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-rw-r--r--CAN-binder/low-can-binding/binding/low-can-cb.cpp310
-rw-r--r--CAN-binder/low-can-binding/binding/low-can-cb.hpp14
-rw-r--r--CAN-binder/low-can-binding/binding/low-can-hat.hpp6
3 files changed, 226 insertions, 104 deletions
diff --git a/CAN-binder/low-can-binding/binding/low-can-cb.cpp b/CAN-binder/low-can-binding/binding/low-can-cb.cpp
index d4cc5a1..5b7561f 100644
--- a/CAN-binder/low-can-binding/binding/low-can-cb.cpp
+++ b/CAN-binder/low-can-binding/binding/low-can-cb.cpp
@@ -19,7 +19,6 @@
#include "low-can-hat.hpp"
#include <map>
-#include <memory>
#include <queue>
#include <mutex>
#include <vector>
@@ -59,12 +58,6 @@ low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filte
: event_filter_{event_filter}
{}
-low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter, std::shared_ptr<diagnostic_message_t> diagnostic_message)
- : diagnostic_message_{diagnostic_message}, event_filter_{event_filter}
-{
- index_ = diagnostic_message->get_pid();
-}
-
low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
: index_{s.index_},
event_filter_{s.event_filter_},
@@ -77,9 +70,14 @@ low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
return *this;
}
+low_can_subscription_t::~low_can_subscription_t()
+{
+ socket_.close();
+}
+
low_can_subscription_t::operator bool() const
{
- return ((can_signal_ != nullptr || diagnostic_message_ != nullptr) && afb_event_is_valid(event_));
+ return ((can_signal_ != nullptr || ! diagnostic_message_.empty()) && afb_event_is_valid(event_));
}
struct afb_event& low_can_subscription_t::get_event()
@@ -97,17 +95,47 @@ const std::shared_ptr<can_signal_t> low_can_subscription_t::get_can_signal() con
return can_signal_;
}
-const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message() const
+const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_subscription_t::get_diagnostic_message() const
{
return diagnostic_message_;
}
+const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(uint32_t pid) const
+{
+ for(const auto& diag: diagnostic_message_)
+ {
+ if(diag->get_pid() == pid)
+ {
+ return diag;
+ }
+ }
+ return nullptr;
+}
+
+const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(const std::string& name) const
+{
+ for(const auto& diag: diagnostic_message_)
+ {
+ if(diag->get_name() == name)
+ {
+ return diag;
+ }
+ }
+ return nullptr;
+}
+
const std::string low_can_subscription_t::get_name() const
{
if (can_signal_ != nullptr)
return can_signal_->get_name();
- if (diagnostic_message_ != nullptr)
- return diagnostic_message_->get_name() ;
+
+ return "";
+}
+
+const std::string low_can_subscription_t::get_name(uint32_t pid) const
+{
+ if (!diagnostic_message_.empty())
+ return get_diagnostic_message(pid)->get_name() ;
return "";
}
@@ -152,47 +180,75 @@ void low_can_subscription_t::set_max(float max)
event_filter_.max = max;
}
+int low_can_subscription_t::open_socket()
+{
+ int ret = 0;
+ if(! socket_)
+ {
+ if( can_signal_ != nullptr)
+ {ret = socket_.open(can_signal_->get_message()->get_bus_device_name());}
+ else if (! diagnostic_message_ .empty())
+ {ret = socket_.open(application_t::instance().get_diagnostic_manager().get_bus_device_name());}
+ index_ = (int)socket_.socket();
+ }
+ return ret;
+}
+
+struct utils::simple_bcm_msg low_can_subscription_t::make_bcm_head(uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const
+{
+ struct utils::simple_bcm_msg bcm_msg;
+
+ memset(&bcm_msg, 0, sizeof(bcm_msg));
+
+ bcm_msg.msg_head.opcode = RX_SETUP;
+ bcm_msg.msg_head.can_id = can_id;
+ bcm_msg.msg_head.flags = flags;
+ bcm_msg.msg_head.ival1.tv_sec = timeout.tv_sec ;
+ bcm_msg.msg_head.ival1.tv_usec = timeout.tv_usec;
+ bcm_msg.msg_head.ival2.tv_sec = frequency_thinning.tv_sec ;
+ bcm_msg.msg_head.ival2.tv_usec = frequency_thinning.tv_usec;
+
+ return bcm_msg;
+}
+
+void low_can_subscription_t::add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const
+{
+ for(int i=0; i < CAN_MAX_DLEN; i++)
+ {
+ if(cfd.data[i] != 0)
+ {
+ bcm_msg.msg_head.nframes = 1;
+ bcm_msg.frames = cfd;
+ return;
+ }
+ }
+}
+
/// @brief Create a RX_SETUP receive job used by the BCM socket.
