/* * 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 <memory> #include <queue> #include <mutex> #include <vector> #include <thread> #include <json-c/json.h> #include <systemd/sd-event.h> #include "openxc.pb.h" #include "application.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" #include "canutil/write.h" extern "C" { #include <afb/afb-service-itf.h> }; ///****************************************************************************** /// /// low_can_subscription_t object /// ///*******************************************************************************/ low_can_subscription_t::low_can_subscription_t() : index_{-1}, event_filter_{event_filter_t()}, socket_{} {} low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter) : event_filter_{event_filter} {} low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter, std::shared_ptr<diagnostic_message_t> diagnostic_message) : diagnostic_message_{diagnostic_message}, event_filter_{event_filter} { index_ = diagnostic_message->get_pid(); } low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s) : index_{s.index_}, event_filter_{s.event_filter_}, socket_{std::move(s.socket_)} {} low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s) { socket_ = std::move(s.socket_); return *this; } low_can_subscription_t::operator bool() const { return socket_.socket() != INVALID_SOCKET; } struct afb_event& low_can_subscription_t::get_event() { return event_; } int low_can_subscription_t::get_index() const { return index_; } const std::shared_ptr<can_signal_t> low_can_subscription_t::get_can_signal() const { return can_signal_; } const std::string low_can_subscription_t::get_name() const { if (can_signal_ != nullptr) return can_signal_->get_name(); if (diagnostic_message_ != nullptr) return diagnostic_message_->get_name() ; return ""; } float low_can_subscription_t::get_frequency() const { return event_filter_.frequency; } float low_can_subscription_t::get_min() const { return event_filter_.min; } float low_can_subscription_t::get_max() const { return event_filter_.max; } utils::socketcan_bcm_t& low_can_subscription_t::get_socket() { return socket_; } void low_can_subscription_t::set_event(struct afb_event event) { event_ = event; } void low_can_subscription_t::set_frequency(float freq) { event_filter_.frequency = freq; } void low_can_subscription_t::set_min(float min) { event_filter_.min = min; } void low_can_subscription_t::set_max(float max) { event_filter_.max = max; } /// @brief Create a RX_SETUP receive job used by the BCM socket. /// /// @return 0 if ok else -1 int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig) { can_signal_= sig; return create_rx_filter(); } /// @brief Create a RX_SETUP receive job used by the BCM socket. /// /// @return 0 if ok else -1 int low_can_subscription_t::create_rx_filter() { if (can_signal_ == nullptr) {return -1;} // Make sure that socket has been opened. if(! socket_) { socket_.open(can_signal_->get_message()->get_bus_device_name()); index_ = (int)socket_.socket(); } struct utils::simple_bcm_msg bcm_msg; struct can_frame cfd; memset(&cfd, 0, sizeof(cfd)); memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head)); float val = (float)(1 << can_signal_->get_bit_size()) - 1; struct timeval freq; frequency_clock_t f = std::isnan(event_filter_.frequency) ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency); freq = f.get_timeval_from_period(); bcm_msg.msg_head.opcode = RX_SETUP; bcm_msg.msg_head.can_id = can_signal_->get_message()->get_id(); bcm_msg.msg_head.flags = SETTIMER|RX_NO_AUTOTIMER; bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec ; bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec; bcm_msg.msg_head.nframes = 1; bitfield_encode_float(val, can_signal_->get_bit_position(), can_signal_->get_bit_size(), can_signal_->get_factor(), can_signal_->get_offset(), cfd.data, CAN_MAX_DLEN); bcm_msg.frames = cfd; if(socket_ << bcm_msg) return 0; return -1; } ///****************************************************************************** /// /// SystemD event loop Callbacks /// ///*******************************************************************************/ void on_no_clients(const std::string& message) { DiagnosticRequest* diag_req = application_t::instance().get_request_from_diagnostic_message(message); if(diag_req != nullptr) { active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req); if( adr != nullptr) application_t::instance().get_diagnostic_manager().cleanup_request(adr, true); } delete diag_req; diag_req = nullptr; } static void push_n_notify(const can_message_t& cm) { 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(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; low_can_subscription_t* can_subscription; diagnostic_manager_t& diag_m = application_t::instance().get_diagnostic_manager(); if(userdata != nullptr) { can_subscription = (low_can_subscription_t*)userdata; utils::socketcan_bcm_t& s = can_subscription->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) { can_subscription->get_socket().close(); can_subscription->create_rx_filter(); NOTICE(binder_interface, "%s: Recreated RX_SETUP BCM job for can_subscription: %s", __FUNCTION__, can_subscription->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, std::shared_ptr<low_can_subscription_t>& can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s, bool subscribe) { /* Make the subscription or unsubscription to the event */ if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[can_subscription->get_index()]->get_event())) < 0) { ERROR(binder_interface, "%s: Operation goes wrong for signal: %s", __FUNCTION__, can_subscription->get_name().c_str()); return -1; } return 0; } static int create_event_handle(std::shared_ptr<low_can_subscription_t>& can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s) { int