CAN-binder/low-can-binding/binding/low-can-cb.cpp

   1 /*
   2  * Copyright (C) 2015, 2016 "IoT.bzh"
   3  * Author "Romain Forlot" <romain.forlot@iot.bzh>
   4  * Author "Loic Collignon" <loic.collignon@iot.bzh>
   5  *
   6  * Licensed under the Apache License, Version 2.0 (the "License");
   7  * you may not use this file except in compliance with the License.
   8  * You may obtain a copy of the License at
   9  *
  10  *       http://www.apache.org/licenses/LICENSE-2.0
  11  *
  12  * Unless required by applicable law or agreed to in writing, software
  13  * distributed under the License is distributed on an "AS IS" BASIS,
  14  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  15  * See the License for the specific language governing permissions and
  16  * limitations under the License.
  17  */
  18
  19 #include "low-can-hat.hpp"
  20
  21 #include <map>
  22 #include <queue>
  23 #include <mutex>
  24 #include <vector>
  25 #include <thread>
  26 #include <json-c/json.h>
  27 #include <systemd/sd-event.h>
  28
  29 #include "openxc.pb.h"
  30 #include "application.hpp"
  31 #include "../can/can-bus.hpp"
  32 #include "../can/can-signals.hpp"
  33 #include "../can/can-message.hpp"
  34 #include "../utils/signals.hpp"
  35 #include "../diagnostic/diagnostic-message.hpp"
  36 #include "../utils/openxc-utils.hpp"
  37
  38 extern "C"
  39 {
  40         #include <afb/afb-service-itf.h>
  41 };
  42
  43
  44 ///******************************************************************************
  45 ///
  46 ///             SystemD event loop Callbacks
  47 ///
  48 ///*******************************************************************************/
  49
  50 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)
  51 {
  52         if( ! can_subscription->get_diagnostic_message().empty() && can_subscription->get_diagnostic_message(pid) != nullptr)
  53         {
  54                 DiagnosticRequest diag_req = can_subscription->get_diagnostic_message(pid)->build_diagnostic_request();
  55                 active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
  56                 if( adr != nullptr)
  57                         application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
  58         }
  59
  60         on_no_clients(can_subscription, s);
  61 }
  62
  63 void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
  64 {
  65         auto it = s.find(can_subscription->get_index());
  66         s.erase(it);
  67 }
  68
  69 static void push_n_notify(const can_message_t& cm)
  70 {
  71         can_bus_t& cbm = application_t::instance().get_can_bus_manager();
  72         {
  73                 std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
  74                 cbm.push_new_can_message(cm);
  75         }
  76         cbm.get_new_can_message_cv().notify_one();
  77 }
  78
  79 int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata)
  80 {
  81         low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata;
  82         if ((revents & EPOLLIN) != 0)
  83         {
  84                 can_message_t cm;
  85                 utils::socketcan_bcm_t& s = can_subscription->get_socket();
  86                 s >> cm;
  87
  88                 push_n_notify(cm);
  89         }
  90
  91         /* check if error or hangup */
  92         if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
  93         {
  94                 sd_event_source_unref(event_source);
  95                 can_subscription->get_socket().close();
  96         }
  97         return 0;
  98 }
  99
 100 ///******************************************************************************
 101 ///
 102 ///             Subscription and unsubscription
 103 ///
 104 ///*******************************************************************************/
 105
 106 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)
 107 {
 108         /* Make the subscription or unsubscription to the event */
 109         if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[can_subscription->get_index()]->get_event())) < 0)
 110         {
 111                 ERROR(binder_interface, "%s: Operation goes wrong for signal: %s", __FUNCTION__, can_subscription->get_name().c_str());
 112                 return -1;
 113         }
 114         return 0;
 115 }
 116
 117 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)
 118 {
 119         int sub_index = can_subscription->get_index();
 120         can_subscription->set_event(afb_daemon_make_event(binder_interface->daemon, can_subscription->get_name().c_str()));
 121         s[sub_index] = can_subscription;
 122         if (!afb_event_is_valid(s[sub_index]->get_event()))
 123         {
 124                 ERROR(binder_interface, "%s: Can't create an event for %s, something goes wrong.", __FUNCTION__, can_subscription->get_name().c_str());
 125                 return -1;
 126         }
 127         return 0;
 128 }
 129
 130 /// @brief Will determine if it is needed or not to create the event handle and checks it to be sure that
 131 /// we got a valid afb_event to get subscribe or unsubscribe. Then launch the subscription or unsubscription
 132 /// against the application framework using that event handle.