///
/// @return 0 if ok else -1
-int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
+int low_can_subscription_t::create_rx_filter()
{
- can_signal_= sig;
- return create_rx_filter();
+ int ret = -1;
+ if ( can_signal_ != nullptr)
+ {ret = create_rx_filter(can_signal_);}
+ else if (! diagnostic_message_ .empty())
+ {ret = create_rx_filter(diagnostic_message_.front());}
+
+ return ret;
}
/// @brief Create a RX_SETUP receive job used by the BCM socket.
///
/// @return 0 if ok else -1
-int low_can_subscription_t::create_rx_filter()
+int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
{
- if (can_signal_ == nullptr)
- {return -1;}
-
- // Make sure that socket has been opened.
- if(! socket_)
- {
- socket_.open(can_signal_->get_message()->get_bus_device_name());
- index_ = (int)socket_.socket();
- }
+ can_signal_= sig;
- struct utils::simple_bcm_msg bcm_msg;
struct can_frame cfd;
-
memset(&cfd, 0, sizeof(cfd));
- memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
- float val = (float)(1 << can_signal_->get_bit_size()) - 1;
- struct timeval freq;
- frequency_clock_t f = std::isnan(event_filter_.frequency) ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency);
- freq = f.get_timeval_from_period();
-
- bcm_msg.msg_head.opcode = RX_SETUP;
- bcm_msg.msg_head.can_id = can_signal_->get_message()->get_id();
- bcm_msg.msg_head.flags = SETTIMER|RX_NO_AUTOTIMER;
- bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec ;
- bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
- bcm_msg.msg_head.nframes = 1;
+ float val = (float)(1 << can_signal_->get_bit_size()) - 1;
bitfield_encode_float(val,
can_signal_->get_bit_position(),
can_signal_->get_bit_size(),
@@ -201,11 +257,61 @@ int low_can_subscription_t::create_rx_filter()
cfd.data,
CAN_MAX_DLEN);
- bcm_msg.frames = cfd;
+ struct timeval freq, timeout = {0, 0};
+ frequency_clock_t f = std::isnan(event_filter_.frequency) ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency);
+ freq = f.get_timeval_from_period();
+
+ utils::simple_bcm_msg bcm_msg = make_bcm_head(can_signal_->get_message()->get_id(), SETTIMER|RX_NO_AUTOTIMER, timeout, freq);
+ add_bcm_frame(cfd, bcm_msg);
+
+ return create_rx_filter(bcm_msg);
+}
+
+/// @brief Create a RX_SETUP receive job used by the BCM socket.
+///
+/// @return 0 if ok else -1
+int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig)
+{
+ diagnostic_message_.push_back(sig);
+
+ struct timeval freq = frequency_clock_t(event_filter_.frequency).get_timeval_from_period();
+ //struct timeval timeout = frequency_clock_t(10).get_timeval_from_period();
+ struct timeval timeout = {0,0};
+
+ utils::simple_bcm_msg bcm_msg = make_bcm_head(OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
+ return create_rx_filter(bcm_msg);
+}
+
+/// @brief Create a RX_SETUP receive job used by the BCM socket.
+///
+/// @return 0 if ok else -1
+int low_can_subscription_t::create_rx_filter(utils::simple_bcm_msg& bcm_msg)
+{
+ // Make sure that socket has been opened.
+ if(open_socket() < 0)
+ {return -1;}
- if(socket_ << bcm_msg)
- return 0;
- return -1;
+ // If it isn't an OBD2 CAN ID then just add a simple RX_SETUP job
+ // else monitor all standard 8 CAN OBD2 ID response.
