diff options
Diffstat (limited to 'low-can-binding')
| -rw-r--r-- | low-can-binding/binding/application.hpp | 2 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-apidef.json | 1 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-cb.cpp | 153 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-subscription.cpp | 2 | ||||
| -rw-r--r-- | low-can-binding/diagnostic/diagnostic-manager.cpp | 19 | ||||
| -rw-r--r-- | low-can-binding/diagnostic/diagnostic-manager.hpp | 5 |
6 files changed, 100 insertions, 82 deletions
diff --git a/low-can-binding/binding/application.hpp b/low-can-binding/binding/application.hpp index 7b4732c0..3438c6a4 100644 --- a/low-can-binding/binding/application.hpp +++ b/low-can-binding/binding/application.hpp @@ -65,8 +65,6 @@ class application_t std::map<std::string, std::shared_ptr<low_can_subscription_t> >& get_can_devices(); - const std::string get_diagnostic_bus() const; - diagnostic_manager_t& get_diagnostic_manager() ; uint8_t get_active_message_set() const; diff --git a/low-can-binding/binding/low-can-apidef.json b/low-can-binding/binding/low-can-apidef.json index 5f528377..ba539b0c 100644 --- a/low-can-binding/binding/low-can-apidef.json +++ b/low-can-binding/binding/low-can-apidef.json @@ -12,6 +12,7 @@ "postfix": "", "start": null , "onevent": null, + "preninit": "loadConf", "init": "init_binding", "scope": "", "private": false diff --git a/low-can-binding/binding/low-can-cb.cpp b/low-can-binding/binding/low-can-cb.cpp index 5b351b59..0672e715 100644 --- a/low-can-binding/binding/low-can-cb.cpp +++ b/low-can-binding/binding/low-can-cb.cpp @@ -26,6 +26,7 @@ #include <thread> #include <wrap-json.h> #include <systemd/sd-event.h> +#include <ctl-config.h> #include "openxc.pb.h" #include "application.hpp" #include "../can/can-encoder.hpp" @@ -41,90 +42,65 @@ #include "../can/message/j1939-message.hpp" #include <linux/can/j1939.h> #endif -///****************************************************************************** + +///***************************************************************************** /// -/// SystemD event loop Callbacks +/// Controller Definitions and Callbacks /// -///*******************************************************************************/ +///****************************************************************************/ -void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid, map_subscription& s) +int config_low_can(afb_api_t apiHandle, CtlSectionT *section, json_object *json_obj) { - bool is_permanent_recurring_request = false; - - if( ! can_subscription->get_diagnostic_message().empty() && can_subscription->get_diagnostic_message(pid) != nullptr) - { - DiagnosticRequest diag_req = can_subscription->get_diagnostic_message(pid)->build_diagnostic_request(); - active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req); - if( adr != nullptr) - { - is_permanent_recurring_request = adr->get_permanent(); - - if(! is_permanent_recurring_request) - application_t::instance().get_diagnostic_manager().cleanup_request(adr, true); - } - } + AFB_DEBUG("Config %s", json_object_to_json_string(json_obj)); + CtlConfigT *ctrlConfig; - if(! is_permanent_recurring_request) - on_no_clients(can_subscription, s); -} - -void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, map_subscription& s) -{ - auto it = s.find(can_subscription->get_index()); - s.erase(it); -} + ctrlConfig = (CtlConfigT *) afb_api_get_userdata(apiHandle); + if(!ctrlConfig) + return -1; -static void push_n_notify(std::shared_ptr<message_t> m) -{ - can_bus_t& cbm = application_t::instance().get_can_bus_manager(); - { - std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex()); - cbm.push_new_can_message(m); - } - cbm.get_new_can_message_cv().notify_one(); -} + if(!section->handle) + return -1; -int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata) -{ + application_t *application = (application_t*) section->handle; - low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata; + int active_message_set; + const char *diagnotic_bus = nullptr; - if ((revents & EPOLLIN) != 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) - { - 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(); + if(wrap_json_unpack(json_obj, "{si, ss}", + "active_message_set", &active_message_set, + "diagnostic_bus", &diagnotic_bus)) + return -1; - // Sure we got a valid CAN message ? - if (! message->get_id() == 0 && ! message->get_length() == 0 && !(message->get_flags()&INVALID_FLAG)) - { - push_n_notify(message); - } - } - } - } + application->set_active_message_set((uint8_t)active_message_set); - // check if error or hangup - if ((revents & (EPOLLERR | EPOLLRDHUP | EPOLLHUP)) != 0) + /// Initialize Diagnostic manager that will handle obd2 requests. + /// We pass by default the first CAN bus device to its Initialization. + if(! application_t::instance().get_diagnostic_manager().initialize(diagnotic_bus)) { - sd_event_source_unref(event_source); - can_subscription->get_socket()->close(); + AFB_ERROR("Diagnostic Manager: error at initialization"); + return -1; } return 0; } -///****************************************************************************** +CtlSectionT