diff options
| -rw-r--r-- | obsolete/ll-can-binding.cpp | 647 | ||||
| -rw-r--r-- | obsolete/ll-can-binding.h | 48 | ||||
| -rw-r--r-- | src/can-bus.cpp | 2 | ||||
| -rw-r--r-- | src/can-message.cpp | 1 |
4 files changed, 2 insertions, 696 deletions
diff --git a/obsolete/ll-can-binding.cpp b/obsolete/ll-can-binding.cpp deleted file mode 100644 index 9c96a60e..00000000 --- a/obsolete/ll-can-binding.cpp +++ /dev/null @@ -1,647 +0,0 @@ -/* - * 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); -} diff --git a/obsolete/ll-can-binding.h b/obsolete/ll-can-binding.h deleted file mode 100644 index b2fec03f..00000000 --- a/obsolete/ll-can-binding.h +++ /dev/null @@ -1,48 +0,0 @@ -/* - * 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. - */ - -/* - * Interface between the daemon and the binding - */ -static const struct afb_binding_interface *interface; - -/* CAN variable initialization */ -struct canfd_frame canfd_frame; - -/* - * 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; diff --git a/src/can-bus.cpp b/src/can-bus.cpp index 355997fc..672e95e5 100644 --- a/src/can-bus.cpp +++ b/src/can-bus.cpp @@ -390,7 +390,7 @@ canfd_frame can_bus_dev_t::read() is_running_ = false; break; } - + return canfd_frame; } diff --git a/src/can-message.cpp b/src/can-message.cpp index f9ec6b21..d40dbc43 100644 --- a/src/can-message.cpp +++ b/src/can-message.cpp @@ -119,6 +119,7 @@ void can_message_t::convert_from_canfd_frame(const canfd_frame& frame) id_ = frame.can_id & CAN_SFF_MASK; format_ = CanMessageFormat::STANDARD; } + DEBUG(binder_interface, ""); if (sizeof(frame.data) <= sizeof(data_)) ::memcpy(&data_, frame.data, length_); |