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authorRomain Forlot <romain.forlot@iot.bzh>2017-01-26 10:47:54 +0000
committerRomain Forlot <romain.forlot@iot.bzh>2017-01-30 13:34:57 +0000
commit7a15d9138cd18bee2835467c5854d25e16b8f1ce (patch)
treeade042b0a8ae14b59d91bd86a00eb5388fbbddb3 /ll-can-binding.c
parent15e385c6dbe73d54aba0102a471551b8510c05f4 (diff)
Reworked open_can_dev function and can_handler struct
Change-Id: I787730cf2ef8dfd7b1db7f9add51700401e013c1 Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>
Diffstat (limited to 'll-can-binding.c')
-rw-r--r--ll-can-binding.c560
1 files changed, 560 insertions, 0 deletions
diff --git a/ll-can-binding.c b/ll-can-binding.c
new file mode 100644
index 00000000..bc52d17f
--- /dev/null
+++ b/ll-can-binding.c
@@ -0,0 +1,560 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@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.
+ */
+#define _GNU_SOURCE
+
+#include <string.h>
+#include <stdbool.h>
+#include <unistd.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+#include <net/if.h>
+#include <sys/time.h>
+#include <linux/can.h>
+#include <linux/can/raw.h>
+#include <math.h>
+#include <fcntl.h>
+#include <systemd/sd-event.h>
+#include <errno.h>
+
+#include <json-c/json.h>
+#include <openxc.pb.h>
+
+#include <afb/afb-binding.h>
+#include <afb/afb-service-itf.h>
+
+#include "canLL-binding.h"
+
+/*************************************************************************/
+/*************************************************************************/
+/** **/
+/** **/
+/** SECTION: UTILITY FUNCTIONS **/
+/** **/
+/** **/
+/*************************************************************************/
+/*************************************************************************/
+
+/*
+ * Retry a function 3 times
+ *
+ * param int function(): function that return an int wihtout any parameter
+ *
+ * return : 0 if ok, -1 if failed
+ *
+ */
+static int retry( int(*func)());
+static int retry( int(*func)())
+{
+ int i;
+
+ for (i=0;i<4;i++)
+ {
+ if ( (*func)() >= 0)
+ {
+ return 0;
+ }
+ usleep(100000);
+ }
+ return -1;
+}
+
+/*
+ * 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_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 NULL;
+}
+
+/*
+ * Take an id and return it into a char array
+ */
+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 NULL;
+}
+
+/*************************************************************************/
+/*************************************************************************/
+/** **/
+/** **/
+/** SECTION: HANDLE CAN DEVICE **/
+/** **/
+/** **/
+/*************************************************************************/
+/*************************************************************************/
+/*
+ * open the can socket
+ */
+static int open_can_dev()
+{
+ const int canfd_on = 1;
+ struct ifreq ifr;
+ struct timeval timeout = {1,0};
+
+ DEBUG(interface, "open_can_dev: CAN Handler socket : %d", can_handler.socket);
+ if (can_handler.socket >= 0)
+ close(can_handler.socket);
+
+ can_handler.socket = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+ if (can_handler.socket < 0)
+ {
+ ERROR(interface, "open_can_dev: socket could not be created");
+ }
+ else
+ {
+ /* Set timeout for read */
+ setsockopt(can_handler.socket, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
+ /* try to switch the socket into CAN_FD mode */
+ if (setsockopt(can_handler.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.");
+ can_handler.is_fdmode_on = false;
+ } else {
+ can_handler.is_fdmode_on = true;
+ }
+
+ /* Attempts to open a socket to CAN bus */
+ strcpy(ifr.ifr_name, can_handler.device);
+ if(ioctl(can_handler.socket, SIOCGIFINDEX, &ifr) < 0)
+ ERROR(interface, "open_can_dev: ioctl failed");
+ else
+ {
+ can_handler.txAddress.can_family = AF_CAN;
+ can_handler.txAddress.can_ifindex = ifr.ifr_ifindex;
+
+ /* And bind it to txAddress */
+ if (bind(can_handler.socket, (struct sockaddr *)&can_handler.txAddress, sizeof(can_handler.txAddress)) < 0)
+ {
+ ERROR(interface, "open_can_dev: bind failed");
+ }
+ else
+ {
+ fcntl(can_handler.socket, F_SETFL, O_NONBLOCK);
+ return 0;
+ }
+ }
+ close(can_handler.socket);
+ can_handler.socket = -1;
+ }
+ return -1;
+}
+
+/*
+ * TODO : test that socket is really opened
+ */
+static int write_can()
+{
+ ssize_t nbytes;
+ int rc;
+
+ rc = can_handler.socket;
+ if (rc >= 0)
+ {
+/*
+ * TODO change old hvac write can frame to generic on_event
+ */
+ nbytes = sendto(can_handler.socket, &canfd_frame, sizeof(struct canfd_frame), 0,
+ (struct sockaddr*)&can_handler.txAddress, sizeof(can_handler.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.");
+ retry(open_can_dev);
+ }
+ return rc;
+}
+
+/*
+ * Read on CAN bus and return how much bytes has been read.
