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authorzheng_wenlong <wenlong_zheng@nexty-ele.com>2019-04-04 09:03:27 +0900
committerzheng_wenlong <wenlong_zheng@nexty-ele.com>2019-04-04 09:04:27 +0900
commitc404f25dcaa4e622a0fe9179bc79393a468093d1 (patch)
treecb53edb66a21a4463cdea12082fbd5b77a057035 /src/wheel-service.c
parent1fed2c5a38fed8bc91bb6b8a08982303eb9c2e82 (diff)
Revert "Change steering to systemd service for ces2019"
This reverts commit 1fed2c5a38fed8bc91bb6b8a08982303eb9c2e82. Change-Id: Id83b437eef556b8d3fcd95503b9ff5b4d94bc7a5 Signed-off-by: zheng_wenlong <wenlong_zheng@nexty-ele.com>
Diffstat (limited to 'src/wheel-service.c')
-rw-r--r--src/wheel-service.c420
1 files changed, 0 insertions, 420 deletions
diff --git a/src/wheel-service.c b/src/wheel-service.c
deleted file mode 100644
index 38303e8..0000000
--- a/src/wheel-service.c
+++ /dev/null
@@ -1,420 +0,0 @@
-/*
- * Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION
- *
- * 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.
- */
-
-#define _GNU_SOURCE
-#include <stdio.h>
-#include <string.h>
-#include <unistd.h>
-#include <stdlib.h>
-#include <errno.h>
-#include <netdb.h>
-#include <fcntl.h>
-#include <math.h>
-#include <sys/time.h>
-#include <sys/types.h>
-#include <sys/socket.h>
-#include <json-c/json.h>
-#include <sys/stat.h>
-#include <pthread.h>
-#include <systemd/sd-event.h>
-#include <net/if.h>
-#include <sys/ioctl.h>
-#include <sys/socket.h>
-#include <linux/can.h>
-#include <linux/can/raw.h>
-
-
-#include "wheel-service.h"
-#include "steering_wheel_json.h"
-#include "prop_search.h"
-#include "js_raw.h"
-#include "can_encoder.h"
-
-#define ENABLE_EVENT_DROP
-#define STEERING_WHEEL_JSON "/etc/steering_wheel.json"
-#define BUS_MAP_CONF "/etc/dev-mapping.conf"
-
-struct wheel_conf
-{
- char *devname;
-};
-
-struct transmission_bus_conf
-{
- char *hs;
- char *ls;
-};
-static struct transmission_bus_conf trans_conf;
-
-/*
- * notify function
- */
-int notify_property_changed(struct prop_info_t *property_info)
-{
- DBG_NOTICE("notify_property_changed name=%s,value=%d", property_info->name, property_info->curValue);
-
- int rc = push(makeCanData(property_info));
- if (rc < 0)
- {
- DBG_ERROR("push failed");
- return -1;
- }
-
- return 0;
-}
-
-/*
- * transmission loop
- */
-static void *transmission_event_loop(void *args)
-{
- int s; /* can raw socket */
- int required_mtu;
- int mtu;
- int enable_canfd = 1;
- struct sockaddr_can addr;
- struct canfd_frame frame;
- struct ifreq ifr;
-// int retry = 0;
-
- /* open socket */
- if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
- perror("open socket failed");
- return 0;
- }
-
- addr.can_family = AF_CAN;
- strcpy(ifr.ifr_name, trans_conf.hs);
- /* wait until hs device start */
- while(1) {
- if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
- clear(); /* clear transmission msg queue */
- perror("SIOCGIFINDEX");
- sleep(2);
- }
- else
- {
- break;
- }
- }
-
- addr.can_ifindex = ifr.ifr_ifindex;
-
- /* disable default receive filter on this RAW socket */
- /* This is obsolete as we do not read from the socket at all, but for */
- /* this reason we can remove the receive list in the Kernel to save a */