+ if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
+ {
+ socket_ << bcm_msg;
+ if(! socket_)
+ return -1;
+ }
+ else
+ {
+ for(uint8_t i = 0; i < 8; i++)
+ {
+ bcm_msg.msg_head.can_id = OBD2_FUNCTIONAL_RESPONSE_START + i;
+
+ socket_ << bcm_msg;
+ if(! socket_)
+ return -1;
+ }
+ }
+
+ return 0;
}
///******************************************************************************
@@ -214,66 +320,56 @@ int low_can_subscription_t::create_rx_filter()
///
///*******************************************************************************/
-void on_no_clients(const std::string& message)
+void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid)
{
- DiagnosticRequest* diag_req = application_t::instance().get_request_from_diagnostic_message(message);
- if(diag_req != nullptr)
+ if( ! can_subscription->get_diagnostic_message().empty() && can_subscription->get_diagnostic_message(pid) != nullptr)
{
+ DiagnosticRequest diag_req = can_subscription->get_diagnostic_message(pid)->build_diagnostic_request();
active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
if( adr != nullptr)
application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
}
- delete diag_req;
- diag_req = nullptr;
+
+ on_no_clients(can_subscription);
+}
+
+void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription)
+{
+ utils::signals_manager_t& sm = utils::signals_manager_t::instance();
+ std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
+ std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
+ auto it = s.find(can_subscription->get_index());
+ s.erase(it);
}
static void push_n_notify(const can_message_t& cm)
{
can_bus_t& cbm = application_t::instance().get_can_bus_manager();
- std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
- { cbm.push_new_can_message(cm); }
+ {
+ std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
+ cbm.push_new_can_message(cm);
+ }
cbm.get_new_can_message_cv().notify_one();
}
-int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata)
+int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata)
{
- can_message_t cm;
- low_can_subscription_t* can_subscription;
- diagnostic_manager_t& diag_m = application_t::instance().get_diagnostic_manager();
-
- if(userdata != nullptr)
+ low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata;
+ if ((revents & EPOLLIN) != 0)
{
- can_subscription = (low_can_subscription_t*)userdata;
+ can_message_t cm;
utils::socketcan_bcm_t& s = can_subscription->get_socket();
s >> cm;
- }
- else
- {
- utils::socketcan_bcm_t& s = diag_m.get_socket();
- s >> cm;
- }
- push_n_notify(cm);
+ push_n_notify(cm);
+ }
/* check if error or hangup */
if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
{
- sd_event_source_unref(s);
- if(userdata != nullptr)
- {
- can_subscription->get_socket().close();
- can_subscription->create_rx_filter();
- NOTICE(binder_interface, "%s: Recreated RX_SETUP BCM job for can_subscription: %s", __FUNCTION__, can_subscription->get_name().c_str());
- }
- else
- {
- diag_m.get_socket().close();
- diag_m.cleanup_active_requests(true);
- ERROR(binder_interface, "%s: Error on diagnostic manager socket, cancelling active requests.", __FUNCTION__);
- }
- return -1;
+ sd_event_source_unref(event_source);
+ can_subscription->get_socket().close();
}
-
return 0;
}
@@ -338,7 +434,18 @@ static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe,
return make_subscription_unsubscription(request, can_subscription, s, subscribe);
}
-int subscribe_unsubscribe_diagnostic_messages(struct afb_req request, bool subscribe, std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages, struct event_filter_t& event_filter, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription)
+{
+ struct sd_event_source* event_source = nullptr;
+ return ( sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon),
+ &event_source,
+ can_subscription->get_socket().socket(),
+ EPOLLIN,
+ read_message,
+ can_subscription.get()));
+}
+
+static int subscribe_unsubscribe_diagnostic_messages(struct afb_req request, bool subscribe, std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages, struct event_filter_t& event_filter, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
{
int rets = 0;
application_t& app = application_t::instance();
@@ -346,52 +453,55 @@ int subscribe_unsubscribe_diagnostic_messages(struct afb_req request, bool subsc
for(const auto& sig : diagnostic_messages)
{
- DiagnosticRequest* diag_req = app.get_request_from_diagnostic_message(sig->get_name());
- float frequency = std::isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency;
+ DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request());
+ event_filter.frequency = std::isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency;
std::shared_ptr<low_can_subscription_t> can_subscription;
+ auto it = std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub){ return (! sub.second->get_diagnostic_message().empty());});
+ can_subscription = it != s.end() ?
+ it->second :
+ std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
// If the requested diagnostic message isn't supported by the car then unsubcribe it
// no matter what we want, worse case will be a fail unsubscription but at least we don't
// poll a PID for nothing.
