diff options
Diffstat (limited to 'low-can-binding/binding/low-can-cb.cpp')
| -rw-r--r-- | low-can-binding/binding/low-can-cb.cpp | 92 |
1 files changed, 80 insertions, 12 deletions
diff --git a/low-can-binding/binding/low-can-cb.cpp b/low-can-binding/binding/low-can-cb.cpp index 9c21b675..5fdd961e 100644 --- a/low-can-binding/binding/low-can-cb.cpp +++ b/low-can-binding/binding/low-can-cb.cpp @@ -26,7 +26,6 @@ #include <thread> #include <wrap-json.h> #include <systemd/sd-event.h> - #include "openxc.pb.h" #include "application.hpp" #include "../can/can-encoder.hpp" @@ -37,6 +36,10 @@ #include "../diagnostic/diagnostic-message.hpp" #include "../utils/openxc-utils.hpp" +#ifdef USE_FEATURE_J1939 + #include "../can/message/j1939-message.hpp" + #include <linux/can/j1939.h> +#endif ///****************************************************************************** /// /// SystemD event loop Callbacks @@ -82,18 +85,27 @@ static void push_n_notify(std::shared_ptr<message_t> m) int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata) { + low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata; if ((revents & EPOLLIN) != 0) { - std::shared_ptr<utils::socketcan_t> s = can_subscription->get_socket(); - std::shared_ptr<message_t> message = s->read_message(); - - // Sure we got a valid CAN message ? - if (! message->get_id() == 0 && ! message->get_length() == 0) + utils::signals_manager_t& sm = utils::signals_manager_t::instance(); + std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); + if(can_subscription->get_index() != -1) { - push_n_notify(message); + std::shared_ptr<utils::socketcan_t> s = can_subscription->get_socket(); + if(s->socket() && s->socket() != -1) + { + std::shared_ptr<message_t> message = s->read_message(); + + // Sure we got a valid CAN message ? + if (! message->get_id() == 0 && ! message->get_length() == 0 && message->get_msg_format() != message_format_t::INVALID) + { + push_n_notify(message); + } + } } } @@ -164,8 +176,8 @@ static int subscribe_unsubscribe_signal(afb_req_t request, if( (ret = s[sub_index]->unsubscribe(request)) < 0) return ret; + s.find(sub_index)->second->set_index(-1); s.erase(sub_index); - return ret; } @@ -227,7 +239,9 @@ static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request, else { if(sig->get_supported()) - {AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());} + { + AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str()); + } else { AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str()); @@ -240,7 +254,6 @@ static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request, rets++; } - return rets; } @@ -493,6 +506,10 @@ static int send_frame(struct canfd_frame& cfd, const std::string& bus_name, sock { return low_can_subscription_t::tx_send(*cd[bus_name], cfd, bus_name); } + else if(type == socket_type::J1939) + { + return low_can_subscription_t::j1939_send(*cd[bus_name], cfd, bus_name); + } else{ return -1; } @@ -517,6 +534,12 @@ static int send_message(message_t *message, const std::string& bus_name, socket_ { return low_can_subscription_t::tx_send(*cd[bus_name], message, bus_name); } +#ifdef USE_FEATURE_J1939 + else if(type == socket_type::J1939) + { + return low_can_subscription_t::j1939_send(*cd[bus_name], message, bus_name); + } +#endif else { return -1; @@ -548,6 +571,10 @@ static void write_raw_frame(afb_req_t request, const std::string& bus_name, mess { afb_req_fail(request, "Invalid", "Data array must hold 1 to 8 values."); } + else if(type == socket_type::J1939) + { + afb_req_fail(request, "Invalid", "Data array too large"); + } else { afb_req_fail(request, "Invalid", "Invalid socket type"); @@ -583,6 +610,16 @@ static void write_frame(afb_req_t request, const std::string& bus_name, json_obj message = new can_message_t(CANFD_MAX_DLEN,(uint32_t)id,(uint32_t)length,message_format_t::STANDARD,false,0,data,0); write_raw_frame(request,bus_name,message,can_data,socket_type::BCM); } +#ifdef USE_FEATURE_J1939 + else if(!wrap_json_unpack(json_value, "{si, si, so !}", + "pgn", &id, + "length", &length, + "data", &can_data)) + { + message = new j1939_message_t(J1939_MAX_DLEN,(uint32_t)length,message_format_t::J1939,data,0,J1939_NO_NAME,(pgn_t)id,J1939_NO_ADDR); + write_raw_frame(request,bus_name,message,can_data,socket_type::J1939); + } +#endif else { afb_req_fail(request, "Invalid", "Frame object malformed"); @@ -800,8 +837,9 @@ void list(afb_req_t request) /// @return Exit code, zero if success. int init_binding(afb_api_t api) { - uint32_t ret = 1; - can_bus_t& can_bus_manager = application_t::instance().get_can_bus_manager(); + int ret = 1; + application_t& application = application_t::instance(); + can_bus_t& can_bus_manager = application.get_can_bus_manager(); can_bus_manager.set_can_devices(); can_bus_manager.start_threads(); @@ -829,8 +867,38 @@ int init_binding(afb_api_t api) subscribe_unsubscribe_diagnostic_messages(request, true, sf.diagnostic_messages, event_filter, s, true); } + +#ifdef USE_FEATURE_J1939 + std::vector<std::shared_ptr<message_definition_t>> current_messages_definition = application.get_messages_definition(); + for(std::shared_ptr<message_definition_t> message_definition: current_messages_definition) + { + if(message_definition->is_j1939()) + { + std::shared_ptr<low_can_subscription_t> low_can_j1939 = std::make_shared<low_can_subscription_t>(); + + application.set_subscription_address_claiming(low_can_j1939); + + ret = low_can_subscription_t::open_socket(*low_can_j1939, + message_definition->get_bus_device_name(), + socket_type::J1939_ADDR_CLAIM); + if(ret < 0) + { + AFB_ERROR("Error open socket address claiming for j1939 protocol"); + return -1; + } + +// std::shared_ptr<low_can_subscription_t> saddrclaim = application.get_subscription_address_claiming(); + + add_to_event_loop(low_can_j1939); + break; + } + } +#endif + if(ret) + { AFB_ERROR("There was something wrong with CAN device Initialization."); + } return ret; } |