aboutsummaryrefslogtreecommitdiffstats
path: root/low-can-binding/binding/low-can-cb.cpp
blob: 5916e3921cb2819300bce780435807612a323326 (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
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
/*
 * 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-encoder.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)
	{
		AFB_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()))
	{
		AFB_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)
		{
			AFB_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;}
			AFB_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);
				AFB_WARNING("signal: %s isn't supported. Canceling operation.",  sig->get_name().c_str());
				return -1;
			}
		}
		else
		{
			if(sig->get_supported())
			{AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());}
			else
			{
				AFB_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;
}

// TODO: Create separate subscrition object if event_filter isn't the same.
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++;
		AFB_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())
	{
		AFB_NOTICE("No signal(s) found for %s.", tag.c_str());
		ret = -1;
	}
	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 auth(struct afb_req request)
{
	afb_req_session_set_LOA(request, 1);
	afb_req_success(request, NULL, NULL);
}

void subscribe(struct afb_req request)
{
	do_subscribe_unsubscribe(request, true);
}

void unsubscribe(struct afb_req request)
{
	do_subscribe_unsubscribe(request, false);
}

static int send_frame(const std::string& bus_name, const struct can_frame& cf)
{
	std::map<std::string, std::shared_ptr<low_can_socket_t> >& cd = application_t::instance().get_can_devices();

	if( cd.count(bus_name) == 0)
		{cd[bus_name] = std::make_shared<low_can_socket_t>(low_can_socket_t());}

	return cd[bus_name]->tx_send(cf, bus_name);
}

static int write_raw_frame(const std::string& bus_name, uint32_t can_id, uint8_t can_dlc, struct json_object* can_data)
{
	int rc = 0;
	struct can_frame cf;

	::memset(&cf, 0, sizeof(cf));

	cf.can_id = can_id;
	cf.can_dlc = can_dlc;

	struct json_object *x;
	int n = json_object_array_length(can_data);
	if(n <= 8)
	{
		for (int i = 0 ; i < n ; i++)
		{
			x = json_object_array_get_idx(can_data, i);
			cf.data[i] = json_object_get_type(x) == json_type_int ? (uint8_t)json_object_get_int(x) : 0;
		}
	}

	const std::string found_device = application_t::instance().get_can_bus_manager().get_can_device_name(bus_name);
	if( ! found_device.empty())
	{
		rc = send_frame(found_device, cf);
	}

	return rc;
}
static int write_signal(const std::string& name, uint64_t value)
{
	int rc = 0;
	struct can_frame cf;
	struct utils::signals_found sf;

	::memset(&cf, 0, sizeof(cf));

	openxc_DynamicField search_key = build_DynamicField(name);
	sf = utils::signals_manager_t::instance().find_signals(search_key);

	if (sf.can_signals.empty())
	{
		AFB_WARNING("No signal(s) found for %s. Message not sent.", name.c_str());
		rc = -1;
	}
	else
	{
		for(const auto& sig: sf.can_signals)
		{
			if(sig->get_writable())
			{
				cf = encoder_t::build_frame(sig, value);
				const std::string bus_name = sig->get_message()->get_bus_name();
				rc = send_frame(bus_name, cf);
			}
			else
				{AFB_NOTICE("%s isn't writable. Message not sent.", sig->get_name().c_str());}
		}
	}

	return rc;
}

void write(struct afb_req request)
{
	int rc = 0;
	struct json_object* args = nullptr,
		*json_name = nullptr,
		*json_value = nullptr;

	args = afb_req_json(request);

	// Process about Raw CAN message on CAN bus directly
	if (args != NULL &&
		(json_object_object_get_ex(args, "bus_name", &json_name) && json_object_is_type(json_name, json_type_string) ) &&
		(json_object_object_get_ex(args, "frame", &json_value) && json_object_is_type(json_value, json_type_object) ))
	{
		struct json_object* json_can_id = nullptr,
			*json_can_dlc = nullptr,
			*json_can_data = nullptr;

		if( (json_object_object_get_ex(json_value, "can_id", &json_can_id) && (json_object_is_type(json_can_id, json_type_double) || json_object_is_type(json_can_id, json_type_int))) &&
			(json_object_object_get_ex(json_value, "can_dlc", &json_can_dlc) && (json_object_is_type(json_can_dlc, json_type_double) || json_object_is_type(json_can_dlc, json_type_int))) &&
			(json_object_object_get_ex(json_value, "can_data", &json_can_data) && json_object_is_type(json_can_data, json_type_array) ))
		{
			write_raw_frame(json_object_get_string(json_name),
				json_object_get_int(json_can_id),
				(uint8_t)json_object_get_int(json_can_dlc),
				json_can_data);
		}
		else
		{
			AFB_ERROR("Frame object malformed (must be \n \"frame\": {\"can_id\": int, \"can_dlc\": int, \"can_data\": [ int, int , int, int ,int , int ,int ,int]}");
			rc = -1;
		}
	}
	// Search signal then encode value.
	else if(args != NULL &&
		(json_object_object_get_ex(args, "signal_name", &json_name) && json_object_is_type(json_name, json_type_string)) &&
		(json_object_object_get_ex(args, "signal_value", &json_value) && (json_object_is_type(json_value, json_type_double) || json_object_is_type(json_value, json_type_int))))
	{
		write_signal(json_object_get_string(json_name),
			(uint64_t)json_object_get_double(json_value));
	}
	else
	{
		AFB_ERROR("Request argument malformed. Please use the following syntax:");
		rc = -1;
	}

	if (rc >= 0)
		afb_req_success(request, NULL, NULL);
	else
		afb_req_fail(request, "error", NULL);
}