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/*
* @copyright Copyright (c) 2017-2020 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.
*/
#include "can_hal_stm.h"
#include "can_hal_core.h"
#include "can_hal_internal.h"
#include <native_service/ns_message_center_if.h>
#include <native_service/frameworkunified_framework_if.h>
#include <native_service/frameworkunified_multithreading.h>
#include <string>
#include <stdbool.h>
#include <stdint.h>
#include <assert.h>
#include <pthread.h>
// BSS section would be initialized to all 0.
struct CanHalStateMachine {
CanHalType type;
HANDLE h_app;
bool can_hal_is_opened;
bool device_is_enabled;
struct {
HANDLE tx;
HANDLE tx_sender;
uint32_t tx_cmd;
const char *tx_name;
bool rx_initialized;
pthread_t rx;
pthread_attr_t rx_attr;
} internal;
} can_hal_stm[NR_CAN_HAL_TYPES];
bool TypeIsValid(enum CanHalType type) {
if (CAN_HAL_TYPE_CAN == type)
return true;
return false;
}
bool IsCanHalOpened(enum CanHalType type) {
return can_hal_stm[type].can_hal_is_opened;
}
void SetCanHalStateOpen(enum CanHalType type) {
can_hal_stm[type].can_hal_is_opened = true;
}
void SetCanHalStateClose(enum CanHalType type) {
can_hal_stm[type].can_hal_is_opened = false;
}
bool IsDeviceEnabled(enum CanHalType type) {
return can_hal_stm[type].device_is_enabled;
}
void SetDeviceStateEnable(enum CanHalType type) {
can_hal_stm[type].device_is_enabled = true;
}
void SetDeviceStateDisable(enum CanHalType type) {
can_hal_stm[type].device_is_enabled = false;
}
CANHAL_RET_API CanHalDestroyInternalThread(HANDLE h_app, enum CanHalType type) {
intptr_t ptr = (intptr_t)&(can_hal_stm[type].internal.tx_sender);
if (can_hal_stm[type].internal.tx) {
FrameworkunifiedStopChildThread(h_app, can_hal_stm[type].internal.tx, sizeof(ptr), &ptr);
FrameworkunifiedDestroyChildThread(h_app, can_hal_stm[type].internal.tx);
can_hal_stm[type].internal.tx = NULL;
}
if (can_hal_stm[type].internal.rx_initialized) {
pthread_cancel(can_hal_stm[type].internal.rx);
pthread_join(can_hal_stm[type].internal.rx, NULL);
can_hal_stm[type].internal.rx_initialized = false;
}
can_hal_stm[type].h_app = NULL;
return CANHAL_RET_NORMAL;
}
CANHAL_RET_API CanHalCreateInternalThread(HANDLE h_app, enum CanHalType type) {
enum CANHAL_RET_API ret = CANHAL_RET_ERR_PARAM;
EFrameworkunifiedStatus err = eFrameworkunifiedStatusOK;
intptr_t ptr = (intptr_t)&(can_hal_stm[type].internal.tx_sender);
can_hal_stm[type].h_app = h_app;
can_hal_stm[type].internal.tx_name = CANHAL_CAN_SEND_THREAD;
can_hal_stm[type].internal.tx = FrameworkunifiedCreateChildThread(h_app,
can_hal_stm[type].internal.tx_name,
CanSendThreadStart, CanSendThreadStop);
if (!can_hal_stm[type].internal.tx)
goto cleanup;
err = FrameworkunifiedStartChildThread(h_app,
can_hal_stm[type].internal.tx,
sizeof(ptr), &ptr);
if (err != eFrameworkunifiedStatusOK)
goto cleanup;
if (0 != pthread_attr_init(&(can_hal_stm[type].internal.rx_attr)))
goto cleanup;
if (0 != pthread_create(&(can_hal_stm[type].internal.rx),
&(can_hal_stm[type].internal.rx_attr), CanRecvRun,
(void *)&(can_hal_stm[type].type)))
goto cleanup;
can_hal_stm[type].internal.rx_initialized = true;
ret = CANHAL_RET_NORMAL;