//TODO: Adding callback requesting ignition status: diag_req, sig.c_str(), false, diagnostic_message_t::decode_obd2_response, diagnostic_message_t::check_ignition_status, frequency);
if(sig->get_supported() && subscribe)
{
- if (s.find(sig->get_pid()) != s.end())
- {
- can_subscription = s[sig->get_pid()];
- DEBUG(binder_interface, "%s: Signal: %s already subscribed. Adding a new subscription", __FUNCTION__, sig->get_name().c_str());
- }
- else
+ diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), event_filter.frequency);
+ if(can_subscription->create_rx_filter(sig) < 0)
+ {return -1;}
+ DEBUG(binder_interface, "%s: Signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
+ if(it == s.end() && add_to_event_loop(can_subscription) < 0)
{
- diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), frequency);
- can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter, sig));
- DEBUG(binder_interface, "%s: Signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
+ diag_m.cleanup_request(
+ diag_m.find_recurring_request(*diag_req), true);
+ WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, sig->get_name().c_str());
+ return -1;
}
}
else
{
diag_m.cleanup_request(
- diag_m.find_recurring_request(diag_req), true);
- delete diag_req;
- diag_req = nullptr;
+ diag_m.find_recurring_request(*diag_req), true);
if(sig->get_supported())
+ {DEBUG(binder_interface, "%s: %s cancelled due to unsubscribe", __FUNCTION__, sig->get_name().c_str());}
+ else
{
- DEBUG(binder_interface, "%s: %s cancelled due to unsubscribe", __FUNCTION__, sig->get_name().c_str());
- return 0;
+ WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, sig->get_name().c_str());
+ return -1;
}
- WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, sig->get_name().c_str());
- return -1;
}
int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s);
if(ret < 0)
return ret;
+
rets++;
}
return rets;
}
-int subscribe_unsubscribe_can_signals(struct afb_req request, bool subscribe, std::vector<std::shared_ptr<can_signal_t> > can_signals, struct event_filter_t& event_filter, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+static int subscribe_unsubscribe_can_signals(struct afb_req request, bool subscribe, std::vector<std::shared_ptr<can_signal_t> > can_signals, struct event_filter_t& event_filter, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
{
int rets = 0;
for(const auto& sig: can_signals)
@@ -412,8 +522,8 @@ int subscribe_unsubscribe_can_signals(struct afb_req request, bool subscribe, st
if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
{return -1;}
- struct sd_event_source* e_source;
- sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &e_source, can_subscription->get_socket().socket(), EPOLLIN, read_message, can_subscription.get());
+ if(add_to_event_loop(can_subscription) < 0)
+ {return -1;}
rets++;
DEBUG(binder_interface, "%s: signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
}
diff --git a/CAN-binder/low-can-binding/binding/low-can-cb.hpp b/CAN-binder/low-can-binding/binding/low-can-cb.hpp
index 3975c67..0efde63 100644
--- a/CAN-binder/low-can-binding/binding/low-can-cb.hpp
+++ b/CAN-binder/low-can-binding/binding/low-can-cb.hpp
@@ -41,7 +41,7 @@ private:
/// Signal part
std::shared_ptr<can_signal_t> can_signal_;
- std::shared_ptr<diagnostic_message_t> diagnostic_message_;
+ std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_message_;
/// Filtering part
struct event_filter_t event_filter_;
@@ -50,9 +50,9 @@ private:
public:
low_can_subscription_t();
low_can_subscription_t(struct event_filter_t event_filter);
- low_can_subscription_t(struct event_filter_t event_filter, std::shared_ptr<diagnostic_message_t> diagnostic_message);
low_can_subscription_t(const low_can_subscription_t& s) = delete;
low_can_subscription_t(low_can_subscription_t&& s);
+ ~low_can_subscription_t();
low_can_subscription_t& operator=(const low_can_subscription_t& s);
explicit operator bool() const;
@@ -60,8 +60,11 @@ public:
int get_index() const;
struct afb_event& get_event();
const std::shared_ptr<can_signal_t> get_can_signal() const;
- const std::shared_ptr<diagnostic_message_t> get_diagnostic_message() const;
+ const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(uint32_t pid) const;
+ const std::vector<std::shared_ptr<diagnostic_message_t> > get_diagnostic_message() const;
+ const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(const std::string& name) const;
const std::string get_name() const;
+ const std::string get_name(uint32_t pid) const;
float get_frequency() const;
float get_min() const;
float get_max() const;
@@ -72,6 +75,11 @@ public:
void set_min(float min);
void set_max(float max);
+ struct utils::simple_bcm_msg make_bcm_head(uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const;
+ void add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const;
+ int open_socket();
int create_rx_filter();
int create_rx_filter(std::shared_ptr<can_signal_t> sig);
+ int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig);
+ int create_rx_filter(utils::simple_bcm_msg& bcm_msg);
};
diff --git a/CAN-binder/low-can-binding/binding/low-can-hat.hpp b/CAN-binder/low-can-binding/binding/low-can-hat.hpp
index a1c8dad..632dbc9 100644
--- a/CAN-binder/low-can-binding/binding/low-can-hat.hpp
+++ b/CAN-binder/low-can-binding/binding/low-can-hat.hpp
@@ -20,6 +20,7 @@
#include <cstddef>
#include <string>
+#include <memory>
#include <systemd/sd-event.h>
extern "C"
@@ -31,7 +32,10 @@ extern "C" struct afb_binding_interface;
extern const struct afb_binding_interface *binder_interface;
-void on_no_clients(const std::string& message);
+class low_can_subscription_t;
+
+void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription);
+void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid);
int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata);
void subscribe(struct afb_req request);