- /* little (really a very little!) CPU usage. */
- setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
-
- if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
- perror("bind");
- return 0;
- }
-
- while(1)
- {
- struct can_data_t* p = pop();
- if(p == NULL)
- {
- /* sleep 150ms */
- usleep(150000);
- continue;
- }
-
- /* parse CAN frame */
- required_mtu = parse_canframe(p->dat, &frame);
- free(p);
- if (!required_mtu){
- DBG_ERROR("\nWrong CAN-frame format! Try:\n\n");
- DBG_ERROR(" <can_id>#{R|data} for CAN 2.0 frames\n");
- DBG_ERROR(" <can_id>##<flags>{data} for CAN FD frames\n\n");
- DBG_ERROR("<can_id> can have 3 (SFF) or 8 (EFF) hex chars\n");
- DBG_ERROR("{data} has 0..8 (0..64 CAN FD) ASCII hex-values (optionally");
- DBG_ERROR(" separated by '.')\n");
- DBG_ERROR("<flags> a single ASCII Hex value (0 .. F) which defines");
- DBG_ERROR(" canfd_frame.flags\n\n");
- DBG_ERROR("e.g. 5A1#11.2233.44556677.88 / 123#DEADBEEF / 5AA# / ");
- DBG_ERROR("123##1 / 213##311\n 1F334455#1122334455667788 / 123#R ");
- DBG_ERROR("for remote transmission request.\n\n");
- continue;
- }
-
- if (required_mtu > CAN_MTU) {
-
- /* check if the frame fits into the CAN netdevice */
- if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {
- perror("SIOCGIFMTU");
- continue;
- }
- mtu = ifr.ifr_mtu;
-
- if (mtu != CANFD_MTU) {
- DBG_ERROR("CAN interface ist not CAN FD capable - sorry.\n");
- continue;
- }
-
- /* interface is ok - try to switch the socket into CAN FD mode */
- if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
- &enable_canfd, sizeof(enable_canfd))){
- DBG_ERROR("error when enabling CAN FD support\n");
- continue;
- }
-
- /* ensure discrete CAN FD length values 0..8, 12, 16, 20, 24, 32, 64 */
- frame.len = can_dlc2len(can_len2dlc(frame.len));
- }
-
- /* send frame */
- if (write(s, &frame, required_mtu) != required_mtu) {
- perror("write");
- }
- }
-}
-/*
- * transmission thread main function
- */
-static pthread_t runTransmissionLoop(void)
-{
- pthread_t thread_id = 0;
- int ret = pthread_create(&thread_id, NULL, transmission_event_loop, NULL);
- if(ret != 0) {
- DBG_ERROR( "Cannot run eventloop due to error:%d", errno);
- return -1;
- }
-
- return thread_id;
-}
-
-/*
- * connect to js device
- */
-static int connection(struct wheel_conf *conf)
-{
- int js;
- int ret;
- int rc;
- sd_event_source *source;
- sd_event *loop = NULL;
-
- js = js_open(conf->devname);
- if (js < 0)
- {
- js_close(js);
- DBG_ERROR("can't connect to joy stick, the event loop failed");
- return 0;
- }
-
- if(init_timer() < 0)
- {
- js_close(js);
- DBG_ERROR("can't start update timer");
- return 0;
- }
-
- /* get the default event loop */
- rc = sd_event_default(&loop);
- if (rc < 0) {
- DBG_ERROR("connection to default event loop failed: %s\n", strerror(-rc));
- loop = NULL;
- return 0;
- }
-
- ret = sd_event_add_io(
- loop,
- &source,
- js,
- EPOLLIN,
- on_event, NULL);
- if (ret < 0)
- {
- js_close(js);
- DBG_ERROR("can't add event, the event loop failed");
- return 0;
- }
-
- DBG_NOTICE("connect to JS(%s), event loop started",conf->devname);
-
- return 0;
-}
-
-/*
- * read /etc/dev-mapping.conf file
- */
