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/*
* @copyright Copyright (c) 2016-2020 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_Thread.h"
extern "C" {
#include <poll.h>
#include <sys/timerfd.h>
}
#include <native_service/frameworkunified_types.h>
#include <native_service/frameworkunified_framework_if.h>
#include <native_service/frameworkunified_timer.h>
#include <peripheral_service/Canif_API.h>
#include <peripheral_service/communication_notifications.h>
#include <can_hal.h>
#include <stdlib.h>
#include <errno.h>
#include <string.h>
#include <agl_thread.h>
#include <string>
#include "CAN_Delivery.h"
#include "CAN_CommWatch.h"
#include "CAN_TxMsg.h"
#include "communication_communicationlog.h"
#include "communication_cid.h"
#include "Thread_Common.h"
static EFrameworkunifiedStatus CANStateCallback(HANDLE h_app);
static EFrameworkunifiedStatus CANHalRcvProcess(HANDLE h_app);
static EFrameworkunifiedStatus CANHalSndStsProcess(HANDLE h_app);
static const FrameworkunifiedProtocolCallbackHandler kCanPcbhs[] = {
{CID_CANIF_DELIVERY_ENTRY, CANDeliveryEntry},
{CID_CANIF_DELIVERY_ERASE, CANClearEntry},
{CID_COMMSYS_TIMEOUT, CANCallbackForTimeOut},
{CID_CANIF_TX_START, CANTxMsg},
{CID_CANIF_TX_BIT_START, CANTxMsgBit},
{CID_CANIF_COMM_WATCH, CANCommWatch},
{CID_CANIF_CMD_CTRL, CANTxMsgCommand},
{CID_CANHAL_CMD_CAN_READY, CANStateCallback},
{CID_CANHAL_CMD_ERROR_NOTIFY, CommonCanHalErrorNotify},
{CID_CANHAL_CMD_CAN_RECV, CANHalRcvProcess},
{CID_CANHAL_CMD_CAN_SEND_STATUS, CANHalSndStsProcess},
};
static UI_32 kCanPcbhsD[] = {
CID_CANIF_DELIVERY_ENTRY,
CID_CANIF_DELIVERY_ERASE,
CID_COMMSYS_TIMEOUT,
CID_CANIF_TX_START,
CID_CANIF_TX_BIT_START,
CID_CANIF_COMM_WATCH,
CID_CANIF_CMD_CTRL,
CID_CANHAL_CMD_CAN_READY,
CID_CANHAL_CMD_ERROR_NOTIFY,
CID_CANHAL_CMD_CAN_RECV,
CID_CANHAL_CMD_CAN_SEND_STATUS
};
static EFrameworkunifiedStatus CANStateCallback(HANDLE h_app) {
bool result;
EFrameworkunifiedStatus err = eFrameworkunifiedStatusOK;
err = FrameworkunifiedGetMsgDataOfSize(h_app, &result, sizeof(result), eSMRRelease);
if (err != eFrameworkunifiedStatusOK) {
FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "Error: FrameworkunifiedGetMsgDataOfSize failed");
}
if (err == eFrameworkunifiedStatusInvldBufSize) {
FrameworkunifiedClearMsgData(h_app);
return eFrameworkunifiedStatusFail;
} else if (err != eFrameworkunifiedStatusOK) {
return eFrameworkunifiedStatusFail;
}
CommSetAvailabilityCurrent(CAN_AVAILABILITY);
return CommonStartNotify(h_app, NTFY_Communication_CAN_ISAVAILABLE);
}
static EFrameworkunifiedStatus CANThreadCanOpen(HANDLE h_app) {
EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK;
const char *result = "Unknown";
const char *called = "Unknown";
UI_16 z = ZONE_ERR;
e_status = ConvRet(CanOpen(h_app, CAN_HAL_TYPE_CAN));
result = (e_status != eFrameworkunifiedStatusOK) ? "failed" : "success";
z = (e_status != eFrameworkunifiedStatusOK) ? ZONE_INFO : ZONE_ERR;
called = "CanOpen";
FRAMEWORKUNIFIEDLOG(z, __func__, "%s %s", called, result);
return e_status;
}
EFrameworkunifiedStatus CANThreadStart(HANDLE h_app) {
EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK;
CommClrAvailabilityCurrent(CAN_AVAILABILITY);
CANDeliveryInit();
CANCommWatchInit();
CANTxMsgInit();
e_status = CommonThreadStart(h_app, kCanPcbhs, _countof(kCanPcbhs),
NTFY_Communication_CAN_ISAVAILABLE, CANThreadCanOpen);
return e_status;
}
static EFrameworkunifiedStatus CANThreadCanClose(HANDLE h_app) {
EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK;
const char *result = "Unknown";
const char *called = "Unknown";
UI_16 z = ZONE_ERR;
e_status = ConvRet(CanClose(h_app, CAN_HAL_TYPE_CAN));
