aboutsummaryrefslogtreecommitdiffstats
path: root/conf.d
diff options
context:
space:
mode:
Diffstat (limited to 'conf.d')
-rw-r--r--conf.d/project/etc/control-signal-composer.json (renamed from conf.d/project/etc/control-daemon.json)8
-rw-r--r--conf.d/project/etc/sig-demoboard.json2
2 files changed, 7 insertions, 3 deletions
diff --git a/conf.d/project/etc/control-daemon.json b/conf.d/project/etc/control-signal-composer.json
index 7a7e162..d44a8fe 100644
--- a/conf.d/project/etc/control-daemon.json
+++ b/conf.d/project/etc/control-signal-composer.json
@@ -10,15 +10,19 @@
"plugins": [
{
"uid": "low-can-callbacks",
- "ldpath": "lib/plugins",
"info": "Manage interaction with low-can service",
"basename": "low-can"
},
{
"uid": "gps-callbacks",
- "ldpath": "lib/plugins",
"info": "Manage interaction with gps service",
"basename": "gps"
+ },
+ {
+ "uid": "builtin",
+ "info": "Builtin routine for onReceived or getSignals routines",
+ "basename": "builtin",
+ "lua2c": "setSignalValueWrap"
}
],
"signals": {
diff --git a/conf.d/project/etc/sig-demoboard.json b/conf.d/project/etc/sig-demoboard.json
index bb64fe9..da64a26 100644
--- a/conf.d/project/etc/sig-demoboard.json
+++ b/conf.d/project/etc/sig-demoboard.json
@@ -26,7 +26,7 @@
"unit": "rpm",
"frequency": 1,
"onReceived": {
- "function": "builtin://defaultOnReceived"
+ "function": "plugin://defaultOnReceived"
}
},
{
'n215' href='#n215'>215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 
/*
 * Copyright (c) 2021, Nippon Seiki Co., Ltd.
 * SPDX-License-Identifier: Apache-2.0
 *
 * 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 <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <sys/un.h>
#include <sys/epoll.h>
#include <pthread.h>

#include <ipc.h>

#include "ipc_internal.h"

#define IPC_SERVER_USAGE_MAX_NUM (1)
#define IPC_LISTEN_CLIENT_NUM (4)
#define IPC_SERVER_EPOLL_WAIT_NUM (IPC_SERVER_USAGE_MAX_NUM * IPC_LISTEN_CLIENT_NUM + 1)

// == Internal global values ==
static bool g_initedFlag = false;
static pthread_t g_serverThread;
static bool g_threadRunning = false;
static int g_threadCtlPipeFd[2] = {-1, -1};
static int g_epollFd = -1;

typedef struct {
    IPC_USAGE_TYPE_E usage;
    int fd;
    int clientFd[IPC_LISTEN_CLIENT_NUM];
} IPC_SERVER_INFO_S;
static IPC_SERVER_INFO_S g_serverInfo[IPC_SERVER_USAGE_MAX_NUM];

static pthread_mutex_t g_mutex = PTHREAD_MUTEX_INITIALIZER;

// == Prototype declaration
static void *ipcServerThread(void *arg);
static int ipcServerInit(void);
static int ipcServerDeinit(void);
static void ipcServerInfoClear(int index);
static int ipcGetServerInfoIndex(IPC_USAGE_TYPE_E usageType);
static int ipcServerCreateSocket(IPC_USAGE_TYPE_E usageType);
static void ipcAcceptClient(int eventFd);
static void ipcCloseClient(int eventFd);
static int ipcAddServer(IPC_USAGE_TYPE_E usageType);
static int ipcAddConnectClient(int index, int clientFd);
static int ipcRemoveServer(IPC_USAGE_TYPE_E usageType);
static int ipcCountServer(void);

// == Thread function ==
static void *ipcServerThread(void *arg)
{
    int fdNum;
    struct epoll_event epEvents[IPC_SERVER_EPOLL_WAIT_NUM];
    int i;
    char dummy;
    int rc;

    while(g_threadRunning != false) {
        fdNum = epoll_wait(g_epollFd, epEvents, IPC_SERVER_USAGE_MAX_NUM, -1);
        if (g_threadRunning == false) {
            break;
        }

        pthread_mutex_lock(&g_mutex);
        for (i = 0; i < fdNum; i++) {
            if (epEvents[i].data.fd == g_threadCtlPipeFd[0]) {
                // dummy notify from API function.
                rc = read(g_threadCtlPipeFd[0], &dummy, 1);
                if (rc < 0) {
                    printf("[##ERROR##] %s:%s:%d (%s) is false. (%s=%d)\n", __FILE__, __func__, __LINE__, "rc < 0", "rc", (int)rc);
                    continue;
                }
            }
            else {
                if (epEvents[i].events & EPOLLRDHUP) {
                    ipcCloseClient(epEvents[i].data.fd);
                }
                else if (epEvents[i].events & EPOLLIN) {
                    ipcAcceptClient(epEvents[i].data.fd);
                }
            }
        }
        pthread_mutex_unlock(&g_mutex);
    }

