diff options
| -rw-r--r-- | ll-can-binding.c (renamed from canLL-binding.c) | 358 | ||||
| -rw-r--r-- | ll-can-binding.h | 111 |
2 files changed, 282 insertions, 187 deletions
diff --git a/canLL-binding.c b/ll-can-binding.c index d4b6c60c..bc52d17f 100644 --- a/canLL-binding.c +++ b/ll-can-binding.c @@ -37,84 +37,24 @@ #include <afb/afb-binding.h> #include <afb/afb-service-itf.h> -/*****************************************************************************************/ -/*****************************************************************************************/ -/** **/ -/** **/ -/** SECTION: GLOBAL VARIABLES **/ -/** **/ -/** **/ -/*****************************************************************************************/ -/*****************************************************************************************/ -/* max. number of CAN interfaces given on the cmdline */ -#define MAXSOCK 16 - -/* buffer sizes for CAN frame string representations */ -#define CL_ID (sizeof("12345678##1")) -#define CL_DATA sizeof(".AA") -#define CL_BINDATA sizeof(".10101010") - - /* CAN FD ASCII hex short representation with DATA_SEPERATORs */ -#define CL_CFSZ (2*CL_ID + 64*CL_DATA) - -#define CANID_DELIM '#' +#include "canLL-binding.h" + +/*************************************************************************/ +/*************************************************************************/ +/** **/ +/** **/ +/** SECTION: UTILITY FUNCTIONS **/ +/** **/ +/** **/ +/*************************************************************************/ +/*************************************************************************/ /* - * Interface between the daemon and the binding - */ -static const struct afb_binding_interface *interface; - -/* - * the type of position expected - * - * here, this type is the selection of protocol - */ -enum type { - type_OBDII, - type_CAN, - type_DEFAULT = type_CAN, - type_INVALID = -1 -}; - -#define type_size sizeof(enum type)-2 - -/* CAN variable initialization */ -struct canfd_frame canfd_frame; - -struct can_handler { - int socket; - char *device; - openxc_CanMessage *msg; - struct sockaddr_can txAddress; -}; - -/* - * each generated event - */ -struct event { - struct event *next; /* link for the same period */ - const char *name; /* name of the event */ - struct afb_event event; /* the event for the binder */ - enum type type; /* the type of data expected */ - int id; /* id of the event for unsubscribe */ -}; - -/*****************************************************************************************/ -/*****************************************************************************************/ -/** **/ -/** **/ -/** SECTION: UTILITY FUNCTIONS **/ -/** **/ -/** **/ -/*****************************************************************************************/ -/*****************************************************************************************/ - -/* - * @brief Retry a function 3 times + * Retry a function 3 times * - * @param int function(): function that return an int wihtout any parameter + * param int function(): function that return an int wihtout any parameter * - * @ return : 0 if ok, -1 if failed + * return : 0 if ok, -1 if failed * */ static int retry( int(*func)()); @@ -133,56 +73,72 @@ static int retry( int(*func)()) return -1; } -/*****************************************************************************************/ -/*****************************************************************************************/ -/** **/ -/** **/ -/** SECTION: HANDLE CAN DEVICE **/ -/** **/ -/** **/ -/*****************************************************************************************/ -/*****************************************************************************************/ -const char hex_asc_upper[] = "0123456789ABCDEF"; - -#define hex_asc_upper_lo(x) hex_asc_upper[((x) & 0x0F)] -#define hex_asc_upper_hi(x) hex_asc_upper[((x) & 0xF0) >> 4] - -static inline void put_hex_byte(char *buf, __u8 byte) +/* + * 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) { - buf[0] = hex_asc_upper_hi(byte); - buf[1] = hex_asc_upper_lo(byte); -} + can_event *current; -static inline void _put_id(char *buf, int end_offset, canid_t id) -{ - /* build 3 (SFF) or 8 (EFF) digit CAN identifier */ - while (end_offset >= 0) { - buf[end_offset--] = hex_asc_upper[id & 0xF]; - id >>= 4; + /* 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; } -} -#define put_sff_id(buf, id) _put_id(buf, 2, id) -#define put_eff_id(buf, id) _put_id(buf, 7, id) + /* 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; + } -static void canread_frame_parse(struct canfd_frame *canfd_frame, int maxdlen); + return NULL; +} /* - * names of the types + * Take