diff options
Diffstat (limited to 'CAN-binder/low-can-binding/binding')
| -rw-r--r-- | CAN-binder/low-can-binding/binding/configuration-generated.cpp | 486 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/binding/configuration.cpp | 96 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/binding/configuration.hpp | 109 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/binding/low-can-cb.cpp | 306 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/binding/low-can-hat.cpp | 83 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/binding/low-can-hat.hpp | 38 |
6 files changed, 1118 insertions, 0 deletions
diff --git a/CAN-binder/low-can-binding/binding/configuration-generated.cpp b/CAN-binder/low-can-binding/binding/configuration-generated.cpp new file mode 100644 index 00000000..bce469e5 --- /dev/null +++ b/CAN-binder/low-can-binding/binding/configuration-generated.cpp @@ -0,0 +1,486 @@ +#include "configuration.hpp" +#include "../can/can-decoder.hpp" + +configuration_t::configuration_t() + : can_bus_manager_{utils::config_parser_t{"/etc/dev-mapping.conf"}} + , can_message_set_{ + {std::make_shared<can_message_set_t>(can_message_set_t{0,"example", + { // beginning can_message_definition_ vector + {std::make_shared<can_message_definition_t>(can_message_definition_t{"can0",0x3D9,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true, + { // beginning can_signals vector + {std::make_shared<can_signal_t> (can_signal_t{ + "engine.speed", + 16, + 16, + 0.250000f, + 0.00000, + 0, + 0, + frequency_clock_t(0.00000f), + true, + false, + { + }, + false, + nullptr, + nullptr, + false + })}, + {std::make_shared<can_signal_t> (can_signal_t{ + "fuel.level.low", + 55, + 1, + 1.00000f, + 0.00000, + 0, + 0, + frequency_clock_t(0.00000f), + true, + false, + { + }, + false, + decoder_t::booleanDecoder, + nullptr, + false + })}, + {std::make_shared<can_signal_t> (can_signal_t{ + "fuel.level", + 8, + 8, + 0.392157f, + 0.00000, + 0, + 0, + frequency_clock_t(0.00000f), + true, + false, + { + }, + false, + nullptr, + nullptr, + false + })} + } // end can_signals vector + })} // end can_message_definition entry +, {std::make_shared<can_message_definition_t>(can_message_definition_t{"can0",0x3E9,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true, + { // beginning can_signals vector + {std::make_shared<can_signal_t> (can_signal_t{ + "vehicle.average.speed", + 0, + 15, + 0.0156250f, + 0.00000, + 0, + 0, + frequency_clock_t(0.00000f), + true, + false, + { + }, + false, + nullptr, + nullptr, + false + })} + } // end can_signals vector + })} // end can_message_definition entry +, {std::make_shared<can_message_definition_t>(can_message_definition_t{"can0",0x4D1,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true, + { // beginning can_signals vector + {std::make_shared<can_signal_t> (can_signal_t{ + "engine.oil.temp", + 16, + 8, + 1.00000f, + 0.00000, + 0, + 0, + frequency_clock_t(0.00000f), + true, + false, + { + }, + false, + nullptr, + nullptr, + false + })}, + {std::make_shared<can_signal_t> (can_signal_t{ + "engine.oil.temp.high", + 7, + 1, + 1.00000f, + 0.00000, + 0, + 0, + frequency_clock_t(0.00000f), + true, + false, + { + }, + false, + decoder_t::booleanDecoder, + nullptr, + false + })} + } // end can_signals vector + })} // end can_message_definition entry +, {std::make_shared<can_message_definition_t>(can_message_definition_t{"can0",0x620,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true, + { // beginning can_signals vector + {std::make_shared<can_signal_t> (can_signal_t{ + "doors.boot.open", + 56, + 1, + 1.00000f, + 0.00000, + 0, + 0, + frequency_clock_t(0.00000f), + true, + false, + { + }, + false, + decoder_t::booleanDecoder, + nullptr, + false + })}, + {std::make_shared<can_signal_t> (can_signal_t{ + "doors.front_left.open", + 46, + 1, + 1.00000f, + 0.00000, + 0, + 0, + frequency_clock_t(0.00000f), + true, + false, + { + }, + false, + decoder_t::booleanDecoder, + nullptr, + false + })}, + {std::make_shared<can_signal_t> (can_signal_t{ + "doors.front_right.open", + 47, + 1, + 1.00000f, + 0.00000, + 0, + 0, + frequency_clock_t(0.00000f), + true, + false, + { + }, + false, + decoder_t::booleanDecoder, + nullptr, + false + })}, + {std::make_shared<can_signal_t> (can_signal_t{ + "doors.rear_left.open", + 54, + 1, + 1.00000f, + 0.00000, + 0, + 0, + frequency_clock_t(0.00000f), + true, + false, + { + }, + false, + decoder_t::booleanDecoder, + nullptr, + false + })}, + {std::make_shared<can_signal_t> (can_signal_t{ + "doors.rear_right.open", + 53, + 4, + 1.00000f, + 0.00000, + 0, + 0, + frequency_clock_t(0.00000f), + true, + false, + { + }, + false, + decoder_t::booleanDecoder, + nullptr, + false + })} + } // end can_signals vector + })} // end can_message_definition entry + }, // end can_message_definition vector + { // beginning diagnostic_messages_ vector + {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 4, + "engine.load", + 0, + 0, + UNIT::INVALID, + 5.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 5, + "engine.coolant.temperature", + 0, + 0, + UNIT::INVALID, + 1.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 10, + "fuel.pressure", + 0, + 0, + UNIT::INVALID, + 1.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 11, + "intake.manifold.pressure", + 0, + 0, + UNIT::INVALID, + 1.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 12, + "engine.speed", + 0, + 0, + UNIT::INVALID, + 5.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 13, + "vehicle.speed", + 0, + 0, + UNIT::INVALID, + 5.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 15, + "intake.air.temperature", + 0, + 0, + UNIT::INVALID, + 1.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 16, + "mass.airflow", + 0, + 0, + UNIT::INVALID, + 5.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 17, + "throttle.position", + 0, + 0, + UNIT::INVALID, + 5.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 31, + "running.time", + 0, + 0, + UNIT::INVALID, + 1.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 45, + "EGR.error", + 0, + 0, + UNIT::INVALID, + 0.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 47, + "fuel.level", + 0, + 0, + UNIT::INVALID, + 1.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 51, + "barometric.pressure", + 0, + 0, + UNIT::INVALID, + 1.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 70, + "ambient.air.temperature", + 0, + 0, + UNIT::INVALID, + 1.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 76, + "commanded.throttle.position", + 0, + 0, + UNIT::INVALID, + 1.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 82, + "ethanol.fuel.percentage", + 0, + 0, + UNIT::INVALID, + 1.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 90, + "accelerator.pedal.position", + 0, + 0, + UNIT::INVALID, + 5.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 91, + "hybrid.battery-pack.remaining.life", + 0, + 0, + UNIT::INVALID, + 5.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 92, + "engine.oil.temperature", + 0, + 0, + UNIT::INVALID, + 1.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 94, + "engine.fuel.rate", + 0, + 0, + UNIT::INVALID, + 1.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 99, + "engine.torque", + 0, + 0, + UNIT::INVALID, + 1.00000f, + decoder_t::decode_obd2_response, + nullptr, + true + })} + } // end diagnostic_messages_ vector + })} // end can_message_set entry + } // end can_message_set vector +{ + for(auto& cms: can_message_set_) + { + std::vector<std::shared_ptr<can_message_definition_t> >& can_messages_definition = cms->get_can_message_definition(); + for(auto& cmd : can_messages_definition) + { + cmd->set_parent(cms.get()); + std::vector<std::shared_ptr<can_signal_t> >& can_signals = cmd->get_can_signals(); + for(auto& sig: can_signals) + { + sig->set_parent(cmd.get()); + } + } + + std::vector<std::shared_ptr<diagnostic_message_t> >& diagnostic_messages = cms->get_diagnostic_messages(); + for(auto& dm : diagnostic_messages) + { + dm->set_parent(cms.get()); + } + } +} + +const std::string configuration_t::get_diagnostic_bus() const +{ + return "can0"; +} + + diff --git a/CAN-binder/low-can-binding/binding/configuration.cpp b/CAN-binder/low-can-binding/binding/configuration.cpp new file mode 100644 index 00000000..623ba785 --- /dev/null +++ b/CAN-binder/low-can-binding/binding/configuration.cpp @@ -0,0 +1,96 @@ +/* + * 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. + */ + +#include "configuration.hpp" + +#include "../utils/signals.hpp" +#include "../utils/openxc-utils.hpp" + +/// @brief Return singleton instance of configuration object. +configuration_t& configuration_t::instance() +{ + static configuration_t config; + return config; +} + +can_bus_t& configuration_t::get_can_bus_manager() +{ + return can_bus_manager_; +} + +diagnostic_manager_t& configuration_t::get_diagnostic_manager() +{ + return diagnostic_manager_; +} + +uint8_t configuration_t::get_active_message_set() const +{ + return active_message_set_; +} + +std::vector<std::shared_ptr<can_message_set_t> > configuration_t::get_can_message_set() +{ + return can_message_set_; +} + +std::vector<std::shared_ptr<can_signal_t> > configuration_t::get_all_can_signals() +{ + return can_message_set_[active_message_set_]->get_all_can_signals(); +} + +std::vector<std::shared_ptr<diagnostic_message_t> >& configuration_t::get_diagnostic_messages() +{ + return can_message_set_[active_message_set_]->get_diagnostic_messages(); +} + +std::vector<std::shared_ptr<can_message_definition_t> >& configuration_t::get_can_message_definition() +{ + return can_message_set_[active_message_set_]->get_can_message_definition(); +} + +uint32_t configuration_t::get_signal_id(diagnostic_message_t& sig) const +{ + return sig.get_pid(); +} + +uint32_t configuration_t::get_signal_id(can_signal_t& sig) const +{ + return sig.get_message()->get_id(); +} + +void configuration_t::set_active_message_set(uint8_t id) +{ + active_message_set_ = id; +} + + +std::shared_ptr<diagnostic_message_t> configuration_t::get_diagnostic_message(std::string message_name) const +{ + struct utils::signals_found found; + found = utils::signals_manager_t::instance().find_signals(build_DynamicField(message_name)); + if(! found.diagnostic_messages.empty()) + return found.diagnostic_messages.front(); + return nullptr; +} + +DiagnosticRequest* configuration_t::get_request_from_diagnostic_message(std::string message_name) const +{ + std::shared_ptr<diagnostic_message_t> diag_msg = get_diagnostic_message(message_name); + if( diag_msg != nullptr && diag_msg->get_supported()) + return new DiagnosticRequest(diag_msg->build_diagnostic_request()); + return nullptr; +} diff --git a/CAN-binder/low-can-binding/binding/configuration.hpp b/CAN-binder/low-can-binding/binding/configuration.hpp new file mode 100644 index 00000000..3ab88ee5 --- /dev/null +++ b/CAN-binder/low-can-binding/binding/configuration.hpp @@ -0,0 +1,109 @@ +/* + * 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. + */ + +#pragma once + +#include <map> +#include <vector> +#include <string> +#include <memory> + +#include "../can/can-bus.hpp" +#include "../can/can-message-set.hpp" +#include "../can/can-signals.hpp" +#include "../diagnostic/diagnostic-manager.hpp" + +#include "low-can-hat.hpp" + +/// +/// @brief Class representing a configuration attached to the binding. +/// +/// It regroups all needed objects instance from other class +/// that will be used along the binding life. It gets a global vision +/// on which signals are implemented for that binding. +/// Here, it is only the definition of the class with predefined accessors +/// methods used in the binding. +/// +/// It will be the reference point to needed objects. +/// +class configuration_t +{ + private: + can_bus_t can_bus_manager_; ///< instanciate the CAN bus manager. It's the one in charge of initialize the CAN bus devices. + diagnostic_manager_t diagnostic_manager_; ///< Diagnostic manager use to manage diagnostic message communication. + uint8_t active_message_set_ = 0; ///< Which is the active message set ? Default to 0. + + std::vector<std::shared_ptr<can_message_set_t> > can_message_set_; ///< Vector holding all message set from JSON signals description file + //std::vector<std::vector<can_message_definition_t>> can_message_definition_; ///< Vector of vector holding all can message definition from JSON signals description file. This describe a CAN message. First vector map to message set + //std::vector<std::vector<can_signal_t>> can_signals_; ///< Vector