return ret;
cleanup:
if (can_hal_stm[type].internal.tx) {
FrameworkunifiedStopChildThread(h_app, can_hal_stm[type].internal.tx, sizeof(ptr), &ptr);
FrameworkunifiedDestroyChildThread(h_app, can_hal_stm[type].internal.tx);
can_hal_stm[type].internal.tx = NULL;
}
return ret;
}
CANHAL_RET_API CanHalInternalSend_CWORD118_(enum CanHalType type,
const void *msg, ssize_t sz) {
EFrameworkunifiedStatus e_status = FrameworkunifiedSendMsg(can_hal_stm[type].internal.tx_sender,
TX_INTERNAL__CWORD118_, sz, msg);
if (e_status != eFrameworkunifiedStatusOK) {
return CANHAL_RET_ERR_ERR;
}
return CANHAL_RET_NORMAL;
}
static EFrameworkunifiedStatus FrameworkunifiedSendMsgOneshot(HANDLE h_app, UI_32 cmd,
UI_32 l, PCVOID d) {
HANDLE h_client = NULL;
EFrameworkunifiedStatus err = eFrameworkunifiedStatusFail;
h_client = FrameworkunifiedMcOpenSender(h_app, FrameworkunifiedGetAppName(h_app));
if (!h_client)
return err;
err = FrameworkunifiedSendMsg(h_client, cmd, l, d);
FrameworkunifiedMcClose(h_client);
return err;
}
CANHAL_RET_API CanHalInternalSend(enum CanHalType type,
const void *msg, ssize_t sz) {
EFrameworkunifiedStatus e_status = FrameworkunifiedSendMsg(can_hal_stm[type].internal.tx_sender,
TX_INTERNAL, sz, msg);
if (e_status != eFrameworkunifiedStatusOK) {
return CANHAL_RET_ERR_ERR;
}
return CANHAL_RET_NORMAL;
}
CANHAL_RET_API InvokeStateCallback(enum CanHalType type) {
HANDLE sender = can_hal_stm[type].h_app;
uint32_t cmd = 0;
EFrameworkunifiedStatus err = eFrameworkunifiedStatusOK;
bool send = true;
switch (type) {
case CAN_HAL_TYPE_CAN:
cmd = CID_CANHAL_CMD_CAN_READY;
break;
default:
assert(0);
break;
}
err = FrameworkunifiedSendMsgOneshot(sender, cmd, sizeof(send), &send);
if (err != eFrameworkunifiedStatusOK)
return CANHAL_RET_ERR_ERR;
return CANHAL_RET_NORMAL;
}
CANHAL_RET_API InvokeErrorCallback(HANDLE h_app, enum CanHalType type) {
HANDLE sender = h_app;
uint32_t cmd = CID_CANHAL_CMD_ERROR_NOTIFY;
char msg[CANHAL_ERROR_MESSAGE_LEN] = {0};
ssize_t sz = sizeof(msg);
EFrameworkunifiedStatus err = eFrameworkunifiedStatusOK;
switch (type) {
case CAN_HAL_TYPE_CAN:
sprintf(msg, "Global CAN Stop");
break;
default:
assert(0);
break;
}
err = FrameworkunifiedSendMsgOneshot(sender, cmd, sz, msg);
if (err != eFrameworkunifiedStatusOK)
return CANHAL_RET_ERR_ERR;
return CANHAL_RET_NORMAL;
}
CANHAL_RET_API CanHalSendStatus(enum CanHalType type, HANDLE h_app,
const void *msg, ssize_t sz) {
EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK;
e_status = FrameworkunifiedSendMsgOneshot(h_app, CID_CANHAL_CMD_CAN_SEND_STATUS, sz, msg);
if (e_status != eFrameworkunifiedStatusOK) {
return CANHAL_RET_ERR_ERR;
}
return CANHAL_RET_NORMAL;
}
CANHAL_RET_API CanHalReceiveNotify(enum CanHalType type,
const void *msg, ssize_t sz) {
EFrameworkunifiedStatus e_status;
uint32_t cmd = 0;
switch (type) {
case CAN_HAL_TYPE_CAN:
cmd = CID_CANHAL_CMD_CAN_RECV;
break;
default:
assert(0);
break;
}
e_status = FrameworkunifiedSendMsgOneshot(can_hal_stm[type].h_app, cmd, sz, msg);
if (e_status != eFrameworkunifiedStatusOK) {
return CANHAL_RET_ERR_ERR;
}
return CANHAL_RET_NORMAL;
}
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