summaryrefslogtreecommitdiffstats
path: root/src/af-steering-wheel-binding.c
blob: 5a792afb4eb0ea91d2406972f5b34f231eeebee7 (plain)
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
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
/*
 * Copyright (c) 2017 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 <systemd/sd-event.h>

#include "af-steering-wheel-binding.h"
#include "bind_event.h"
#include "steering_wheel_json.h"
#include "prop_search.h"
#include "js_raw.h"

#define ENABLE_EVENT_DROP

struct wheel_conf
{
	char *devname;
};

int notify_property_changed(struct prop_info_t *property_info)
{
	struct bind_event_t *event;

	//NOTICEMSG("notify_property_changed %s", property_info->name);
	event =  get_event(property_info->name);
	if (event == NULL)
	{
			DBGMSG("<IGNORE event>: event(\"%s\") is not subscribed", property_info->name);
			return 1;
	}

	if (afb_event_is_valid(event->event))
	{
		int recved_client;

		recved_client = afb_event_push(event->event, property2json(property_info));
		if(recved_client < 1)
		{
			if(recved_client == 0)
			{
				DBGMSG("event(\"%s\") is no client.", property_info->name);
#ifdef ENABLE_EVENT_DROP
				/* Drop event */
				remove_event(property_info->name);
#endif
			}
			else
			{
				ERRMSG("count of clients that received the event : %d",recved_client);
			}

			return 1;
		} /* else  (1 <= recved_lient)
		   *	NORMAL
		   */
	}
	else
	{
		ERRMSG("event(\"%s\") is invalid. don't adb_event_push()", property_info->name);
		return 1;
	}

	return 0;
}

static int	connection(struct wheel_conf *conf)
{
	int js;
	int ret;
	sd_event_source *source;

	js = js_open(conf->devname);
	if (js < 0)
	{
		js_close(js);
		ERRMSG("can't connect to joy stick, the event loop failed");
		return 0;
	}

	ret = sd_event_add_io(
			    afb_daemon_get_event_loop(),
				&source,
				js,
				EPOLLIN,
				on_event, NULL);
	if (ret < 0)
	{
		js_close(js);
		ERRMSG("can't add event, the event loop failed");
		return 0;
	}

	NOTICEMSG("connect to JS(%s), event loop started",conf->devname);

	return 0;
}

/***************************************************************************************/
/**                                                                                   **/
/**                                                                                   **/
/**       SECTION: BINDING VERBS IMPLEMENTATION                                       **/
/**                                                                                   **/
/**                                                                                   **/
/***************************************************************************************/
/**
 * get method.
 */
static void get(afb_req_t req)
{

}

///**
// * set method.
// */
//static void set(struct afb_req req)
//{
//
//}

/**
 * list method.
 */
static struct json_object *tmplists;

static void _listup_properties(struct prop_info_t *property_info)
{
	if (property_info->name == NULL)
	{
		return;
	}
	else
	{
		json_object_array_add(tmplists, json_object_new_string(property_info->name));
	}
}

static void list(afb_req_t req)
{
	if (tmplists != NULL)
	{
		json_object_put(tmplists);
	}
	tmplists = json_object_new_array();
	if (tmplists == NULL)
	{
		ERRMSG("not enough memory");
		afb_req_reply(req, NULL, "not enough memory", NULL);
		return;
	}
	(void)canid_walker(_listup_properties);
	afb_req_reply(req, tmplists, NULL, NULL);
}

/**
 * subscribe method.
 */
static int subscribe_all(afb_req_t req, struct json_object *apply);

static int  subscribe_signal(afb_req_t req, const char *name, struct json_object *apply)
{
	struct bind_event_t *event;

	if(strcmp(name, "*") == 0)
	{
		return subscribe_all(req, apply);
	}

	event = get_event(name);
	if (event == NULL)
	{
		event = register_event(name);
		if (event == NULL)
		{
			ERRMSG("register event failed: %s", name);
			return 1;
		}
	}
	else
	{
		DBGMSG("subscribe event: \"%s\" alrady exist", name);
	}

	if (afb_req_subscribe(req, event->event) != 0)
	{
		ERRMSG("afb_req_subscrive() is failed.");
		return 1;
	}

	json_object_object_add(apply, event->name, property2json(event->raw_info));

	return 0;
}

static int subscribe_all(afb_req_t req, struct json_object *apply)
{
	int i;
	int nProp;
	const char **list = getSupportPropertiesList(&nProp);
	int err = 0;
	for(i = 0; i < nProp; i++)
		err += subscribe_signal(req, list[i], apply);

	return err;
}

static void subscribe(afb_req_t req)
{
	struct json_object *apply;
	int err = 0;
	const char *event;

	event = afb_req_value(req, "event");
	if (event == NULL)
	{
		ERRMSG("Unknwon subscrive event args");
		afb_req_reply(req, NULL, "error", NULL);
		return;
	}
	apply = json_object_new_object();
	err = subscribe_signal(req, event, apply);

	if (!err)
	{
		afb_req_reply(req, apply, NULL, NULL);
	}
	else
	{
		json_object_put(apply);
		afb_req_reply(req, NULL, "error", NULL);
	}
}