    pthread_exit(NULL);
    return NULL;
}

// == Internal function ==
static int ipcServerInit(void)
{
    int ret = -1;
    int rc;
    int i;
    struct epoll_event epollEv;

    if (g_initedFlag == false) {
        for (i = 0; i < IPC_SERVER_USAGE_MAX_NUM; i++) {
            ipcServerInfoClear(i);
        }
        g_threadRunning = false;
        rc = pipe(g_threadCtlPipeFd);
        IPC_E_CHECK(rc == 0, rc, end);

        g_epollFd = epoll_create(IPC_SERVER_EPOLL_WAIT_NUM);
        IPC_E_CHECK(g_epollFd >= 0, g_epollFd, end);

        epollEv.events = EPOLLIN;
        epollEv.data.fd = g_threadCtlPipeFd[0];
        epoll_ctl(g_epollFd, EPOLL_CTL_ADD, epollEv.data.fd, &epollEv);

        g_initedFlag = true;
    }

    ret = 0;

end:
    if (ret == -1) {
        for (i = 0; i < 2; i++) {
            if (g_threadCtlPipeFd[i] >= 0) {
                close(g_threadCtlPipeFd[i]);
                g_threadCtlPipeFd[i] = -1;
            }
        }
    }
    return ret;
}

static int ipcServerDeinit(void)
{
    int i;

    if (g_initedFlag == true) {
        if (g_threadRunning == true) {
            g_threadRunning = false;
            pthread_cancel(g_serverThread);
            pthread_join(g_serverThread, NULL);
        }
        for (i = 0; i < IPC_SERVER_USAGE_MAX_NUM; i++) {
            ipcServerInfoClear(i);
        }
        for (i = 0; i < 2; i++) {
            if (g_threadCtlPipeFd[i] >= 0) {
                close(g_threadCtlPipeFd[i]);
                g_threadCtlPipeFd[i] = -1;
            }
        }
        close(g_epollFd);
        g_epollFd = -1;

        g_initedFlag = false;
    }

    return 0;
}

static void ipcServerInfoClear(int index)
{
    int i;

    IPC_E_CHECK(0 <= index && index < IPC_SERVER_USAGE_MAX_NUM, index, end);

    g_serverInfo[index].usage = IPC_USAGE_TYPE_MAX;
    g_serverInfo[index].fd = -1;
    for (i = 0; i < IPC_LISTEN_CLIENT_NUM; i++) {
        g_serverInfo[index].clientFd[i] = -1;
    }

end:
    return;
}

static int ipcGetServerInfoIndex(IPC_USAGE_TYPE_E usageType)
{
    int index = -1;
    int i;

    for (i = 0; i < IPC_SERVER_USAGE_MAX_NUM; i++) {
        if (g_serverInfo[i].usage == usageType) {
            index = i;
            break;
        }
    }

    return index;
}

static int ipcServerCreateSocket(IPC_USAGE_TYPE_E usageType)
{
    int rc;
    int fd = -1;
    struct sockaddr_un unixAddr;
    int len;
    char domainName[IPC_DOMAIN_PATH_MAX] = "";
    int domainLen = IPC_DOMAIN_PATH_MAX;

    IPC_E_CHECK(CHECK_VALID_USAGE(usageType), usageType, err);

    fd = socket(AF_UNIX, SOCK_STREAM, 0);
    IPC_E_CHECK(fd >= 0, fd, err);

    rc = ipcCreateDomainName(usageType, domainName, &domainLen);
    IPC_E_CHECK(rc == 0, rc, err);

    rc = ipcCreateUnixDomainAddr(domainName, &unixAddr, &len);
    IPC_E_CHECK(rc == 0, rc, err);

    rc = bind(fd, (struct sockaddr *)&unixAddr, len);
    IPC_E_CHECK(rc == 0, rc, err);

    rc = listen(fd, IPC_LISTEN_CLIENT_NUM);
    IPC_E_CHECK(rc == 0, rc, err);

    return fd;

err:
    if (fd >= 0) {
        shutdown(fd, SHUT_RDWR);
        close(fd);
        unlink(domainName);
    }
    return -1;
}

static void ipcAcceptClient(int eventFd)
{
    int rc;
    int clientFd;
    char domainName[IPC_DOMAIN_PATH_MAX] = "";
    int domainLen = IPC_DOMAIN_PATH_MAX;
    struct sockaddr_un unixAddr;
    int len;
    IPC_SERVER_INFO_S *pInfo;
    int index = -1;
    int i;
    struct epoll_event epollEv;

    for (i = 0; i < IPC_SERVER_USAGE_MAX_NUM; i++) {
        if (eventFd == g_serverInfo[i].fd) {
            index = i;
            break;
        }
    }
    IPC_E_CHECK(0 <= index && index < IPC_SERVER_USAGE_MAX_NUM, eventFd, end);
    pInfo = &(g_serverInfo[index]);

    rc = ipcCreateDomainName(pInfo->usage, domainName, &domainLen);
    IPC_E_CHECK(rc == 0, rc, end);

    rc = ipcCreateUnixDomainAddr(domainName, &unixAddr, &len);
    IPC_E_CHECK(rc == 0, rc, end);

