1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
|
/*
* 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-binding.hpp"
#include <queue>
#include <mutex>
#include <vector>
#include <thread>
#include <linux/can.h>
#include <json-c/json.h>
#include <systemd/sd-event.h>
#include "openxc.pb.h"
#include "can/can-bus.hpp"
#include "can/can-signals.hpp"
#include "can/can-message.hpp"
#include "utils/timer.hpp"
#include "utils/signals.hpp"
#include "utils/openxc-utils.hpp"
extern "C"
{
#include <afb/afb-service-itf.h>
};
// Interface between the daemon and the binding
const struct afb_binding_interface *binder_interface;
configuration_t *config;
/********************************************************************************
*
* Subscription and unsubscription
*
*********************************************************************************/
static int make_subscription_unsubscription(struct afb_req request, const std::string& sig_name, std::map<std::string, struct afb_event>& s, bool subscribe)
{
/* Make the subscription or unsubscription to the event */
if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[sig_name.c_str()])) < 0)
{
ERROR(binder_interface, "Operation goes wrong for signal: %s", sig_name);
return 0;
}
return 1;
}
static int create_event_handle(const std::string& sig_name, std::map<std::string, struct afb_event>& s)
{
s[sig_name] = afb_daemon_make_event(binder_interface->daemon, sig_name.c_str());
if (!afb_event_is_valid(s[sig_name]))
{
ERROR(binder_interface, "Can't create an event, something goes wrong.");
return 0;
}
return 1;
}
static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, const std::string& sig)
{
int ret;
std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
std::map<std::string, struct afb_event>& s = get_subscribed_signals();
if (s.find(sig) != s.end() && !afb_event_is_valid(s[sig]))
{
if(!subscribe)
{
NOTICE(binder_interface, "Event isn't valid, it can't be unsubscribed.");
ret = -1;
}
else
{
/* Event it isn't valid annymore, recreate it */
ret = create_event_handle(sig, s);
}
}
else
{
/* Event doesn't exist , so let's create it */
struct afb_event empty_event = {nullptr, nullptr};
subscribed_signals[sig] = empty_event;
ret = create_event_handle(sig, 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, sig, s, subscribe);
}
/**
* @fn static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const std::vector<CanSignal>& signals)
* @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] CanSignal vector with CanSignal to subscribe
*
* @return Number of correctly subscribed signal
*/
static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const std::vector<std::string>& signals)
{
int rets = 0;
for(auto& sig : signals)
{
int ret = subscribe_unsubscribe_signal(request, subscribe, sig);
if(ret <= 0)
return ret;
rets++;
DEBUG(binder_interface, "Signal: %s subscribed", sig.c_str());
}
return rets;
}
static int subscribe_unsubscribe_name(struct afb_req request, bool subscribe, const char *name)
{
std::vector<std::string> signals;
int ret = 0;
openxc_DynamicField search_key = build_DynamicField(std::string(name));
signals = find_signals(search_key);
if (signals.empty())
ret = 0;
ret = subscribe_unsubscribe_signals(request, subscribe, signals);
NOTICE(binder_interface, "Subscribed correctly to %d/%d signal(s).", ret, (int)signals.size());
return ret;
}
static void subscribe_unsubscribe(struct afb_req request, bool subscribe)
{
int ok, i, n;
struct json_object *args, *a, *x;
/* makes the subscription/unsubscription */
args = afb_req_json(request);
if (args == NULL || !json_object_object_get_ex(args, "event", &a)) {
ok = subscribe_unsubscribe_name(request, subscribe, "*");
} else if (json_object_get_type(a) != json_type_array) {
ok = subscribe_unsubscribe_name(request, subscribe, json_object_get_string(a));
} else {
n = json_object_array_length(a);
ok = 0;
for (i = 0 ; i < n ; i++) {
x = json_object_array_get_idx(a, i);
if (subscribe_unsubscribe_name(request, subscribe, json_object_get_string(x)))
ok++;
}
ok = (ok == n);
}
/* send the report */
if (ok)
afb_req_success(request, NULL, NULL);
else
afb_req_fail(request, "error", NULL);
}
extern "C"
{
static void subscribe(struct afb_req request)
{
subscribe_unsubscribe(request, true);
}
static void unsubscribe(struct afb_req request)
{
subscribe_unsubscribe(request, false);
}
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." }
};
static const struct afb_binding binding_desc {
AFB_BINDING_VERSION_1,
{
"Low level CAN bus service",
"low-can",
verbs
}
};
const struct afb_binding *afbBindingV1Register (const struct afb_binding_interface *itf)
{
binder_interface = itf;
return &binding_desc;
}
/**
* @brief Initialize the binding.
*
* @param[in] service Structure which represent the Application Framework Binder.
*
* @return Exit code, zero if success.
*/
int afbBindingV1ServiceInit(struct afb_service service)
{
config = new configuration_t();
can_bus_t can_bus_manager = config->get_can_bus_manager();
/* Open CAN socket */
if(can_bus_manager.init_can_dev() == 0)
{
can_bus_manager.start_threads();
return 0;
}
ERROR(binder_interface, "There was something wrong with CAN device Initialization. Check your config file maybe");
return 1;
}
};
|
