2 * Copyright (C) 2015, 2016 "IoT.bzh"
3 * Author "Romain Forlot" <romain.forlot@iot.bzh>
4 * Author "Loic Collignon" <loic.collignon@iot.bzh>
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
10 * http://www.apache.org/licenses/LICENSE-2.0
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.
19 #include "low-can-hat.hpp"
26 #include <json-c/json.h>
27 #include <systemd/sd-event.h>
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/timer.hpp"
35 #include "../utils/signals.hpp"
36 #include "../diagnostic/diagnostic-message.hpp"
37 #include "../utils/openxc-utils.hpp"
38 #include "canutil/write.h"
42 #include <afb/afb-service-itf.h>
45 ///******************************************************************************
47 /// low_can_subscription_t object
49 ///*******************************************************************************/
51 low_can_subscription_t::low_can_subscription_t()
53 event_filter_{event_filter_t()},
57 low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter)
58 : event_filter_{event_filter}
61 low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
63 event_filter_{s.event_filter_},
64 socket_{std::move(s.socket_)}
67 low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s)
69 socket_ = std::move(s.socket_);
73 low_can_subscription_t::operator bool() const
75 return socket_.socket() != INVALID_SOCKET;
78 int low_can_subscription_t::get_index() const
83 const std::shared_ptr<can_signal_t> low_can_subscription_t::get_can_signal() const
88 const std::string low_can_subscription_t::get_sig_name() const
90 return can_signal_->get_name();
93 float low_can_subscription_t::get_frequency() const
95 return event_filter_.frequency;
98 float low_can_subscription_t::get_min() const
100 return event_filter_.min;
103 float low_can_subscription_t::get_max() const
105 return event_filter_.max;
108 utils::socketcan_bcm_t& low_can_subscription_t::get_socket()
113 void low_can_subscription_t::set_frequency(float freq)
115 event_filter_.frequency = freq;
118 void low_can_subscription_t::set_min(float min)
120 event_filter_.min = min;
123 void low_can_subscription_t::set_max(float max)
125 event_filter_.max = max;
128 /// @brief Create a RX_SETUP receive job used by the BCM socket.
130 /// @return 0 if ok else -1
131 int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
134 return create_rx_filter();
137 /// @brief Create a RX_SETUP receive job used by the BCM socket.
139 /// @return 0 if ok else -1
140 int low_can_subscription_t::create_rx_filter()
142 if (can_signal_ == nullptr)
145 // Make sure that socket has been opened.
148 socket_.open(can_signal_->get_message()->get_bus_device_name());
149 index_ = (int)socket_.socket();
152 struct utils::simple_bcm_msg bcm_msg;
153 struct can_frame cfd;
155 memset(&cfd, 0, sizeof(cfd));
156 memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
157 float val = (float)(1 << can_signal_->get_bit_size()) - 1;
160 frequency_clock_t f = event_filter_.frequency > 0.0f ? frequency_clock_t(event_filter_.frequency) : can_signal_->get_frequency();
161 freq = f.get_timeval_from_period();
163 bcm_msg.msg_head.opcode = RX_SETUP;
164 bcm_msg.msg_head.can_id = can_signal_->get_message()->get_id();
165 bcm_msg.msg_head.flags = SETTIMER|RX_NO_AUTOTIMER;
166 bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec ;
167 bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
168 bcm_msg.msg_head.nframes = 1;
169 bitfield_encode_float(val,
170 can_signal_->get_bit_position(),
171 can_signal_->get_bit_size(),
172 can_signal_->get_factor(),
173 can_signal_->get_offset(),
177 bcm_msg.frames = cfd;
179 if(socket_ << bcm_msg)
184 ///******************************************************************************
186 /// SystemD event loop Callbacks
188 ///*******************************************************************************/
190 void on_no_clients(const std::string& message)
192 DiagnosticRequest* diag_req = application_t::instance().get_request_from_diagnostic_message(message);
193 if(diag_req != nullptr)
195 active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
197 application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
203 static void push_n_notify(const can_message_t& cm)
205 can_bus_t& cbm = application_t::instance().get_can_bus_manager();
206 std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
207 { cbm.push_new_can_message(cm); }
208 cbm.get_new_can_message_cv().notify_one();
211 int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata)
214 low_can_subscription_t* can_subscription;
215 diagnostic_manager_t& diag_m = application_t::instance().get_diagnostic_manager();
217 if(userdata != nullptr)
219 can_subscription = (low_can_subscription_t*)userdata;
220 utils::socketcan_bcm_t& s = can_subscription->get_socket();
225 utils::socketcan_bcm_t& s = diag_m.get_socket();
231 /* check if error or hangup */
232 if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
234 sd_event_source_unref(s);
235 if(userdata != nullptr)
237 can_subscription->get_socket().close();
238 can_subscription->create_rx_filter();
239 NOTICE(binder_interface, "%s: Recreated RX_SETUP BCM job for can_subscription: %s", __FUNCTION__, can_subscription->get_sig_name().c_str());
243 diag_m.get_socket().close();
244 diag_m.cleanup_active_requests(true);
245 ERROR(binder_interface, "%s: Error on diagnostic manager socket, cancelling active requests.", __FUNCTION__);
253 ///******************************************************************************
255 /// Subscription and unsubscription
257 ///*******************************************************************************/
259 static int make_subscription_unsubscription(struct afb_req request, std::shared_ptr<low_can_subscription_t>& can_subscription, std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s, bool subscribe)
261 /* Make the subscription or unsubscription to the event */
262 if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[can_subscription->get_index()].second)) < 0)
264 ERROR(binder_interface, "%s: Operation goes wrong for signal: %s", __FUNCTION__, can_subscription->get_sig_name().c_str());
270 static int create_event_handle(std::shared_ptr<low_can_subscription_t>& can_subscription, std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s)
272 int sub_index = can_subscription->get_index();
273 struct afb_event event = afb_daemon_make_event(binder_interface->daemon, can_subscription->get_sig_name().c_str());
274 s[sub_index] = std::make_pair(can_subscription, event);
275 if (!afb_event_is_valid(s[sub_index].second))
277 ERROR(binder_interface, "%s: Can't create an event for %s, something goes wrong.", __FUNCTION__, can_subscription->get_sig_name().c_str());
283 /// @brief Will determine if it is needed or not to create the event handle and checks it to be sure that
284 /// we got a valid afb_event to get subscribe or unsubscribe. Then launch the subscription or unsubscription
285 /// against the application framework using that event handle.