/**
 * unsubscribe method.
 */

static int unsubscribe_all(afb_req_t req);

static int unsubscribe_signal(afb_req_t req, const char *name)
{
	struct bind_event_t *event;
	if(strcmp(name, "*") == 0)
	{
		return unsubscribe_all(req);
	}

	event = get_event(name);
	if (event == NULL)
	{
		ERRMSG("not subscribed event \"%s\"", name);
		return 0; /* Alrady unsubscribed */
	}
	if (afb_req_unsubscribe(req, event->event) != 0)
	{
		ERRMSG("afb_req_subscrive() is failed.");
		return 1;
	}

	return 0;
}

static int unsubscribe_all(afb_req_t req)
{
	int i;
	int nProp;
	const char **list = getSupportPropertiesList(&nProp);
	int err = 0;
	for(i = 0; i < nProp; i++)
	{
		err += unsubscribe_signal(req, list[i]);
	}

	return err;
}

static void unsubscribe(afb_req_t req)
{
	struct json_object *args, *val;
	int n,i;
	int err = 0;

	args = afb_req_json(req);
	if ((args == NULL) || !json_object_object_get_ex(args, "event", &val))
	{
		err = unsubscribe_all(req);
	}
	else if (json_object_get_type(val) != json_type_array)
	{
		err = unsubscribe_signal(req, json_object_get_string(val));
	}
	else
	{
		struct json_object *ent;
		n = (int)json_object_array_length(val);
		for (i = 0; i < n; i++)
		{
			ent = json_object_array_get_idx(val, (size_t)i);
			err += unsubscribe_signal(req, json_object_get_string(ent));
		}
	}

	if (!err)
		afb_req_reply(req, NULL, NULL, NULL);
	else
		afb_req_reply(req, NULL, "error", NULL);
}

/*
 * parse configuration file (steering_wheel.json)
 */
static int init_conf(int fd_conf, struct wheel_conf *conf)
{
#define CONF_FILE_MAX (1024)
	char filebuf[CONF_FILE_MAX];
	json_object *jobj;

	memset(filebuf,0, sizeof(filebuf));
	FILE *fp = fdopen(fd_conf,"r");
	if (fp == NULL)
	{
		ERRMSG("canno read configuration file(steering_wheel.json)");
		return -1;
	}

	fread(filebuf, 1, sizeof(filebuf), fp);
	fclose(fp);

	jobj = json_tokener_parse(filebuf);
	if (jobj == NULL)
	{
		ERRMSG("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);

	return 0;
}

static int init()
{
	NOTICEMSG("init");

	int fd_conf;
	struct wheel_conf conf;
   	fd_conf = afb_daemon_rootdir_open_locale("steering_wheel.json", O_RDONLY, NULL);
	if (fd_conf < 0)
	{
		ERRMSG("wheel configuration (steering_wheel.json) is not access");
		return -1;
	}
	if (init_conf(fd_conf, &conf))
	{
		return -1;
	}
	return connection(&conf);
}

/*
 * array of the verbs exported to afb-daemon
 */
static const afb_verb_t binding_verbs[] =
{
  /* VERB'S NAME            SESSION MANAGEMENT          FUNCTION TO CALL         Authorization */
  { .verb= "get",          .session= AFB_SESSION_NONE, .callback= get,          .info = "get", .auth = NULL },
//  { .name= "set",          .session= AFB_SESSION_NONE, .callback= set,        .auth = NULL },
  { .verb= "list",         .session= AFB_SESSION_NONE, .callback= list,         .info = "list", .auth = NULL },
  { .verb= "subscribe",    .session= AFB_SESSION_NONE, .callback= subscribe,    .info = "subscribe", .auth = NULL },
  { .verb= "unsubscribe",  .session= AFB_SESSION_NONE, .callback= unsubscribe,  .info = "unsubscribe", .auth = NULL },
  { .verb= NULL } /* marker for end of the array */
};

/*
 * description of the binding for afb-daemon
 */
const afb_binding_t afbBindingExport =
{
	.api = "steering-wheel",
	.specification = NULL,
    .verbs = binding_verbs,			 /* the array describing the verbs of the API */
    .preinit = NULL,
    .init = init,
    .onevent = NULL,
    .noconcurrency = 1
};