result = (e_status != eFrameworkunifiedStatusOK) ? "failed" : "success";
z = (e_status != eFrameworkunifiedStatusOK) ? ZONE_INFO : ZONE_ERR;
called = "CanClose";
FRAMEWORKUNIFIEDLOG(z, __func__, "%s %s", called, result);
return e_status;
}
EFrameworkunifiedStatus CANThreadStop(HANDLE h_app) {
EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK;
CommClrAvailabilityCurrent(CAN_AVAILABILITY);
e_status = CommonThreadStop(h_app, kCanPcbhsD, _countof(kCanPcbhsD),
NTFY_Communication_CAN_ISAVAILABLE,
CANThreadCanClose);
return e_status;
}
static EFrameworkunifiedStatus CANHalRcvProcess(HANDLE h_app) {
CanMessage canhal_recv_data;
EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusFail;
uint8_t cmd = 0;
e_status = FrameworkunifiedGetMsgDataOfSize(h_app, &canhal_recv_data,
sizeof(canhal_recv_data), eSMRRelease);
if (e_status != eFrameworkunifiedStatusOK) {
FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "Error : FrameworkunifiedGetMsgDataOfSize is failed, e_status=%d", e_status);
}
if (e_status == eFrameworkunifiedStatusInvldBufSize) {
FrameworkunifiedClearMsgData(h_app);
goto cleanup;
} else if (e_status != eFrameworkunifiedStatusOK) {
goto cleanup;
}
if (canhal_recv_data.dlc > CAN_MESSAGE_LEN) {
FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "Error : Invalid data length, dlc=%d", canhal_recv_data.dlc);
return eFrameworkunifiedStatusFail;
}
FRAMEWORKUNIFIEDLOG(ZONE_INFO, __func__, "can_id=%x dlc=%d rid=%x",
canhal_recv_data.can_id, canhal_recv_data.dlc, canhal_recv_data.rid);
FRAMEWORKUNIFIEDLOG(ZONE_DEBUG, __func__, "msg_data=%s",
MessageDataOutputLog(canhal_recv_data.data, canhal_recv_data.dlc).c_str());
cmd = (uint8_t)(canhal_recv_data.can_id & 0xFF);
switch (canhal_recv_data.can_id) {
case CAN_CMDID_STARTUP_FIN_RESP_RX:
e_status = CANCommandDeliveryRcvProcess(h_app, &canhal_recv_data, cmd);
break;
case CAN_CMDID_MRST_INFO_RESP_RX:
e_status = CANCommandDeliveryRcvProcess(h_app, &canhal_recv_data, cmd);
break;
case CAN_CMDID_VERSION_RESP_RX:
e_status = CANCommandDeliveryRcvProcess(h_app, &canhal_recv_data, cmd);
break;
case CAN_CMDID_CONNECTION_NODE_RESP_RX:
e_status = CANCommandDeliveryRcvProcess(h_app, &canhal_recv_data, cmd);
break;
case CAN_CMDID_FUELCALC_RST_REQ_RX:
CANCommandSetFuelCalcRstReq();
e_status = CANCommandDeliveryRcvProcess(h_app, &canhal_recv_data, cmd);
break;
default:
e_status = CANDeliveryRcvProcess(h_app, &canhal_recv_data);
}
cleanup:
return e_status;
}
static EFrameworkunifiedStatus CANHalSndStsProcess(HANDLE h_app) {
CanSendResult canhal_recv_data;
EFrameworkunifiedStatus err = eFrameworkunifiedStatusOK;
uint8_t ui_can_rid;
PS_CommunicationProtocol cid;
err = FrameworkunifiedGetMsgDataOfSize(h_app, &canhal_recv_data,
sizeof(canhal_recv_data), eSMRRelease);
if (err != eFrameworkunifiedStatusOK) {
FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "Error : FrameworkunifiedGetMsgDataOfSize is failed, err=%d", err);
}
if (err == eFrameworkunifiedStatusInvldBufSize) {
FrameworkunifiedClearMsgData(h_app);
return eFrameworkunifiedStatusFail;
} else if (err != eFrameworkunifiedStatusOK) {
return eFrameworkunifiedStatusFail;
}
ui_can_rid = canhal_recv_data.rid;
if (CAN_RID_NOTUSE_CODE == ui_can_rid) {
return eFrameworkunifiedStatusOK;
}
switch (canhal_recv_data.can_id) {
case CAN_CMDID_MRST_INFO_REQ_TX:
case CAN_CMDID_CONNECTION_NODE_REQ_TX:
case CAN_CMDID_FUELCALC_REQ_TX:
cid = CID_CAN_CMD_TX_RESULT;
break;
default:
cid = CID_CAN_TX_RESULT;
break;
}
return CANSndStsProcess(h_app, &canhal_recv_data, cid);
}
EFrameworkunifiedStatus CANCallbackForTimeOut(HANDLE h_app) {
CANCommWatchTimeout(h_app);
return eFrameworkunifiedStatusOK;
}
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