 133 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)
 134 {
 135         int ret;
 136         int sub_index = can_subscription->get_index();
 137
 138         if (can_subscription && s.find(sub_index) != s.end())
 139         {
 140                 if (!afb_event_is_valid(s[sub_index]->get_event()) && !subscribe)
 141                 {
 142                         NOTICE(binder_interface, "%s: Event isn't valid, no need to unsubscribed.", __FUNCTION__);
 143                         ret = -1;
 144                 }
 145         }
 146         else
 147         {
 148                 /* Event doesn't exist , so let's create it */
 149                 can_subscription->set_event({nullptr, nullptr});
 150                 s[sub_index] = can_subscription;
 151                 ret = create_event_handle(can_subscription, s);
 152         }
 153
 154         // Check whether or not the event handler has been correctly created and
 155         // make the subscription/unsubscription operation is so.
 156         if (ret < 0)
 157                 return ret;
 158         return make_subscription_unsubscription(request, can_subscription, s, subscribe);
 159 }
 160
 161 static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription)
 162 {
 163                 struct sd_event_source* event_source = nullptr;
 164                 return ( sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon),
 165                         &event_source,
 166                         can_subscription->get_socket().socket(),
 167                         EPOLLIN,
 168                         read_message,
 169                         can_subscription.get()));
 170 }
 171
 172 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)
 173 {
 174         int rets = 0;
 175         application_t& app = application_t::instance();
 176         diagnostic_manager_t& diag_m = app.get_diagnostic_manager();
 177
 178         for(const auto& sig : diagnostic_messages)
 179         {
 180                 DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request());
 181                 event_filter.frequency = std::isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency;
 182                 std::shared_ptr<low_can_subscription_t> can_subscription;
 183
 184                 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());});
 185                 can_subscription = it != s.end() ?
 186                         it->second :
 187                         std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 188                 // If the requested diagnostic message isn't supported by the car then unsubcribe it
 189                 // no matter what we want, worse case will be a fail unsubscription but at least we don't
 190                 // poll a PID for nothing.
 191                 //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);
 192                 if(sig->get_supported() && subscribe)
 193                 {
 194                         diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), event_filter.frequency);
 195                         if(can_subscription->create_rx_filter(sig) < 0)
 196                                 {return -1;}
 197                         DEBUG(binder_interface, "%s: Signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
 198                         if(it == s.end() && add_to_event_loop(can_subscription) < 0)
 199                         {
 200                                 diag_m.cleanup_request(
 201                                         diag_m.find_recurring_request(*diag_req), true);
 202                                 WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__,  sig->get_name().c_str());
 203                                 return -1;
 204                         }
 205                 }
 206                 else
 207                 {
 208                         if(sig->get_supported())
 209                         {DEBUG(binder_interface, "%s: %s cancelled due to unsubscribe", __FUNCTION__, sig->get_name().c_str());}
 210                         else
 211                         {
 212                                 WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, sig->get_name().c_str());
 213                                 return -1;
 214                         }
 215                 }
 216                 int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s);
 217                 if(ret < 0)
 218                         return ret;
 219
 220                 rets++;
 221         }
 222
 223         return rets;
 224 }
 225
 226 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)
 227 {
 228         int rets = 0;
 229         for(const auto& sig: can_signals)
 230         {
 231                 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; });
 232                 std::shared_ptr<low_can_subscription_t> can_subscription;
 233                 if(it != s.end())
 234                 {
 235                          can_subscription = it->second;
 236                 }
 237                 else
