode */
		if (setsockopt(socket, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
		{
			NOTICE(interface, "open_can_dev: Can not switch into CAN Extended frame format.");
			is_fdmode_on = false;
		} else {
			is_fdmode_on = true;
		}

		/* Attempts to open a socket to CAN bus */
		strcpy(ifr.ifr_name, device);
		if(ioctl(socket, SIOCGIFINDEX, &ifr) < 0)
			ERROR(interface, "open_can_dev: ioctl failed");
		else
		{
			txAddress.can_family = AF_CAN;
			txAddress.can_ifindex = ifr.ifr_ifindex;

			/* And bind it to txAddress */
			if (bind(socket, (struct sockaddr *)&txAddress, sizeof(txAddress)) < 0)
			{
				ERROR(interface, "open_can_dev: bind failed");
			}
			else
			{
				fcntl(socket, F_SETFL, O_NONBLOCK);
				return 0;
			}
		}
		close(socket);
		socket = -1;
	}
	return -1;
}

/*
 * TODO : test that socket is really opened
 */
static int write_can()
{
	ssize_t nbytes;
	int rc;

	rc = socket;
	if (rc >= 0)
	{
/*
 * TODO change old hvac write can frame to generic on_event
 */
		nbytes = sendto(socket, &canfd_frame, sizeof(struct canfd_frame), 0,
			    (struct sockaddr*)&txAddress, sizeof(txAddress));
		if (nbytes < 0)
		{
			ERROR(interface, "write_can: Sending CAN frame failed.");
		}
	}
	else
	{
		ERROR(interface, "write_can: socket not initialized. Attempt to reopen can device socket.");
		open_can_dev();
	}
	return rc;
}

/*
 * Parse the CAN frame data payload as a CAN packet
 * TODO: parse as an OpenXC Can Message. Don't translate as ASCII and put bytes
 * directly into openxc_CanMessage
 */
static int parse_can_frame(openxc_CanMessage *can_message, struct canfd_frame *canfd_frame, int maxdlen)
{
	int i, len;
	//size_t n_msg;

	len = (canfd_frame->len > maxdlen) ? maxdlen : canfd_frame->len;

	can_message->has_id = true;
	if (canfd_frame->can_id & CAN_ERR_FLAG)
		can_message->id = canfd_frame->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
	else if (canfd_frame->can_id & CAN_EFF_FLAG)
	{
		can_message->has_frame_format = true;
		can_message->frame_format = openxc_CanMessage_FrameFormat_EXTENDED;
		can_message->id = canfd_frame->can_id & CAN_EFF_MASK;
	} else
	{
		can_message->has_frame_format = true;
		can_message->frame_format = openxc_CanMessage_FrameFormat_STANDARD;
		can_message->id = canfd_frame->can_id & CAN_SFF_MASK;
	}

	/* Don't know what to do with that for now as we haven't
	 * len fields in openxc_CanMessage struct

	 * standard CAN frames may have RTR enabled. There are no ERR frames with RTR
	if (maxdlen == CAN_MAX_DLEN && canfd_frame->can_id & CAN_RTR_FLAG)
	{
		// print a given CAN 2.0B DLC if it's not zero
		if (canfd_frame->len && canfd_frame->len <= CAN_MAX_DLC)
			buf[offset++] = hex_asc_upper[canfd_frame->len & 0xF];

		buf[offset] = 0;
		return nullptr;
	}
	*/

	/* Doesn't handle real canfd_frame for now
	if (maxdlen == CANFD_MAX_DLEN)
	{
		// add CAN FD specific escape char and flags
		canfd_frame->flags & 0xF;
	} */

	if (sizeof(canfd_frame->data) <= sizeof(can_message->data.bytes))
	{
		for (i = 0; i < len; i++)
			can_message->data.bytes[i] = canfd_frame->data[i];
		return 0;
	} else if (sizeof(canfd_frame->data) <= CAN_MAX_DLEN)
	{
		ERROR(interface, "parse_can_frame: can_frame data too long to be stored into openxc_CanMessage data field");
		return -1;
		/* TODO create as many as needed openxc_CanMessage into an array to store all data from canfd_frame
		n_msg = CAN_MAX_DLEN / sizeof(canfd_frame->data.bytes);
		for (i = 0; i < len; i++)
			can_message->data.bytes[i] = canfd_frame->data[i]; */
	} else
	{
		ERROR(interface, "parse_can_frame: can_frame is really too long here. Size of data greater than canfd maximum 64bytes size. Is it a CAN message ?");
		return -2;
	}

