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;
-}
-