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SUMMARY = "4A - Infotainment network setup and access"
DESCRIPTION = "Infotainment network setup and access (using Unified Centralized Network Stack)"
HOMEPAGE = "https://gerrit.automotivelinux.org/gerrit/#/admin/projects/apps/agl-service-unicens"
SECTION = "apps"
LICENSE = "Apache-2.0"
LIC_FILES_CHKSUM = "file://LICENSE;md5=89aea4e17d99a7cacdbeed46a0096b10"
SRC_URI = "gitsm://gerrit.automotivelinux.org/gerrit/apps/agl-service-unicens;protocol=https;branch=${AGL_BRANCH}"
SRCREV = "${AGL_APP_REVISION}"
PV = "0.1+git${SRCPV}"
S = "${WORKDIR}/git"
inherit cmake aglwgt pkgconfig
DEPENDS += "alsa-lib json-c systemd af-binder glib-2.0 libxml2 libafb-helpers"
RDEPENDS:${PN} += "libxml2 "
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/*
* 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 "low-can-apidef.h"
#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 "application.hpp"
#include "../can/can-encoder.hpp"
#include "../can/can-bus.hpp"
#include "../can/can-signals.hpp"
#include "../can/can-message.hpp"
#include "../utils/signals.hpp"
#include "../diagnostic/diagnostic-message.hpp"
#include "../utils/openxc-utils.hpp"
///******************************************************************************
///
/// SystemD event loop Callbacks
///
///*******************************************************************************/
void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
{
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)
application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
}
on_no_clients(can_subscription, s);
}
void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
{
auto it = s.find(can_subscription->get_index());
s.erase(it);
}
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 *event_source, int fd, uint32_t revents, void *userdata)
{
low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata;
if ((revents & EPOLLIN) != 0)
{
can_message_t cm;
utils::socketcan_bcm_t& s = can_subscription->get_socket();
s >> cm;
// Sure we got a valid CAN message ?
if(! cm.get_id() == 0 && ! cm.get_length() == 0)
{push_n_notify(cm);}
}
// check if error or hangup
if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
{
sd_event_source_unref(event_source);
can_subscription->get_socket().close();
}
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)
{
AFB_ERROR("Operation goes wrong for signal: %s", 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(can_subscription->get_name().c_str()));
s[sub_index] = can_subscription;
if (!afb_event_is_valid(s[sub_index]->get_event()))
{
AFB_ERROR("Can't create an event for %s, something goes wrong.", 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,
std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
{
int ret = -1;
int sub_index = can_subscription->get_index();
if (can_subscription && s.find(sub_index) != s.end())
{
if (!afb_event_is_valid(s[sub_index]->get_event()) && !subscribe)
{
AFB_NOTICE("Event isn't valid, no need to unsubscribed.");
ret = -1;
}
ret = 0;
}
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);
}
static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription)
{
struct sd_event_source* event_source = nullptr;
return ( sd_event_add_io(afb_daemon_get_event_loop(),
&event_source,
can_subscription->get_socket().socket(),
EPOLLIN,
read_message,
can_subscription.get()));
}
static 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,
std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
{
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 = new DiagnosticRequest(sig->build_diagnostic_request());
event_filter.frequency = event_filter.frequency == 0 ? sig->get_frequency() : event_filter.frequency;
std::shared_ptr<low_can_subscription_t> can_subscription;
auto it = std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub){ return (! sub.second->get_diagnostic_message().empty());});
can_subscription = it != s.end() ?