    // check connect client
    clientFd = accept(pInfo->fd, (struct sockaddr*)&unixAddr, (socklen_t *)&len);
    if (clientFd >= 0) {
        rc = ipcAddConnectClient(index, clientFd);
        if (rc == 0) {
            memset(&epollEv, 0, sizeof(epollEv));
            epollEv.events = EPOLLRDHUP;
            epollEv.data.fd = clientFd;
            epoll_ctl(g_epollFd, EPOLL_CTL_ADD, clientFd, &epollEv);
        }
        else { // The number of connections is already limited.
            shutdown(clientFd, SHUT_RDWR);
            close(clientFd);
        }
    }

end:
    return;
}

static void ipcCloseClient(int eventFd)
{
    int i;
    int index;
    IPC_SERVER_INFO_S *pInfo;
    struct epoll_event epollEv;

    for (index = 0; index < IPC_SERVER_USAGE_MAX_NUM; index++) {
        pInfo = &(g_serverInfo[index]);
        if (pInfo->usage == IPC_USAGE_TYPE_MAX) {
            continue;
        }

        for (i = 0; i < IPC_LISTEN_CLIENT_NUM; i++) {
            if (pInfo->clientFd[i] == eventFd) {
                pInfo->clientFd[i] = -1;

                shutdown(eventFd, SHUT_RDWR);
                close(eventFd);

                memset(&epollEv, 0, sizeof(epollEv));
                epoll_ctl(g_epollFd, EPOLL_CTL_DEL, eventFd, &epollEv);

                break;
            }
        }
    }
}

static int ipcAddServer(IPC_USAGE_TYPE_E usageType)
{
    int ret = -1;
    int index = -1;
    int i;
    int fd;
    IPC_SERVER_INFO_S *pInfo;
    struct epoll_event epollEv;

    IPC_E_CHECK(CHECK_VALID_USAGE(usageType), usageType, end);

    // check if the usageType is used
    index = ipcGetServerInfoIndex(usageType);
    IPC_E_CHECK(index == -1, usageType, end);

    // find empty index
    for (i = 0; i < IPC_SERVER_USAGE_MAX_NUM; i++) {
        pInfo = &(g_serverInfo[i]);
        if (pInfo->usage == IPC_USAGE_TYPE_MAX) {
            pInfo->usage = usageType;
            index = i;
            break;
        }
    }
    IPC_E_CHECK(index >= 0, i, end);
    pInfo = &(g_serverInfo[index]);

    fd = ipcServerCreateSocket(usageType);

    IPC_E_CHECK(fd >= 0, usageType, end);

    pInfo->fd = fd;
    memset(&epollEv, 0, sizeof(epollEv));
    epollEv.events = EPOLLIN;
    epollEv.data.fd = fd;
    epoll_ctl(g_epollFd, EPOLL_CTL_ADD, epollEv.data.fd, &epollEv);

    ret = 0;

end:
    if (ret == -1 && index >= 0) {
        ipcServerInfoClear(index);
    }
    return ret;
}

static int ipcAddConnectClient(int index, int clientFd)
{
    int ret = -1;
    int i;
    IPC_SERVER_INFO_S *pInfo;

    if (clientFd < 0) {
        // do nothing
        goto end;
    }

    pInfo = &(g_serverInfo[index]);

    // find empty index
    for (i = 0; i < IPC_LISTEN_CLIENT_NUM; i++) {
        if (pInfo->clientFd[i] == -1) {
            pInfo->clientFd[i] = clientFd;
            ret = 0;
            break;
        }
    }

end:
    return ret;
}

static int ipcRemoveServer(IPC_USAGE_TYPE_E usageType)
{
    int ret = -1;
    int rc;
    int index;
    char domainName[IPC_DOMAIN_PATH_MAX] = "";
    int domainLen = IPC_DOMAIN_PATH_MAX;
    IPC_SERVER_INFO_S *pInfo;
    struct epoll_event epollEv;