an id and return it into a char array */ -static const char * const type_NAMES[type_size] = { - "OBDII", - "CAN" -}; - +char* create_name(uint32_t id) +{ + char name[32]; + size_t nchar; -// Initialize default can_handler values -static struct can_handler can_handler = { - .socket = -1, - .device = "vcan0", -}; + 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 */ @@ -191,15 +147,10 @@ static int open_can_dev() const int canfd_on = 1; struct ifreq ifr; struct timeval timeout = {1,0}; - openxc_CanMessage can_msg = { - .has_bus = false, - .has_id = false, - .has_data = false, - .has_frame_format = false, - }; DEBUG(interface, "open_can_dev: CAN Handler socket : %d", can_handler.socket); - close(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) @@ -211,21 +162,18 @@ static int open_can_dev() /* 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 */ - can_msg.has_frame_format = true; 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_msg.frame_format = openxc_CanMessage_FrameFormat_STANDARD; + can_handler.is_fdmode_on = false; } else { - can_msg.frame_format = openxc_CanMessage_FrameFormat_EXTENDED; + 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; @@ -239,7 +187,6 @@ static int open_can_dev() else { fcntl(can_handler.socket, F_SETFL, O_NONBLOCK); - can_handler.msg = &can_msg; return 0; } } @@ -249,6 +196,9 @@ static int open_can_dev() return -1; } +/* + * TODO : test that socket is really opened + */ static int write_can() { ssize_t nbytes; @@ -277,6 +227,7 @@ static int write_can() /* * 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) { @@ -312,7 +263,7 @@ static int read_can(openxc_CanMessage *can_message) return -2; } - canread_frame_parse(&canfd_frame, maxdlen); + parse_can_frame(can_message, &canfd_frame, maxdlen); } /* @@ -320,7 +271,7 @@ static int read_can(openxc_CanMessage *can_message) * TODO: parse as an OpenXC Can Message. Don't translate as ASCII and put bytes * directly into openxc_CanMessage */ -static void canread_frame_parse(struct canfd_frame *canfd_frame, int maxdlen) +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; @@ -328,6 +279,8 @@ static void canread_frame_parse(struct canfd_frame *canfd_frame, int maxdlen) 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; @@ -371,17 +324,15 @@ static void canread_frame_parse(struct canfd_frame *canfd_frame, int maxdlen) return; } -/***************************************************************************************/ -/***************************************************************************************/ -/** **/ -/** **/ -/** SECTION: MANAGING EVENTS **/ -/** **/ -/** **/ -/***************************************************************************************/ -/***************************************************************************************/ -static int connect_to_event_loop(); - +/*************************************************************************/ +/*************************************************************************/ +/** **/ +/** **/ +/** SECTION: MANAGING EVENTS **/ +/** **/ +/** **/ +/*************************************************************************/ +/*************************************************************************/ /* * called on an event on the CAN bus */ @@ -393,7 +344,7 @@ static int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata if ((revents & EPOLLIN) != 0) { read_can(&can_message); -// event_send(); + send_event(); } /* check if error or hangup */ @@ -410,27 +361,82 @@ static int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata /* * get or create an event handler for the type * TODO: implement function and handle retrieve or create an event as needed - * -static struct event *event_get(enum type type) + */ +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; + } } -*/ -static struct event *event_of_id(int id) +/* + * 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 **/ -/** **/ -/** **/ -/*****************************************************************************************/ -/*****************************************************************************************/ + +/*************************************************************************/ +/*************************************************************************/ +/** **/ +/** **/ +/** SECTION: BINDING VERBS IMPLEMENTATION **/ +/** **/ +/** **/ +/*************************************************************************/ +/*************************************************************************/ /* * Returns the type corresponding to the given name */ @@ -439,7 +445,7 @@ static enum type type_of_name(const char *name) enum type result; if (name == NULL) return type_DEFAULT; - for (result = 0 ; result < type_size; result++) + for (result = 0 ; (size_t)result < type_size; result++) if (strcmp(type_NAMES[result], name) == 0) return result; return type_INVALID; @@ -472,21 +478,23 @@ static void subscribe(struct afb_req req) { enum type type; const char *period; - struct event *can_sig; + event *event; + uint32_t id; struct json_object *json; if (get_type_for_req(req, &type)) { - can_sig->event = afb_daemon_make_event(interface->daemon, type_NAMES[type]); - if (can_sig == NULL) + 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, can_sig->event) != 0) + 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)); - json_object_object_add(json, "id", json_object_new_int(event->id)); afb_req_success(req, json, NULL); } } @@ -502,14 +510,14 @@ static void subscribe(struct afb_req req) static void unsubscribe(struct afb_req req) { const char *id; - struct event *event; + event *event; id = afb_req_value(req, "id"); if (id == NULL) afb_req_fail(req, "missing-id", NULL); else { - event = event_of_id(atoi(id)); + event = get_event_of_id(atoi(id)); if (event == NULL) afb_req_fail(req, "bad-id", NULL); else @@ -520,32 +528,6 @@ static void unsubscribe(struct afb_req req) } } -static int connect_to_event_loop() -{ - sd_event_source *source; - int rc; - - retry(open_can_dev); - - if (can_handler.socket < 0) - { - return can_handler.socket; - } - - rc = sd_event_add_io(afb_daemon_get_event_loop(interface->daemon), &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; -} - - // TODO: Have to change session management flag to AFB_SESSION_CHECK to use token auth static const struct afb_verb_desc_v1 verbs[]= { @@ -572,5 +554,7 @@ const struct afb_binding *afbBindingV1Register (const struct afb_binding_interfa int afbBindingV1ServiceInit(struct afb_service service) { + /* Open CAN socket */ + retry(open_can_dev); return connect_to_event_loop(); } diff --git a/ll-can-binding.h b/ll-can-binding.h new file mode 100644 index 00000000..6280cc4c --- /dev/null +++ b/ll-can-binding.h @@ -0,0 +1,111 @@ +/* max. number of CAN interfaces given on the cmdline */ +#define MAXSOCK 16 + +/* buffer sizes for CAN frame string representations */ +#define CL_ID (sizeof("12345678##1")) +#define CL_DATA sizeof(".AA") +#define CL_BINDATA sizeof(".10101010") + + /* CAN FD ASCII hex short representation with DATA_SEPERATORs */ +#define CL_CFSZ (2*CL_ID + 64*CL_DATA) + +#define CANID_DELIM '#' + +/* + * Interface between the daemon and the binding + */ +static const struct afb_binding_interface *interface; + +/* + * the type of position expected + * + * here, this type is the selection of protocol + */ +enum type { + type_OBDII, + type_CAN, + type_DEFAULT = type_CAN, + type_INVALID = -1 +}; + +#define type_size sizeof(enum type)-2 + +/* + * names of the types + */ +static const char * const type_NAMES[type_size] = { + "OBDII", + "CAN" +}; + +/* CAN variable initialization */ +struct canfd_frame canfd_frame; + +struct can_handler { + int socket; + char *device; + bool is_fdmode_on; + struct sockaddr_can txAddress; +}; + +/* + * each generated event + */ +typedef struct _event event; +struct _event { + event *next; /* link for the next event */ + const char *name; /* name of the event */ + struct afb_event afb_event; /* the event for the binder */ + openxc_CanMessage can_message; /* value for the can_message */ +}; + +/* + * each can event, will browse by the id + */ +typedef struct _can_event can_event; +struct _can_event { + can_event *next; /* Link to the next other can message */ + event *events; /* events for the can message */ + uint32_t id; /* id of the event for unsubscribe */ + enum type type; /* the type of data expected */ +}; + +can_event *can_events_list; + +/* TODO : Add help comments :p */ +static int connect_to_event_loop(); + +const char hex_asc_upper[] = "0123456789ABCDEF"; + +#define hex_asc_upper_lo(x) hex_asc_upper[((x) & 0x0F)] +#define hex_asc_upper_hi(x) hex_asc_upper[((x) & 0xF0) >> 4] + +static inline void put_hex_byte(char *buf, __u8 byte) +{ + buf[0] = hex_asc_upper_hi(byte); + buf[1] = hex_asc_upper_lo(byte); +} + +static inline void _put_id(char *buf, int end_offset, canid_t id) +{ + /* build 3 (SFF) or 8 (EFF) digit CAN identifier */ + while (end_offset >= 0) { + buf[end_offset--] = hex_asc_upper[id & 0xF]; + id >>= 4; + } +} + +#define put_sff_id(buf, id) _put_id(buf, 2, id) +#define put_eff_id(buf, id) _put_id(buf, 7, id) + +static void parse_can_frame(openxc_CanMessage *can_message, struct canfd_frame *canfd_frame, int maxdlen); + + +// Initialize default can_handler values +static struct can_handler can_handler = { + .socket = -1, + .device = "vcan0", + .is_fdmode_on = false, +}; + +static void send_event(); |