it->second :
std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
// 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(), event_filter.frequency);
if(can_subscription->create_rx_filter(sig) < 0)
{return -1;}
AFB_DEBUG("Signal: %s subscribed", sig->get_name().c_str());
if(it == s.end() && add_to_event_loop(can_subscription) < 0)
{
diag_m.cleanup_request(
diag_m.find_recurring_request(*diag_req), true);
AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
return -1;
}
}
else
{
if(sig->get_supported())
{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());
return -1;
}
}
int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s);
if(ret < 0)
return ret;
rets++;
}
return rets;
}
static 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,
std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
{
int rets = 0;
for(const auto& sig: can_signals)
{
auto it = std::find_if(s.begin(), s.end(), [&sig, &event_filter](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub){ return sub.second->is_signal_subscription_corresponding(sig, event_filter) ; });
std::shared_ptr<low_can_subscription_t> can_subscription;
if(it != s.end())
{
can_subscription = it->second;
}
else
{
can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
if(can_subscription->create_rx_filter(sig) < 0)
{return -1;}
if(add_to_event_loop(can_subscription) < 0)
{return -1;}
}
if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
{return -1;}
rets++;
AFB_DEBUG("signal: %s subscribed", 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;
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();
rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s);
rets += subscribe_unsubscribe_can_signals(request, subscribe, signals.can_signals, event_filter, s);
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);}
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);}
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);}
}
// 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())
{
AFB_NOTICE("No signal(s) found for %s.", tag.c_str());
ret = -1;
}
else
{ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);}
return ret;
}
static int process_one_subscribe_args(struct afb_req request, bool subscribe, json_object *args)
{
int rc = 0, rc2=0;
json_object *x = nullptr, *event = nullptr;
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
{
for (int i = 0 ; i < json_object_array_length(event); 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;
}
}
return rc;
}
static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe)
{
int rc = 0;
struct json_object *args, *x;
args = afb_req_json(request);
if (json_object_get_type(args) == json_type_array)
{
for(int i = 0; i < json_object_array_length(args); i++)
{
x = json_object_array_get_idx(args, i);
rc += process_one_subscribe_args(request, subscribe, x);
}
}
else
{
rc += process_one_subscribe_args(request, subscribe, args);
}
if (rc >= 0)
afb_req_success(request, NULL, NULL);
else
afb_req_fail(request, "error", NULL);
}
void auth(struct afb_req request)
{
afb_req_session_set_LOA(request, 1);
afb_req_success(request, NULL, NULL);
}
void subscribe(struct afb_req request)
{
do_subscribe_unsubscribe(request, true);
}
void unsubscribe(struct afb_req request)
{
do_subscribe_unsubscribe(request, false);
}
static int send_frame(const std::string& bus_name, const struct can_frame& cf)
{
std::map<std::string, std::shared_ptr<low_can_socket_t> >& cd = application_t::instance().get_can_devices();
if( cd.count(bus_name) == 0)
{cd[bus_name] = std::make_shared<low_can_socket_t>(low_can_socket_t());}
return cd[bus_name]->tx_send(cf, bus_name);
}
static int write_raw_frame(const std::string& bus_name, uint32_t can_id, uint8_t can_dlc, struct json_object* can_data)
{
int rc = 0;
struct can_frame cf;
::memset(&cf, 0, sizeof(cf));
cf.can_id = can_id;
cf.can_dlc = can_dlc;
struct json_object *x;
int n = json_object_array_length(can_data);
if(n <= 8)
{
for (int i = 0 ; i < n ; i++)
{
x = json_object_array_get_idx(can_data, i);
cf.data[i] = json_object_get_type(x) == json_type_int ? (uint8_t)json_object_get_int(x) : 0;
}
}
const std::string found_device = application_t::instance().get_can_bus_manager().get_can_device_name(bus_name);
if( ! found_device.empty())
{
rc = send_frame(found_device, cf);
}
return rc;
}
static int write_signal(const std::string& name, uint64_t value)
{
int rc = 0;
struct can_frame cf;
struct utils::signals_found sf;
::memset(&cf, 0, sizeof(cf));
openxc_DynamicField search_key = build_DynamicField(name);
sf = utils::signals_manager_t::instance().find_signals(search_key);
if (sf.can_signals.empty())
{
AFB_WARNING("No signal(s) found for %s. Message not sent.", name.c_str());
rc = -1;
}
else
{
for(const auto& sig: sf.can_signals)
{
if(sig->get_writable())
{
cf = encoder_t::build_frame(sig, value);
const std::string bus_name = sig->get_message()->get_bus_device_name();
rc = send_frame(bus_name, cf);
}
else
{
AFB_WARNING("%s isn't writable. Message not sent.", sig->get_name().c_str());
return -1;
}
}
}
return rc;
}
void write(struct afb_req request)
{
int rc = 0;
struct json_object* args = nullptr,
*json_name = nullptr,
*json_value = nullptr;
args = afb_req_json(request);
// Process about Raw CAN message on CAN bus directly
if (args != NULL &&
(json_object_object_get_ex(args, "bus_name", &json_name) && json_object_is_type(json_name, json_type_string) ) &&
(json_object_object_get_ex(args, "frame", &json_value) && json_object_is_type(json_value, json_type_object) ))
{
struct json_object* json_can_id = nullptr,
*json_can_dlc = nullptr,
*json_can_data = nullptr;
if( (json_object_object_get_ex(json_value, "can_id", &json_can_id) && (json_object_is_type(json_can_id, json_type_double) || json_object_is_type(json_can_id, json_type_int))) &&
(json_object_object_get_ex(json_value, "can_dlc", &json_can_dlc) && (json_object_is_type(json_can_dlc, json_type_double) || json_object_is_type(json_can_dlc, json_type_int))) &&
(json_object_object_get_ex(json_value, "can_data", &json_can_data) && json_object_is_type(json_can_data, json_type_array) ))
{
rc = write_raw_frame(json_object_get_string(json_name),
json_object_get_int(json_can_id),
(uint8_t)json_object_get_int(json_can_dlc),
json_can_data);
}
else
{
AFB_ERROR("Frame object malformed (must be \n \"frame\": {\"can_id\": int, \"can_dlc\": int, \"can_data\": [ int, int , int, int ,int , int ,int ,int]}");
rc = -1;
}
}
// Search signal then encode value.