 238                 {
 239                          can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 240                         if(can_subscription->create_rx_filter(sig) < 0)
 241                                 {return -1;}
 242                 }
 243
 244                 if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
 245                         {return -1;}
 246
 247                 if(add_to_event_loop(can_subscription) < 0)
 248                         {return -1;}
 249                 rets++;
 250                 DEBUG(binder_interface, "%s: signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
 251         }
 252         return rets;
 253 }
 254
 255 ///
 256 /// @brief subscribe to all signals in the vector signals
 257 ///
 258 /// @param[in] afb_req request : contain original request use to subscribe or unsubscribe
 259 /// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription
 260 /// @param[in] signals -  struct containing vectors with can_signal_t and diagnostic_messages to subscribe
 261 ///
 262 /// @return Number of correctly subscribed signal
 263 ///
 264 static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals, struct event_filter_t& event_filter)
 265 {
 266         int rets = 0;
 267         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 268
 269         std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 270         std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
 271
 272         rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s);
 273         rets += subscribe_unsubscribe_can_signals(request, subscribe, signals.can_signals, event_filter, s);
 274
 275         return rets;
 276 }
 277
 278 static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const std::string& tag, json_object* args)
 279 {
 280         int ret = 0;
 281         struct event_filter_t event_filter;
 282         struct json_object  *filter, *obj;
 283         struct utils::signals_found sf;
 284
 285         // computes the filter
 286         if (json_object_object_get_ex(args, "filter", &filter))
 287         {
 288                 if (json_object_object_get_ex(filter, "frequency", &obj)
 289                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 290                 {
 291                         event_filter.frequency = (float)json_object_get_double(obj);
 292                         ret += 1;
 293                 }
 294                 if (json_object_object_get_ex(filter, "min", &obj)
 295                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 296                 {
 297                         event_filter.min = (float)json_object_get_double(obj);
 298                         ret += 2;
 299                 }
 300                 if (json_object_object_get_ex(filter, "max", &obj)
 301                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 302                 {
 303                         event_filter.max = (float)json_object_get_double(obj);
 304                         ret += 4;
 305                 }
 306         }
 307
 308         // subscribe or unsubscribe
 309         openxc_DynamicField search_key = build_DynamicField(tag);
 310         sf = utils::signals_manager_t::instance().find_signals(search_key);
 311         if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
 312                 NOTICE(binder_interface, "%s: No signal(s) found for %s.", __FUNCTION__, tag.c_str());
 313         else
 314                 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
 315
 316         return ret;
 317 }
 318
 319 static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe)
 320 {
 321         int i, n, rc, rc2;
 322         struct json_object *args, *event, *x;
 323
 324         args = afb_req_json(request);
 325         if (args == NULL || !json_object_object_get_ex(args, "event", &event))
 326         {
 327                 rc = one_subscribe_unsubscribe(request, subscribe, "*", args);
 328         }
 329         else if (json_object_get_type(event) != json_type_array)
 330         {
 331                 rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), args);
 332         }
 333         else
 334         {
 335                 rc = 0;
 336                 n = json_object_array_length(event);
 337                 for (i = 0 ; i < n ; i++)
 338                 {
 339                         x = json_object_array_get_idx(event, i);
 340                         rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), args);
 341                         if (rc >= 0)
 342                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 343                 }
 344         }
 345
 346         if (rc >= 0)
 347                 afb_req_success(request, NULL, NULL);
 348         else
 349                 afb_req_fail(request, "error", NULL);
 350 }
 351
 352 void subscribe(struct afb_req request)
 353 {
 354         do_subscribe_unsubscribe(request, true);
 355 }
 356
 357 void unsubscribe(struct afb_req request)
 358 {
 359         do_subscribe_unsubscribe(request, false);
 360 }