ctlSections_[] = { + [0]={.key="config" , .uid="config", .info=nullptr, + .loadCB=config_low_can, + .handle=nullptr, + .actions=nullptr}, + [1]={.key="plugins" , .uid="plugins", .info=nullptr, + .loadCB=PluginConfig, + .handle=nullptr, + .actions=nullptr}, +}; + +///***************************************************************************** /// /// Subscription and unsubscription /// -///*******************************************************************************/ +///****************************************************************************/ /// @brief This will determine if an event handle needs to be created and checks if /// we got a valid afb_event to get subscribe or unsubscribe. After that launch the subscription or unsubscription @@ -881,16 +857,17 @@ int init_binding(afb_api_t api) application_t& application = application_t::instance(); can_bus_t& can_bus_manager = application.get_can_bus_manager(); + if(application.get_message_set().empty()) + { + AFB_ERROR("No message_set defined"); + return -1; + } + + can_bus_manager.set_can_devices(); can_bus_manager.start_threads(); utils::signals_manager_t& sm = utils::signals_manager_t::instance(); - /// 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(application_t::instance().get_diagnostic_manager().initialize()) - ret = 0; - // Add a recurring dignostic message request to get engine speed at all times. openxc_DynamicField search_key = build_DynamicField("diagnostic_messages.engine.speed"); struct utils::signals_found sf = sm.find_signals(search_key); @@ -942,3 +919,41 @@ int init_binding(afb_api_t api) return ret; } + +int load_conf(afb_api_t api) +{ + int ret = 0; + CtlConfigT *ctlConfig; + const char *dirList = getenv("CONTROL_CONFIG_PATH"); + std::string bindingDirPath = GetBindingDirPath(api); + std::string filepath = bindingDirPath + "/etc"; + + if (!dirList) + dirList=CONTROL_CONFIG_PATH; + + filepath.append(":"); + filepath.append(dirList); + const char *configPath = CtlConfigSearch(api, filepath.c_str(), "control"); + + if (!configPath) + { + AFB_ERROR_V3("CtlPreInit: No control-* config found invalid JSON %s ", filepath.c_str()); + return -1; + } + + // create one API per file + ctlConfig = CtlLoadMetaData(api, configPath); + if (!ctlConfig) + { + AFB_ERROR_V3("CtrlPreInit No valid control config file in:\n-- %s", configPath); + return -1; + } + + // Save the config in the api userdata field + afb_api_set_userdata(api, ctlConfig); + + setExternalData(ctlConfig, (void*) &application_t::instance()); + ret= CtlLoadSections(api, ctlConfig, ctlSections_); + + return ret; +} diff --git a/low-can-binding/binding/low-can-subscription.cpp b/low-can-binding/binding/low-can-subscription.cpp index 8c0a07c1..2cb5bafb 100644 --- a/low-can-binding/binding/low-can-subscription.cpp +++ b/low-can-binding/binding/low-can-subscription.cpp @@ -370,7 +370,7 @@ int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, co if( subscription.signal_ ) ret = subscription.socket_->open(subscription.signal_->get_message()->get_bus_device_name()); else if(! subscription.diagnostic_message_.empty()) - ret = subscription.socket_->open(application_t::instance().get_diagnostic_bus()); + ret = subscription.socket_->open(application_t::instance().get_diagnostic_manager().get_bus_name()); else if(! bus_name.empty()) ret = subscription.socket_->open(bus_name); diff --git a/low-can-binding/diagnostic/diagnostic-manager.cpp b/low-can-binding/diagnostic/diagnostic-manager.cpp index 91dba470..f3c513c5 100644 --- a/low-can-binding/diagnostic/diagnostic-manager.cpp +++ b/low-can-binding/diagnostic/diagnostic-manager.cpp @@ -56,16 +56,19 @@ diagnostic_manager_t::~diagnostic_manager_t() /// /// this will initialize DiagnosticShims and cancel all active requests /// if there are any. -bool diagnostic_manager_t::initialize() +bool diagnostic_manager_t::initialize(std::string diagnostic_bus) { - // Mandatory to set the bus before intialize shims. - bus_ = application_t::instance().get_diagnostic_bus(); - - init_diagnostic_shims(); - reset(); + if (! diagnostic_bus.empty()) + { + bus_ = diagnostic_bus; + init_diagnostic_shims(); + reset(); - initialized_ = true; - AFB_DEBUG("Diagnostic Manager initialized"); + AFB_DEBUG("Diagnostic Manager initialized"); + initialized_ = true; + return initialized_; + } + AFB_ERROR("Diagnostic Manager missing its bus name in the config"); return initialized_; } diff --git a/low-can-binding/diagnostic/diagnostic-manager.hpp b/low-can-binding/diagnostic/diagnostic-manager.hpp index 784bcd70..c0a8255e 100644 --- a/low-can-binding/diagnostic/diagnostic-manager.hpp +++ b/low-can-binding/diagnostic/diagnostic-manager.hpp @@ -33,7 +33,7 @@ #define DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET 0x8 /// -/// @brief The core structure for running the diagnostics module of the binding. +/// @brief The binding structure for running the diagnostics module of the binding. /// /// This stores details about the active requests and shims required to connect /// the diagnostics library to the CAN device. @@ -54,11 +54,12 @@ private: static bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size); static void shims_logger(const char* m, ...); + public: diagnostic_manager_t(); ~diagnostic_manager_t(); - bool initialize(); + bool initialize(std::string diagnostic_bus); const std::string get_bus_name() const; const std::string get_bus_device_name() const; |