    IPC_E_CHECK(CHECK_VALID_USAGE(usageType), usageType, end);

    index = ipcGetServerInfoIndex(usageType);
    IPC_E_CHECK(index >= 0, usageType, end);

    pInfo = &(g_serverInfo[index]);

    rc = ipcCreateDomainName(pInfo->usage, domainName, &domainLen);
    IPC_E_CHECK(rc == 0, rc, end);

    shutdown(pInfo->fd, SHUT_RDWR);
    close(pInfo->fd);
    unlink(domainName);

    memset(&epollEv, 0, sizeof(epollEv));
    epoll_ctl(g_epollFd, EPOLL_CTL_DEL, pInfo->fd, &epollEv);

    ipcServerInfoClear(index);

    ret = 0;

end:
    return ret;
}

static int ipcCountServer(void)
{
    int count = 0;
    int i;

    for (i = 0; i < IPC_SERVER_USAGE_MAX_NUM; i++) {
        if (g_serverInfo[i].usage != IPC_USAGE_TYPE_MAX) {
            count++;
        }
    }

    return count;
}

// == API function for server ==
IPC_RET_E ipcServerStart(IPC_USAGE_TYPE_E usageType)
{
    IPC_RET_E ret;
    int rc;
    char dummy = 's';

    ret = IPC_ERR_PARAM;
    IPC_E_CHECK(CHECK_VALID_USAGE(usageType), usageType, end);

    ret = IPC_ERR_OTHER;
    rc = ipcServerInit();
    IPC_E_CHECK(rc == 0, rc, end);

    pthread_mutex_lock(&g_mutex);
    rc = ipcAddServer(usageType);
    pthread_mutex_unlock(&g_mutex);

    ret = IPC_ERR_NO_RESOURCE;
    IPC_E_CHECK(rc == 0, rc, end);

    if (g_threadRunning == false) {
        rc = pthread_create(&g_serverThread, NULL, ipcServerThread, NULL);
        IPC_E_CHECK(rc == 0, rc, end);

        g_threadRunning = true;
    }

    rc = write(g_threadCtlPipeFd[1], &dummy, 1); // for wakeup epoll_wait
    IPC_E_CHECK(rc >= 0, rc, end);
    ret = IPC_RET_OK;

end:
    return ret;
}

IPC_RET_E ipcSendMessage(IPC_USAGE_TYPE_E usageType, const void* pData, signed int size)
{
    IPC_RET_E ret;
    int rc;
    int index;
    IPC_SERVER_INFO_S *pInfo = NULL;
    int i;
    int clientFd;

    ret = IPC_ERR_SEQUENCE;
    IPC_E_CHECK(g_initedFlag != false, g_initedFlag, end);

    ret = IPC_ERR_PARAM;
    IPC_E_CHECK(CHECK_VALID_USAGE(usageType), usageType, end);
    IPC_E_CHECK(pData != NULL, 0, end);
    IPC_E_CHECK(g_ipcDomainInfoList[usageType].size >= size, size, end);

    pthread_mutex_lock(&g_mutex);
    index = ipcGetServerInfoIndex(usageType);

    ret = IPC_ERR_PARAM;
    IPC_E_CHECK(index >= 0, usageType, end_with_unlock);
    pInfo = &(g_serverInfo[index]);

    IPC_E_CHECK(pInfo->fd >= 0, usageType, end_with_unlock);

    // Send to All Client
    for (i = 0; i < IPC_LISTEN_CLIENT_NUM; i++) {
        clientFd = pInfo->clientFd[i];
        if (clientFd == -1) {
            continue;
        }
        rc = write(clientFd, pData, size);
        IPC_E_CHECK(rc >= 0, rc, end_with_unlock);
    }

    ret = IPC_RET_OK;
end_with_unlock:
    pthread_mutex_unlock(&g_mutex);

end:
    return ret;
}

IPC_RET_E ipcServerStop(IPC_USAGE_TYPE_E usageType)
{
    IPC_RET_E ret;
    int rc;
    char dummy = 'e';

    ret = IPC_ERR_SEQUENCE;
    IPC_E_CHECK(g_initedFlag != false, g_initedFlag, end);

    ret = IPC_ERR_PARAM;
    IPC_E_CHECK(CHECK_VALID_USAGE(usageType), usageType, end);

    pthread_mutex_lock(&g_mutex);
    rc = ipcRemoveServer(usageType);
    ret = IPC_ERR_PARAM;
    IPC_E_CHECK(rc == 0, rc, end_with_unlock);

    rc = write(g_threadCtlPipeFd[1], &dummy, 1); // for wakeup epoll_wait
    IPC_E_CHECK(rc >= 0, rc, end_with_unlock);

    if (ipcCountServer() == 0) {
        pthread_mutex_unlock(&g_mutex);
        ipcServerDeinit();
    }
    else {
        pthread_mutex_unlock(&g_mutex);
    }

    ret = IPC_RET_OK;

end:
    return ret;

end_with_unlock:
    pthread_mutex_unlock(&g_mutex);
    return ret;
}