-static int readTransBus(void)
-{
- char *line = NULL;
- char bus_name[4], bus_val[10];
- size_t len = 0;
- ssize_t read;
-
- FILE *fp = fopen(BUS_MAP_CONF,"r");
- if (fp == NULL)
- {
- DBG_ERROR("cannot read /etc/dev-mapping.conf");
- return -1;
- }
-
- while(( read = getline(&line, &len, fp)) != -1) {
- if(line == NULL || line[0] == '[')
- continue;
-
- memset(bus_name, 0, sizeof(bus_name));
- memset(bus_val, 0, sizeof(bus_val));
-
- sscanf(line, "%2s=\"%s", bus_name, bus_val);
- bus_val[strlen(bus_val)-1] = '\0';
- if (strcmp(bus_name, "hs") == 0)
- {
- trans_conf.hs = strdup(bus_val);
- }
- else if (strcmp(bus_name, "ls") == 0)
- {
- trans_conf.ls = strdup(bus_val);
- }
- }
-
- if(line != NULL)
- free(line);
-
- fclose(fp);
-// DBG_ERROR("readTransBus end, hs:%s,ls:%s", trans_conf.hs, trans_conf.ls);
- return 0;
-}
-
-/*
- * parse configuration file (steering_wheel.json)
- */
-static int init_conf(int fd_conf, struct wheel_conf *conf)
-{
-
- char *filebuf = NULL;
- json_object *jobj = NULL;
- struct stat stbuf;
-
- FILE *fp = fdopen(fd_conf,"r");
- if (fp == NULL)
- {
- DBG_ERROR("cannot read configuration file(steering_wheel.json)");
- return -1;
- }
-
- if (fstat(fd_conf, &stbuf) == -1)
- {
- DBG_ERROR("can't get file state");
- return -1;
- }
-
-// fseek(fp, 0, SEEK_SET);
- filebuf = (char *)malloc(stbuf.st_size);
- fread(filebuf, 1, stbuf.st_size, fp);
- fclose(fp);
-
- jobj = json_tokener_parse(filebuf);
- if (jobj == NULL)
-// if (is_error(jobj))
- {
- DBG_ERROR("json: Invalid steering_wheel.json format");
- return -1;
- }
- json_object_object_foreach(jobj, key, val)
- {
- if (strcmp(key,"dev_name") == 0)
- {
- conf->devname = strdup(json_object_get_string(val));
- }
- else if (strcmp(key,"wheel_map") == 0)
- {
- wheel_define_init(json_object_get_string(val));
- }
- else if (strcmp(key,"gear_para") == 0)
- {
- wheel_gear_para_init(json_object_get_string(val));
- }
- }
- json_object_put(jobj);
- free(filebuf);
-
- return 0;
-}
-
-/*
- * init js device
- */
-static int init()
-{
- DBG_NOTICE("init");
-
- int fd_conf;
- static struct wheel_conf conf;
-
- init_can_encoder();
-
- if (readTransBus())
- {
- DBG_ERROR("read file (/etc/dev-mapping.conf) failed");
- return -1;
- }
-
- fd_conf = open(STEERING_WHEEL_JSON, O_RDONLY);
- if (fd_conf < 0)
- {
- DBG_ERROR("wheel configuration (steering_wheel.json) is not access");
- return -1;
- }
- if (init_conf(fd_conf, &conf))
- {
- DBG_ERROR("wheel json file (steering_wheel_map.json) is not access");
- return -1;
- }
-
- return connection(&conf);
-}
-
-/*
- * entry function
- */
-int main(void)
-{
- int rc;
- pthread_t thread_id;
- sd_event *loop = NULL;
-
- /* device init */
- rc = init();
- if (rc < 0) {
- DBG_ERROR("js device init failed: %s\n", strerror(-rc));
- return 1;
- }
-
- /* start post thread */
- thread_id = runTransmissionLoop();
- if (thread_id < 0) {
- DBG_ERROR("run post thread failed: %s\n", strerror(-thread_id));
- }
-
- /* get the default event loop */
- rc = sd_event_default(&loop);
- if (rc < 0) {
- DBG_ERROR("connection to default event loop failed: %s\n", strerror(-rc));
- return 1;
- }
-
- /* loop until end */
- for(;;)
- sd_event_run(loop, 30000000);
- return 0;
-}
-