diff options
Diffstat (limited to 'low-can-binding/binding/low-can-cb.cpp')
| -rw-r--r-- | low-can-binding/binding/low-can-cb.cpp | 358 |
1 files changed, 358 insertions, 0 deletions
diff --git a/low-can-binding/binding/low-can-cb.cpp b/low-can-binding/binding/low-can-cb.cpp new file mode 100644 index 0000000..97b6d20 --- /dev/null +++ b/low-can-binding/binding/low-can-cb.cpp @@ -0,0 +1,358 @@ +/* + * Copyright (C) 2015, 2016 "IoT.bzh" + * Author "Romain Forlot" <romain.forlot@iot.bzh> + * Author "Loic Collignon" <loic.collignon@iot.bzh> + * + * 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 "low-can-hat.hpp" + +#include <map> +#include <queue> +#include <mutex> +#include <vector> +#include <thread> +#include <json-c/json.h> +#include <systemd/sd-event.h> + +#include "openxc.pb.h" +#include "application.hpp" +#include "../can/can-bus.hpp" +#include "../can/can-signals.hpp" +#include "../can/can-message.hpp" +#include "../utils/signals.hpp" +#include "../diagnostic/diagnostic-message.hpp" +#include "../utils/openxc-utils.hpp" + + +///****************************************************************************** +/// +/// SystemD event loop Callbacks +/// +///*******************************************************************************/ + +void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid, std::map<int, std::shared_ptr<low_can_subscription_t> >& s) +{ + 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); + } + + on_no_clients(can_subscription, s); +} + +void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s) +{ + 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); + } + cbm.get_new_can_message_cv().notify_one(); +} + +int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata) +{ + low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata; + if ((revents & EPOLLIN) != 0) + { + can_message_t cm; + utils::socketcan_bcm_t& s = can_subscription->get_socket(); + s >> cm; + + // Sure we got a valid CAN message ? + if(! cm.get_id() == 0 && ! cm.get_length() == 0) + {push_n_notify(cm);} + } + + // check if error or hangup + if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0) + { + sd_event_source_unref(event_source); + can_subscription->get_socket().close(); + } + return 0; +} + +///****************************************************************************** +/// +/// Subscription and unsubscription +/// +///*******************************************************************************/ + +static int make_subscription_unsubscription(struct afb_req request, std::shared_ptr<low_can_subscription_t>& can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s, bool subscribe) +{ + /* Make the subscription or unsubscription to the event */ + if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[can_subscription->get_index()]->get_event())) < 0) + { + ERROR("Operation goes wrong for signal: %s", can_subscription->get_name().c_str()); + return -1; + } + return 0; +} + +static int create_event_handle(std::shared_ptr<low_can_subscription_t>& can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s) +{ + int sub_index = can_subscription->get_index(); + can_subscription->set_event(afb_daemon_make_event(can_subscription->get_name().c_str())); + s[sub_index] = can_subscription; + if (!afb_event_is_valid(s[sub_index]->get_event())) + { + ERROR("Can't create an event for %s, something goes wrong.", can_subscription->get_name().c_str()); + return -1; + } + return 0; +} + +/// @brief Will determine if it is needed or not to create the event handle and checks it to be sure that +/// we got a valid afb_event to get subscribe or unsubscribe. Then launch the subscription or unsubscription +/// against the application framework using that event handle. +static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, std::shared_ptr<low_can_subscription_t>& can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s) +{ + int ret = -1; + int sub_index = can_subscription->get_index(); + + if (can_subscription && s.find(sub_index) != s.end()) + { + if (!afb_event_is_valid(s[sub_index]->get_event()) && !subscribe) + { + NOTICE("Event isn't valid, no need to unsubscribed."); + ret = -1; + } + ret = 0; + } + else + { + /* Event doesn't exist , so let's create it */ + can_subscription->set_event({nullptr, nullptr}); + s[sub_index] = can_subscription; + ret = create_event_handle(can_subscription, s); + } + + // Check whether or not the event handler has been correctly created and + // make the subscription/unsubscription operation is so. + if (ret < 0) + return ret; + return