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Diffstat (limited to 'iotbzh-CAN-binding.c')
| -rw-r--r-- | iotbzh-CAN-binding.c | 559 |
1 files changed, 0 insertions, 559 deletions
diff --git a/iotbzh-CAN-binding.c b/iotbzh-CAN-binding.c deleted file mode 100644 index 1dc66574..00000000 --- a/iotbzh-CAN-binding.c +++ /dev/null @@ -1,559 +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. - */ -#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> - -/*****************************************************************************************/ -/*****************************************************************************************/ -/** **/ -/** **/ -/** 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 '#' - -/* - * 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 - -/* - * 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 */ -}; - -/* CAN variable initialization */ - -static __u32 dropcnt[MAXSOCK]; -static __u32 last_dropcnt[MAXSOCK]; -struct timeval tv; -struct canfd_frame canfd_frame; - -struct can_handler { - int socket; - char *device; - openxc_CanMessage *msg; - struct sockaddr_can txAddress; -}; - - - -/*****************************************************************************************/ -/*****************************************************************************************/ -/** **/ -/** **/ -/** SECTION: UTILITY FUNCTIONS **/ -/** **/ -/** **/ -/*****************************************************************************************/ -/*****************************************************************************************/ -/* - * Interface between the daemon and the binding - */ -static const struct afb_binding_interface *interface; - -/* - * @brief 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; -} - -/*****************************************************************************************/ -/*****************************************************************************************/ -/** **/ -/** **/ -/** 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_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 canread_frame_parse(struct canfd_frame *canfd_frame, int maxdlen); - -/* - * names of the types - */ -static const char * const type_NAMES[type_size] = { - "OBDII", - "CAN" -}; - - -// Initialize default can_handler values -static struct can_handler can_handler = { - .socket = -1, - .device = "vcan0", -}; - - -/* - * open the can socket - */ -static int open_can_dev() -{ - const int canfd_on = 1; - struct ifreq ifr; - struct timeval timeout = {1,0}; - openxc_CanMessage *can_msg; - - DEBUG(interface, "open_can_dev: CAN Handler socket : %d", can_handler.socket); - 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 */ - 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; - } else { - can_msg->frame_format = openxc_CanMessage_FrameFormat_EXTENDED; - } - - /* 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); - can_handler.msg = can_msg; - return 0; - } - } - close(can_handler.socket); - can_handler.socket = -1; - } - return -1; -} - -static int write_can() -{ - int rc = 0; - - rc = can_handler.socket; - if (rc >= 0) - { -/* - * TODO change old hvac write can frame to generic on_event - */ - rc = sendto(can_handler.socket, &canfd_frame, sizeof(struct canfd_frame), 0, - (struct sockaddr*)&can_handler.txAddress, sizeof(can_handler.txAddress)); - if (rc < 0) - { - ERROR(interface, "Sending CAN frame failed."); - } - } - else - { - ERROR(interface, "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. - */ -static int read_can() -{ - int bytes_read, maxdlen; - - bytes_read = read(can_handler.socket, &canfd_frame, sizeof(struct canfd_frame)); - - if (bytes_read < 0) - { - if (errno == ENETDOWN) { - ERROR(interface, "%s: interface down", can_handler.device); - } - ERROR(interface, "Error reading CAN bus"); - return -1; - } - - /* CAN frame integrity check */ - if ((size_t)bytes_read == CAN_MTU) - maxdlen = CAN_MAX_DLEN; - else if ((size_t)bytes_read == CANFD_MTU) - maxdlen = CANFD_MAX_DLEN; - else - { - ERROR(interface, "CAN frame incomplete"); - return -2; - } - - canread_frame_parse(&canfd_frame, maxdlen); -} - -/* - * Parse the CAN frame data payload as a CAN packet - * TODO: parse as an OpenXC Can Message - */ -static void canread_frame_parse(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) { - 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; - } - - 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; - - can_message->has_id = true; - can_message->id = msg.id; // TODO make the parsing to extract id from data and only return left data into msg.msg_iov - can_message->has_data = true; - can_message->data = msg.msg_iov; - */ -} - -/***************************************************************************************/ -/***************************************************************************************/ -/** **/ -/** **/ -/** SECTION: MANAGING EVENTS **/ -/** **/ -/** **/ -/***************************************************************************************/ -/***************************************************************************************/ -static int connect_to_event_loop(); - -/* - * 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); -// event_send(); - } - - /* 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 struct event *event_get(enum type type) -{ - -} - -static struct event *event_of_id(int id) -{ - -} - -/*****************************************************************************************/ -/*****************************************************************************************/ -/** **/ -/** **/ -/** 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 ; 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; - struct event *event; - struct json_object *json; - - if (get_type_for_req(req, &type)) - { - event = event_get(type); - if (event == NULL) - afb_req_fail(req, "out-of-memory", NULL); - else if (afb_req_subscribe(req, event->event) != 0) - afb_req_fail_f(req, "failed", "afb_req_subscribe returned an error: %m"); - else - { - 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); - } - } -} - -/* - * 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; - struct 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)); - if (event == NULL) - afb_req_fail(req, "bad-id", NULL); - else - { - afb_req_unsubscribe(req, event->event); - afb_req_success(req, NULL, NULL); - } - } -} - -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[]= -{ - { .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) -{ - return connect_to_event_loop(); -} |