286 static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, std::shared_ptr<low_can_subscription_t>& can_subscription)
289 int sub_index = can_subscription->get_index();
290 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
292 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
293 std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s = sm.get_subscribed_signals();
294 if (can_subscription && s.find(sub_index) != s.end())
296 if (!afb_event_is_valid(s[sub_index].second) && !subscribe)
298 NOTICE(binder_interface, "%s: Event isn't valid, no need to unsubscribed.", __FUNCTION__);
303 // Event it isn't valid anymore, recreate it
304 ret = create_event_handle(can_subscription, s);
309 /* Event doesn't exist , so let's create it */
310 struct afb_event empty_event = {nullptr, nullptr};
311 s[sub_index] = std::make_pair(can_subscription, empty_event);
312 ret = create_event_handle(can_subscription, s);
315 // Check whether or not the event handler has been correctly created and
316 // make the subscription/unsubscription operation is so.
319 return make_subscription_unsubscription(request, can_subscription, s, subscribe);
323 /// @brief subscribe to all signals in the vector signals
325 /// @param[in] afb_req request : contain original request use to subscribe or unsubscribe
326 /// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription
327 /// @param[in] signals - struct containing vectors with can_signal_t and diagnostic_messages to subscribe
329 /// @return Number of correctly subscribed signal
331 static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals, struct event_filter_t& event_filter)
335 //TODO: Implement way to dynamically call the right function no matter
336 // how much signals types we have.
337 application_t& conf = application_t::instance();
339 for(const auto& sig : signals.diagnostic_messages)
342 diagnostic_manager_t& diag_m = conf.get_diagnostic_manager();
343 DiagnosticRequest* diag_req = conf.get_request_from_diagnostic_message(sig->get_name());
345 // If the requested diagnostic message isn't supported by the car then unsubcribe it
346 // no matter what we want, worse case will be a fail unsubscription but at least we don't
347 // poll a PID for nothing.
348 if(sig->get_supported() && subscribe)
350 float frequency = std::isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency;
352 diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), frequency);
353 //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);
357 diag_m.cleanup_request(
358 diag_m.find_recurring_request(diag_req), true);
359 WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, sig->get_name().c_str());
365 std::shared_ptr<low_can_subscription_t> can_subscription(new low_can_subscription_t(event_filter));
366 ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription);
370 DEBUG(binder_interface, "%s: Signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
373 for(const auto& sig: signals.can_signals)
375 std::shared_ptr<low_can_subscription_t> can_subscription(new low_can_subscription_t(event_filter));
376 if(can_subscription->create_rx_filter(sig) < 0)
378 else if(subscribe_unsubscribe_signal(request, subscribe, can_subscription) < 0)
381 struct sd_event_source* e_source;
382 sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &e_source, can_subscription->get_socket().socket(), EPOLLIN, read_message, can_subscription.get());
384 DEBUG(binder_interface, "%s: signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
389 static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const std::string& tag, json_object* args)
392 struct event_filter_t event_filter;
393 struct json_object *filter, *obj;
394 struct utils::signals_found sf;
396 // computes the filter
397 if (json_object_object_get_ex(args, "filter", &filter))
399 if (json_object_object_get_ex(filter, "frequency", &obj)
400 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
402 event_filter.frequency = (float)json_object_get_double(obj);
405 if (json_object_object_get_ex(filter, "min", &obj)
406 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
408 event_filter.min = (float)json_object_get_double(obj);
411 if (json_object_object_get_ex(filter, "max", &obj)
412 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
414 event_filter.max = (float)json_object_get_double(obj);
419 // subscribe or unsubscribe
420 openxc_DynamicField search_key = build_DynamicField(tag);
421 sf = utils::signals_manager_t::instance().find_signals(search_key);
422 if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
423 NOTICE(binder_interface, "%s: No signal(s) found for %s.", __FUNCTION__, tag.c_str());
425 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
430 static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe)
433 struct json_object *args, *event, *x;
435 args = afb_req_json(request);
436 if (args == NULL || !json_object_object_get_ex(args, "event", &event))
438 rc = one_subscribe_unsubscribe(request, subscribe, "*", args);
440 else if (json_object_get_type(event) != json_type_array)
442 rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), args);
447 n = json_object_array_length(event);
448 for (i = 0 ; i < n ; i++)
450 x = json_object_array_get_idx(event, i);
451 rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), args);
453 rc = rc2 >= 0 ? rc + rc2 : rc2;
458 afb_req_success(request, NULL, NULL);
460 afb_req_fail(request, "error", NULL);
463 void subscribe(struct afb_req request)
465 do_subscribe_unsubscribe(request, true);
468 void unsubscribe(struct afb_req request)
470 do_subscribe_unsubscribe(request, false);