make_subscription_unsubscription(request, can_subscription, s, subscribe); +} + +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(), + &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(); + diagnostic_manager_t& diag_m = app.get_diagnostic_manager(); + + for(const auto& sig : diagnostic_messages) + { + 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) + { + 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("Signal: %s subscribed", sig->get_name().c_str()); + if(it == s.end() && add_to_event_loop(can_subscription) < 0) + { + diag_m.cleanup_request( + diag_m.find_recurring_request(*diag_req), true); + WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str()); + return -1; + } + } + else + { + if(sig->get_supported()) + {DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());} + else + { + WARNING("signal: %s isn't supported. Canceling operation.", 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; +} + +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) + { + 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_can_signal() == sig; }); + std::shared_ptr<low_can_subscription_t> can_subscription; + if(it != s.end()) + { + can_subscription = it->second; + } + else + { + can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter)); + if(can_subscription->create_rx_filter(sig) < 0) + {return -1;} + if(add_to_event_loop(can_subscription) < 0) + {return -1;} + } + + if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0) + {return -1;} + + rets++; + DEBUG("signal: %s subscribed", sig->get_name().c_str()); + } + return rets; +} + +/// +/// @brief subscribe to all signals in the vector signals +/// +/// @param[in] afb_req request : contain original request use to subscribe or unsubscribe +/// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription +/// @param[in] signals - struct containing vectors with can_signal_t and diagnostic_messages to subscribe +/// +/// @return Number of correctly subscribed signal +/// +static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals, struct event_filter_t& event_filter) +{ + int rets = 0; + 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(); + + rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s); + rets += subscribe_unsubscribe_can_signals(request, subscribe, signals.can_signals, event_filter, s); + + return rets; +} + +static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const std::string& tag, json_object* args) +{ + int ret = 0; + struct event_filter_t event_filter; + struct json_object *filter, *obj; + struct utils::signals_found sf; + + // computes the filter + if (json_object_object_get_ex(args, "filter", &filter)) + { + if (json_object_object_get_ex(filter, "frequency", &obj) + && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int))) + { + event_filter.frequency = (float)json_object_get_double(obj); + ret += 1; + } + if (json_object_object_get_ex(filter, "min", &obj) + && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int))) + { + event_filter.min = (float)json_object_get_double(obj); + ret += 2; + } + if (json_object_object_get_ex(filter, "max", &obj) + && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int))) + { + event_filter.max = (float)json_object_get_double(obj); + ret += 4; + } + } + + // subscribe or unsubscribe + openxc_DynamicField search_key = build_DynamicField(tag); + sf = utils::signals_manager_t::instance().find_signals(search_key); + if (sf.can_signals.empty() && sf.diagnostic_messages.empty()) + NOTICE("No signal(s) found for %s.", tag.c_str()); + else + ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter); + + return ret; +} + +static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe) +{ + int i, n, rc, rc2; + struct json_object *args, *event, *x; + + args = afb_req_json(request); + if (args == NULL || !json_object_object_get_ex(args, "event", &event)) + { + rc = one_subscribe_unsubscribe(request, subscribe, "*", args); + } + else if (json_object_get_type(event) != json_type_array) + { + rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), args); + } + else + { + rc = 0; + n = json_object_array_length(event); + for (i = 0 ; i < n ; i++) + { + x = json_object_array_get_idx(event, i); + rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), args); + if (rc >= 0) + rc = rc2 >= 0 ? rc + rc2 : rc2; + } + } + + if (rc >= 0) + afb_req_success(request, NULL, NULL); + else + afb_req_fail(request, "error", NULL); +} + +void subscribe(struct afb_req request) +{ + do_subscribe_unsubscribe(request, true); +} + +void unsubscribe(struct afb_req request) +{ + do_subscribe_unsubscribe(request, false); +} |