+ * TODO : test that socket is really opened
+ */
+static int read_can(openxc_CanMessage *can_message)
+{
+ ssize_t nbytes;
+ int maxdlen;
+
+ nbytes = read(can_handler.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", can_handler.device);
+ ERROR(interface, "read_can: Error reading CAN bus");
+ return -1;
+ }
+
+ /* 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 -2;
+ }
+
+ parse_can_frame(can_message, &canfd_frame, maxdlen);
+}
+
+/*
+ * 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 void parse_can_frame(openxc_CanMessage *can_message, struct canfd_frame *canfd_frame, int maxdlen)
+{
+ int i,offset;
+ int len = (canfd_frame->len > maxdlen) ? maxdlen : canfd_frame->len;
+ char buf[CL_CFSZ];
+
+ if (canfd_frame->can_id & CAN_ERR_FLAG)
+ {
+ can_message->has_id = true;
+ can_message->id = canfd_frame->can_id;
+ put_eff_id(buf, canfd_frame->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG));
+ buf[8] = '#';
+ offset = 9;
+ } else if (canfd_frame->can_id & CAN_EFF_FLAG)
+ {
+ put_eff_id(buf, canfd_frame->can_id & CAN_EFF_MASK);
+ buf[8] = '#';
+ offset = 9;
+ } else {
+ put_sff_id(buf, canfd_frame->can_id & CAN_SFF_MASK);
+ buf[3] = '#';
+ offset = 4;
+ }
+
+ /* 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)
+ {
+ buf[offset++] = 'R';
+ /* 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;
+ }
+
+ if (maxdlen == CANFD_MAX_DLEN)
+ {
+ /* add CAN FD specific escape char and flags */
+ buf[offset++] = '#';
+ buf[offset++] = hex_asc_upper[canfd_frame->flags & 0xF];
+ }
+
+ for (i = 0; i < len; i++)
+ {
+ put_hex_byte(buf + offset, canfd_frame->data[i]);
+ offset += 2;
+ }
+
+ buf[offset] = 0;
+ return;
+}
+
+/*************************************************************************/
+/*************************************************************************/
+/** **/
+/** **/
+/** SECTION: MANAGING EVENTS **/
+/** **/
+/** **/
+/*************************************************************************/
+/*************************************************************************/
+/*
+ * called on an event on the CAN bus
+ */
+static int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata)
+{
+ openxc_CanMessage can_message;
+
+ /* 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
+ * TODO: implement function and handle retrieve or create an event as needed
+ */
+static event *get_event(uint32_t id, enum type type)
+{
+ event *event;
+ can_event *list;
+
+ /* find the can list by id */
+ list = get_event_of_id(id);
+
+ /* make the new event */
+ event = (can_event*)calloc(1, sizeof(can_event));
+ event->next = event;
+ list->events = event;
+ event->name = create_name(id);
+ event->afb_event = afb_daemon_make_event(interface->daemon, event->name);
+
+ return event;
+}
+
+/*
+ * Send an event
+ */
+static void send_event()
+{
+ can_event *current;
+
+ /* search for id */
+ current = can_events_list;
+ while(current)
+ {
+ afb_event_push(current->afb_event, object);
+ current = current->next;
+ }
+}
+
+/*
+ * 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()
+{
+ sd_event *event_loop;
+ sd_event_source *source;
+ int rc;
+
+ if (can_handler.socket < 0)
+ {
+ return can_handler.socket;
+ }
+
+ event_loop = afb_daemon_get_event_loop(interface->daemon);
+ rc = sd_event_add_io(event_loop, &source, can_handler.socket, EPOLLIN, on_event, NULL);
+ if (rc < 0)
+ {
+ close(can_handler.socket);
+ ERROR(interface, "Can't connect CAN bus %s to the event loop", can_handler.device);
+ } else
+ {
+ NOTICE(interface, "Connected CAN bus %s to the event loop", can_handler.device);
+ }
+
+ return rc;
+}
+
+
+/*************************************************************************/
+/*************************************************************************/
+/** **/
+/** **/
+/** 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;
+}
+
+/*
+ * subscribe to notification of new CAN messages
+ *
+ * parameters of the subscription are:
+ *
+ * TODO type: string: choose between CAN and OBDII messages formats.
+ *
+ * returns an object with 2 fields:
+ *
+ * name: string: the name of the event without its prefix
+ * id: integer: a numeric identifier of the event to be used for unsubscribing
+ */
+static void subscribe(struct afb_req req)
+{
+ enum type type;
+ const char *period;
+ event *event;
+ uint32_t id;
+ struct json_object *json;
+
+ if (get_type_for_req(req, &type))
+ {
+ id = (uint32_t)atoi(afb_req_value(req, "id"));
+ event = get_event(id, type);
+ if (event == NULL)
+ afb_req_fail(req, "out-of-memory", NULL);
+ else if (afb_req_subscribe(req, event->afb_event) != 0)
+ afb_req_fail_f(req, "failed", "afb_req_subscribe returned an error: %m");
+ else
+ {
+ /* TODO : build json openXC message to send. I guess */
+ json = json_object_new_object();
+ json_object_object_add(json, "name", json_object_new_string(event->name));
+ afb_req_success(req, json, NULL);
+ }
+ }
+}
+
+/*
+ * unsubscribe a previous subscription
+ *
+ * parameters of the unsubscription are:
+ *
+ * id: integer: the numeric identifier of the event as returned when subscribing
+ */
+static void unsubscribe(struct afb_req req)
+{
+ const char *id;
+ event *event;
+
+ id = afb_req_value(req, "id");
+ if (id == NULL)
+ afb_req_fail(req, "missing-id", NULL);
+ else
+ {
+ event = get_event_of_id(atoi(id));
+ if (event == NULL)
+ afb_req_fail(req, "bad-id", NULL);
+ else
+ {
+ afb_req_unsubscribe(req, event->event);
+ afb_req_success(req, NULL, NULL);
+ }
+ }
+}
+
+// TODO: Have to change session management flag to AFB_SESSION_CHECK to use token auth
+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)
+{
+ /* Open CAN socket */
+ retry(open_can_dev);
+ return connect_to_event_loop();
+}