sub_index = can_subscription->get_index(); can_subscription->set_event(afb_daemon_make_event(binder_interface->daemon, can_subscription->get_name().c_str())); s[sub_index] = can_subscription; if (!afb_event_is_valid(s[sub_index]->get_event())) { ERROR(binder_interface, "%s: Can't create an event for %s, something goes wrong.", __FUNCTION__, can_subscription->get_name().c_str()); return -1; } return 0; } /// @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, std::shared_ptr<low_can_subscription_t>& can_subscription) { int ret; int sub_index = can_subscription->get_index(); 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<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals(); if (can_subscription && s.find(sub_index) != s.end()) { if (!afb_event_is_valid(s[sub_index]->get_event()) && !subscribe) { NOTICE(binder_interface, "%s: Event isn't valid, no need to unsubscribed.", __FUNCTION__); ret = -1; } else { // Event it isn't valid anymore, recreate it ret = create_event_handle(can_subscription, s); } } else { /* Event doesn't exist , so let's create it */ can_subscription->set_event({nullptr, nullptr}); s[sub_index] = can_subscription; ret = create_event_handle(can_subscription, 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, can_subscription, s, subscribe); } int subscribe_unsubscribe_diagnostic_messages(struct afb_req request, bool subscribe, std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages, struct event_filter_t& event_filter) { int rets = 0; application_t& app = application_t::instance(); diagnostic_manager_t& diag_m = app.get_diagnostic_manager(); for(const auto& sig : diagnostic_messages) { DiagnosticRequest* diag_req = app.get_request_from_diagnostic_message(sig->get_name()); float frequency = std::isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency; // 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. //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); if(sig->get_supported() && subscribe && diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), frequency) != nullptr) { std::shared_ptr<low_can_subscription_t> can_subscription(new low_can_subscription_t(event_filter, sig)); int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription); if(ret < 0) return ret; rets++; DEBUG(binder_interface, "%s: Signal: %s subscribed", __FUNCTION__, sig->get_name().c_str()); } 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()); delete diag_req; diag_req = nullptr; return -1; } } return rets; } int subscribe_unsubscribe_can_signals(struct afb_req request, bool subscribe, std::vector<std::shared_ptr<can_signal_t> > can_signals, struct event_filter_t& event_filter) { int rets = 0; for(const auto& sig: can_signals) { std::shared_ptr<low_can_subscription_t> can_subscription(new low_can_subscription_t(event_filter)); if(can_subscription->create_rx_filter(sig) < 0) {return -1;} else if(subscribe_unsubscribe_signal(request, subscribe, can_subscription) < 0) {return -1;} struct sd_event_source* e_source; sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &e_source, can_subscription->get_socket().socket(), EPOLLIN, read_message, can_subscription.get()); rets++; DEBUG(binder_interface, "%s: signal: %s subscribed", __FUNCTION__, sig->get_name().c_str()); } return rets; } /// /// @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, struct event_filter_t& event_filter) { int rets = 0; rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter); rets += subscribe_unsubscribe_can_signals(request, subscribe, signals.can_signals, event_filter); return rets; } static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const std::string& tag, json_object* args) { int ret = 0; struct event_filter_t event_filter; struct json_object *filter, *obj; struct utils::signals_found sf; // computes the filter if (json_object_object_get_ex(args, "filter", &filter)) { if (json_object_object_get_ex(filter, "frequency", &obj) && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int))) { event_filter.frequency = (float)json_object_get_double(obj); ret += 1; } if (json_object_object_get_ex(filter, "min", &obj) && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int))) { event_filter.min = (float)json_object_get_double(obj); ret += 2; } if (json_object_object_get_ex(filter, "max", &obj) && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int))) { event_filter.max = (float)json_object_get_double(obj); ret += 4; } } // subscribe or unsubscribe openxc_DynamicField search_key = build_DynamicField(tag); sf = utils::signals_manager_t::instance().find_signals(search_key); if (sf.can_signals.empty() && sf.diagnostic_messages.empty()) NOTICE(binder_interface, "%s: No signal(s) found for %s.", __FUNCTION__, tag.c_str()); else ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter); return ret; } static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe) { int i, n, rc, rc2; struct json_object *args, *event, *x; args = afb_req_json(request); if (args == NULL || !json_object_object_get_ex(args, "event", &event)) { rc = one_subscribe_unsubscribe(request, subscribe, "*", args); } else if (json_object_get_type(event) != json_type_array) { rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), args); } else { rc = 0; n = json_object_array_length(event); for (i = 0 ; i < n ; i++) { x = json_object_array_get_idx(event, i); rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), args); if (rc >= 0) rc = rc2 >= 0 ? rc + rc2 : rc2; } } if (rc >= 0) afb_req_success(request, NULL, NULL); else afb_req_fail(request, "error", NULL); } void subscribe(struct afb_req request) { do_subscribe_unsubscribe(request, true); } void unsubscribe(struct afb_req request) { do_subscribe_unsubscribe(request, false); }