of vector holding all can signasl from JSON signals description file. A CAN signal is a part of a CAN message. First vector map to message set + //std::vector<std::vector<std::shared_ptr<diagnostic_message_t> > > diagnostic_messages_; ///< Vector of vector holding all diagnostics messages from JSON signals description file. First vector map to message set + + configuration_t(); ///< Private constructor with implementation generated by the AGL generator. + + public: + static configuration_t& instance(); + + can_bus_t& get_can_bus_manager(); + + const std::string get_diagnostic_bus() const; + + diagnostic_manager_t& get_diagnostic_manager() ; + + uint8_t get_active_message_set() const; + + std::vector<std::shared_ptr<can_message_set_t> > get_can_message_set(); + + std::vector<std::shared_ptr<can_signal_t> > get_all_can_signals(); + + std::vector<std::shared_ptr<diagnostic_message_t> >& get_diagnostic_messages(); + + const std::vector<std::string>& get_signals_prefix() const; + + std::vector<std::shared_ptr<can_message_definition_t> >& get_can_message_definition(); + + uint32_t get_signal_id(diagnostic_message_t& sig) const; + + uint32_t get_signal_id(can_signal_t& sig) const; + + void set_active_message_set(uint8_t id); + + std::shared_ptr<diagnostic_message_t> get_diagnostic_message(std::string message_name) const; + DiagnosticRequest* get_request_from_diagnostic_message(std::string message_name) const; +/* + /// TODO: implement this function as method into can_bus class + /// @brief Pre initialize actions made before CAN bus initialization + /// @param[in] bus A CanBus struct defining the bus's metadata + /// @param[in] writable Configure the controller in a writable mode. If false, it will be configured as "listen only" and will not allow writes or even CAN ACKs. + /// @param[in] buses An array of all CAN buses. + void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount); + /// TODO: implement this function as method into can_bus class + /// @brief Post-initialize actions made after CAN bus initialization + /// @param[in] bus A CanBus struct defining the bus's metadata + /// @param[in] writable Configure the controller in a writable mode. If false, it will be configured as "listen only" and will not allow writes or even CAN ACKs. + /// @param[in] buses An array of all CAN buses. + void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount); + /// TODO: implement this function as method into can_bus class + /// @brief Check if the device is connected to an active CAN bus, i.e. it's received a message in the recent past. + /// @return true if a message was received on the CAN bus within CAN_ACTIVE_TIMEOUT_S seconds. + void logBusStatistics(can_bus_dev_t* buses, const int busCount); + /// TODO: implement this function as method into can_bus class + /// @brief Log transfer statistics about all active CAN buses to the debug log. + /// @param[in] buses An array of active CAN buses. + bool isBusActive(can_bus_dev_t* bus); + */ +}; + diff --git a/CAN-binder/low-can-binding/binding/low-can-cb.cpp b/CAN-binder/low-can-binding/binding/low-can-cb.cpp new file mode 100644 index 00000000..4faae852 --- /dev/null +++ b/CAN-binder/low-can-binding/binding/low-can-cb.cpp @@ -0,0 +1,306 @@ +/* + * 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); + } +} + +static void push_n_notify(const can_message_t cm) +{ + can_bus_t& cbm = configuration_t::instance().get_can_bus_manager(); + std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex()); + { cbm.push_new_can_message(cm); } + cbm.get_new_can_message_cv().notify_one(); +} + +int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata) +{ + can_message_t cm; + can_signal_t* sig; + diagnostic_manager_t& diag_m = configuration_t::instance().get_diagnostic_manager(); + + if(userdata != nullptr) + { + sig = (can_signal_t*)userdata; + utils::socketcan_bcm_t s = sig->get_socket(); + s >> cm; + } + else + { + utils::socketcan_bcm_t s = diag_m.get_socket(); + s >> cm; + } + + push_n_notify(cm); + + /* check if error or hangup */ + if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0) + { + sd_event_source_unref(s); + if(userdata != nullptr) + { + sig->get_socket().close(); + sig->create_rx_filter(); + NOTICE(binder_interface, "%s: Recreated RX_SETUP BCM job for signal: %s", __FUNCTION__, sig->get_name().c_str()); + } + else + { + diag_m.get_socket().close(); + diag_m.cleanup_active_requests(true); + ERROR(binder_interface, "%s: Error on diagnostic manager socket, cancelling active requests.", __FUNCTION__); + } + return -1; + } + + 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(); + 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_message, sig.get()); + rets++; + DEBUG(binder_interface, "%s: signal: %s subscribed", __FUNCTION__, sig->get_name().c_str()); + } + return rets; +} + +static int process_args(struct afb_req request, const std::vector<std::string>& args, bool subscribe) +{ + struct utils::signals_found sf; + int ok = 0, total = 0; + + 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); + return ok; +} + +static const std::vector<std::string> parse_args_from_request(struct afb_req request) +{ + 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) +{ + bool subscribe = true; + + const std::vector<std::string> args = parse_args_from_request(request); + + if (process_args(request, args, subscribe) > 0) + afb_req_success(request, NULL, NULL); + else + afb_req_fail(request, "error", NULL); +} + +void unsubscribe(struct afb_req request) +{ + std::vector<std::string> args; + bool subscribe = false; + + args = parse_args_from_request(request); + + if (process_args(request, args, subscribe) > 0) + afb_req_success(request, NULL, NULL); + else + afb_req_fail(request, "error", NULL); +}
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/binding/low-can-hat.cpp b/CAN-binder/low-can-binding/binding/low-can-hat.cpp new file mode 100644 index 00000000..918625f6 --- /dev/null +++ b/CAN-binder/low-can-binding/binding/low-can-hat.cpp @@ -0,0 +1,83 @@ +/* + * 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 <json-c/json.h> + +#include "configuration.hpp" +#include "../can/can-bus.hpp" + +extern "C" +{ + #include <afb/afb-service-itf.h> +}; + +// Interface between the daemon and the binding +const struct afb_binding_interface *binder_interface; + +extern "C" +{ + 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." } + }; + + static const struct afb_binding binding_desc { + AFB_BINDING_VERSION_1, + { + "Low level CAN bus service", + "low-can", + verbs + } + }; + + const struct afb_binding *afbBindingV1Register (const struct afb_binding_interface *itf) + { + binder_interface = itf; + + return &binding_desc; + } + + /// @brief Initialize the binding. + /// + /// @param[in] service Structure which represent the Application Framework Binder. + /// + /// @return Exit code, zero if success. + int afbBindingV1ServiceInit(struct afb_service service) + { + can_bus_t& can_bus_manager = configuration_t::instance().get_can_bus_manager(); + + can_bus_manager.set_can_devices(); + can_bus_manager.start_threads(); + + /// Initialize Diagnostic manager that will handle obd2 requests. + /// We pass by default the first CAN bus device to its Initialization. + /// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus. + if(configuration_t::instance().get_diagnostic_manager().initialize()) + return 0; + + ERROR(binder_interface, "%s: There was something wrong with CAN device Initialization.", __FUNCTION__); + return 1; + } +}; diff --git a/CAN-binder/low-can-binding/binding/low-can-hat.hpp b/CAN-binder/low-can-binding/binding/low-can-hat.hpp new file mode 100644 index 00000000..b3384d77 --- /dev/null +++ b/CAN-binder/low-can-binding/binding/low-can-hat.hpp @@ -0,0 +1,38 @@ +/* + * 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. + */ + +#pragma once + +#include <cstddef> +#include <string> +#include <systemd/sd-event.h> + +extern "C" +{ + #include <afb/afb-binding.h> +}; + +extern "C" struct afb_binding_interface; + +extern const struct afb_binding_interface *binder_interface; + +void on_no_clients(std::string message); +int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata); + +void subscribe(struct afb_req request); +void unsubscribe(struct afb_req request);
\ No newline at end of file |