	/* You should not reach this return statement */
	return -3;
}


/*
 * Read on CAN bus and return how much bytes has been read.
 */
static int read_can(openxc_CanMessage *can_message)
{
	ssize_t nbytes;
	int maxdlen;

	/* Test that socket is really opened */
	if ( socket_test() < 0)
	{
		if (open_can_dev() < 0)
		{
			ERROR(interface, "read_can: Socket unavailable");
			return -1;
		}
	}

	nbytes = read(socket, &canfd_frame, CANFD_MTU);

	if (nbytes == CANFD_MTU)
	{
		DEBUG(interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
	}
	else if (nbytes == CAN_MTU)
	{
		DEBUG(interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
	}
	else
	{
	 	if (errno == ENETDOWN)
			ERROR(interface, "read_can: %s interface down", device);
		ERROR(interface, "read_can: Error reading CAN bus");
		return -2;
	}

	/* CAN frame integrity check */
	if ((size_t)nbytes == CAN_MTU)
		maxdlen = CAN_MAX_DLEN;
	else if ((size_t)nbytes == CANFD_MTU)
		maxdlen = CANFD_MAX_DLEN;
	else
	{
		ERROR(interface, "read_can: CAN frame incomplete");
		return -3;
	}

	if (parse_can_frame(can_message, &canfd_frame, maxdlen))
	{
		ERROR(interface, "read_can: Can't parse the can frame. ID: %i, DLC: %i, DATA: %s", 
		      canfd_frame.can_id, canfd_frame.len, canfd_frame.data);
		return -4;
	}

	return 0;
}
/*************************************************************************/
/*************************************************************************/
/**									**/
/**									**/
/**       SECTION: MANAGING EVENTS					**/
/**									**/
/**									**/
/*************************************************************************/
/*************************************************************************/
static int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata);

/*
 * Get the event loop running.
 * Will trigger on_event function on EPOLLIN event on socket
 *
 * Return 0 or positive value on success. Else negative value for failure.
 */
static int connect_to_event_loop(CanBus &CanBus_handler)
{
	sd_event *event_loop;
	sd_event_source *source;
	int rc;

	if (CanBus_handler.socket < 0)
	{
		return CanBus_handler.socket;
	}

	event_loop = afb_daemon_get_event_loop(interface->daemon);
	rc = sd_event_add_io(event_loop, &source, CanBus_handler.socket, EPOLLIN, on_event, NULL);
	if (rc < 0)
	{
		CanBus_handler.close();
		ERROR(interface, "Can't connect CAN bus %s to the event loop", CanBus_handler.device);
	} else
	{
		NOTICE(interface, "Connected CAN bus %s to the event loop", CanBus_handler.device);
	}

	return rc;
}
/*
 * Send all events
 */
static void send_event()
{
	can_event *current;
	event *events;
	json_object *object;

	/* Browse can_events */
	current = can_events_list;
	while(current)
	{
		/* Browse event for each can_events no matter what the id */
		events = current->events;
		while(events)
		{
			object = create_json_from_openxc_CanMessage(events);
			afb_event_push(events->afb_event, object);
			events = events->next;
		}
		current = current->next;
	}
}

/*
 * called on event on the CAN bus
 */
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);
		close(fd);
		connect_to_event_loop();
	}

	return 0;
}

/*
 * get or create an event handler for the type
 */
static event *get_event(uint32_t id, enum type type)
{
	event *event_elt;
	can_event *list;

	/* find the can list by id */
	list = get_event_list_of_id(id);

	/* make the new event */
	event_elt = (event*)calloc(1, sizeof(event));
	event_elt->next = event_elt;
	list->events = event_elt;
	event_elt->name = create_name(id);
	event_elt->afb_event = afb_daemon_make_event(interface->daemon, event_elt->name);

	return event_elt;
}

/*************************************************************************/
/*************************************************************************/
/**									**/
/**									**/
/**	   SECTION: BINDING VERBS IMPLEMENTATION			**/
/**									**/
/**									**/
/*************************************************************************/
/*************************************************************************/
/*
 * Returns the type corresponding to the given name
 */
static enum type type_of_name(const char *name)
{
	enum type result;
	if (name == NULL)
		return type_DEFAULT;
	for (result = 0 ; (size_t)result < type_size; result++)
		if (strcmp(type_NAMES[result], name) == 0)
			return result;
	return type_INVALID;
}