else if(args != NULL &&
(json_object_object_get_ex(args, "signal_name", &json_name) && json_object_is_type(json_name, json_type_string)) &&
(json_object_object_get_ex(args, "signal_value", &json_value) && (json_object_is_type(json_value, json_type_double) || json_object_is_type(json_value, json_type_int))))
{
rc = write_signal(json_object_get_string(json_name),
(uint64_t)json_object_get_double(json_value));
}
else
{
AFB_ERROR("Request argument malformed. Please use the following syntax:");
rc = -1;
}
if (rc >= 0)
afb_req_success(request, NULL, NULL);
else
afb_req_fail(request, "error", NULL);
}
static struct json_object *get_signals_value(const std::string& name)
{
struct utils::signals_found sf;
struct json_object *ans = nullptr;
openxc_DynamicField search_key = build_DynamicField(name);
sf = utils::signals_manager_t::instance().find_signals(search_key);
if (sf.can_signals.empty())
{
AFB_WARNING("No signal(s) found for %s.", name.c_str());
return NULL;
}
ans = json_object_new_array();
for(const auto& sig: sf.can_signals)
{
struct json_object *jobj = json_object_new_object();
json_object_object_add(jobj, "event", json_object_new_string(sig->get_name().c_str()));
json_object_object_add(jobj, "value", json_object_new_double(sig->get_last_value()));
json_object_array_add(ans, jobj);
}
return ans;
}
void get(struct afb_req request)
{
int rc = 0;
struct json_object* args = nullptr,
*json_name = nullptr;
json_object *ans = nullptr;
args = afb_req_json(request);
// Process about Raw CAN message on CAN bus directly
if (args != nullptr &&
(json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string) ))
{
ans = get_signals_value(json_object_get_string(json_name));
if (!ans)
rc = -1;
}
else
{
AFB_ERROR("Request argument malformed. Please use the following syntax:");
rc = -1;
}
if (rc >= 0)
afb_req_success(request, ans, NULL);
else
afb_req_fail(request, "error", NULL);
}
static struct json_object *list_can_message(const std::string& name)
{
struct utils::signals_found sf;
struct json_object *ans = nullptr;
openxc_DynamicField search_key = build_DynamicField(name);
sf = utils::signals_manager_t::instance().find_signals(search_key);
if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
{
AFB_WARNING("No signal(s) found for %s.", name.c_str());
return NULL;
}
ans = json_object_new_array();
for(const auto& sig: sf.can_signals)
{
json_object_array_add(ans,
json_object_new_string(sig->get_name().c_str()));
}
for(const auto& sig: sf.diagnostic_messages)
{
json_object_array_add(ans,
json_object_new_string(sig->get_name().c_str()));
}
return ans;
}
void list(struct afb_req request)
{
int rc = 0;
json_object *ans = nullptr;
struct json_object* args = nullptr,
*json_name = nullptr;
args = afb_req_json(request);
const char *name;
if ((args != nullptr) &&
(json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string)))
{
name = json_object_get_string(json_name);
}
else
{
name = "*";
}
ans = list_can_message(name);
if (!ans)
rc = -1;
if (rc >= 0)
afb_req_success(request, ans, NULL);
else
afb_req_fail(request, "error", NULL);
}
/// @brief Initialize the binding.
///
/// @param[in] service Structure which represent the Application Framework Binder.
///
/// @return Exit code, zero if success.
int initv2()
{
can_bus_t& can_bus_manager = application_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(application_t::instance().get_diagnostic_manager().initialize())
return 0;
AFB_ERROR("There was something wrong with CAN device Initialization.");
return 1;
}
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