/*
 * extract a valid type from the request
 */
static int get_type_for_req(struct afb_req req, enum type *type)
{
	if ((*type = type_of_name(afb_req_value(req, "type"))) != type_INVALID)
		return 1;
	afb_req_fail(req, "unknown-type", NULL);
	return 0;
}

static int subscribe_unsubscribe_sig(struct afb_req request, int subscribe, struct signal *sig)
{
	if (!afb_event_is_valid(sig->event)) {
		if (!subscribe)
			return 1;
		sig->event = afb_daemon_make_event(afbitf->daemon, sig->name);
		if (!afb_event_is_valid(sig->event)) {
			return 0;
		}
	}

	if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, sig->event)) < 0) {
		return 0;
	}

	return 1;
}

static int subscribe_unsubscribe_all(struct afb_req request, int subscribe)
{
	int i, n, e;

	n = sizeof OBD2_PIDS / sizeof * OBD2_PIDS;
	e = 0;
	for (i = 0 ; i < n ; i++)
		e += !subscribe_unsubscribe_sig(request, subscribe, &OBD2_PIDS[i]);
	return e == 0;
}

static int subscribe_unsubscribe_name(struct afb_req request, int subscribe, const char *name)
{
	struct signal *sig;

	if (0 == strcmp(name, "*"))
		return subscribe_unsubscribe_all(request, subscribe);

	sig = get_signals(name);
	if (sig == NULL) {
		return 0;
	}

	return subscribe_unsubscribe_sig(request, subscribe, sig);
}

static void subscribe_unsubscribe(struct afb_req request, int subscribe)
{
	int ok, i, n;
	struct json_object *args, *a, *x;

	/* makes the subscription/unsubscription */
	args = afb_req_json(request);
	if (args == NULL || !json_object_object_get_ex(args, "event", &a)) {
		ok = subscribe_unsubscribe_all(request, subscribe);
	} else if (json_object_get_type(a) != json_type_array) {
		ok = subscribe_unsubscribe_name(request, subscribe, json_object_get_string(a));
	} else {
		n = json_object_array_length(a);
		ok = 0;
		for (i = 0 ; i < n ; i++) {
			x = json_object_array_get_idx(a, i);
			if (subscribe_unsubscribe_name(request, subscribe, json_object_get_string(x)))
				ok++;
		}
		ok = (ok == n);
	}

	/* send the report */
	if (ok)
		afb_req_success(request, NULL, NULL);
	else
		afb_req_fail(request, "error", NULL);
}

static void subscribe(struct afb_req request)
{
	subscribe_unsubscribe(request, 1);
}

static void unsubscribe(struct afb_req request)
{
	subscribe_unsubscribe(request, 0);
}

static const struct afb_verb_desc_v1 verbs[]=
{
  { .name= "subscribe",    .session= AFB_SESSION_NONE, .callback= subscribe,    .info= "subscribe to notification of CAN bus messages." },
  { .name= "unsubscribe",  .session= AFB_SESSION_NONE, .callback= unsubscribe,  .info= "unsubscribe a previous subscription." },
	{NULL}
};

static const struct afb_binding binding_desc = {
	.type = AFB_BINDING_VERSION_1,
	.v1 = {
		.info = "CAN bus service",
		.prefix = "can",
		.verbs = verbs
	}
};

const struct afb_binding *afbBindingV1Register (const struct afb_binding_interface *itf)
{
	interface = itf;

	return &binding_desc;
}

int afbBindingV1ServiceInit(struct afb_service service)
{
	std::ifstream fd_conf;
	std::string fd_conf_content;
	json_object jo_canbus;

	/* Open JSON conf file */
	/* TODO: can't use this method in c++ for now. Need to reimplement it ? */
	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);

	CanBus CanBus_handler;
	CanBus_handler.deviceName = json_object_get_string("deviceName")

	/* Open CAN socket */
	CanBus_handler.open();

	return connect_to_event_loop(CanBus_handler);
}