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 <memory>
  23 #include <queue>
  24 #include <mutex>
  25 #include <vector>
  26 #include <thread>
  27 #include <json-c/json.h>
  28 #include <systemd/sd-event.h>
  29
  30 #include "openxc.pb.h"
  31 #include "application.hpp"
  32 #include "../can/can-bus.hpp"
  33 #include "../can/can-signals.hpp"
  34 #include "../can/can-message.hpp"
  35 #include "../utils/timer.hpp"
  36 #include "../utils/signals.hpp"
  37 #include "../diagnostic/diagnostic-message.hpp"
  38 #include "../utils/openxc-utils.hpp"
  39 #include "canutil/write.h"
  40
  41 extern "C"
  42 {
  43         #include <afb/afb-service-itf.h>
  44 };
  45
  46 ///******************************************************************************
  47 ///
  48 ///     low_can_subscription_t object
  49 ///
  50 ///*******************************************************************************/
  51
  52 low_can_subscription_t::low_can_subscription_t()
  53         : index_{-1},
  54         event_filter_{event_filter_t()},
  55         socket_{}
  56 {}
  57
  58 low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter)
  59         : event_filter_{event_filter}
  60 {}
  61
  62 low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter, std::shared_ptr<diagnostic_message_t> diagnostic_message)
  63         : diagnostic_message_{diagnostic_message}, event_filter_{event_filter}
  64 {}
  65
  66 low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
  67         : index_{s.index_},
  68         event_filter_{s.event_filter_},
  69         socket_{std::move(s.socket_)}
  70 {}
  71
  72         low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s)
  73 {
  74         socket_ = std::move(s.socket_);
  75         return *this;
  76 }
  77
  78 low_can_subscription_t::operator bool() const
  79 {
  80         return socket_.socket() != INVALID_SOCKET;
  81 }
  82
  83 int low_can_subscription_t::get_index() const
  84 {
  85         return index_;
  86 }
  87
  88 const std::shared_ptr<can_signal_t> low_can_subscription_t::get_can_signal() const
  89 {
  90         return can_signal_;
  91 }
  92
  93 const std::string low_can_subscription_t::get_name() const
  94 {
  95         if (can_signal_ != nullptr)
  96                 return can_signal_->get_name();
  97         if (diagnostic_message_ != nullptr)
  98                 return diagnostic_message_->get_name() ;
  99
 100         return "";
 101 }
 102
 103 float low_can_subscription_t::get_frequency() const
 104 {
 105         return event_filter_.frequency;
 106 }
 107
 108 float low_can_subscription_t::get_min() const
 109 {
 110         return event_filter_.min;
 111 }
 112
 113 float low_can_subscription_t::get_max() const
 114 {
 115         return event_filter_.max;
 116 }
 117
 118 utils::socketcan_bcm_t& low_can_subscription_t::get_socket()
 119 {
 120         return socket_;
 121 }
 122
 123 void low_can_subscription_t::set_frequency(float freq)
 124 {
 125         event_filter_.frequency = freq;
 126 }
 127
 128 void low_can_subscription_t::set_min(float min)
 129 {
 130         event_filter_.min = min;
 131 }
 132
 133 void low_can_subscription_t::set_max(float max)
 134 {
 135         event_filter_.max = max;
 136 }
 137
 138 /// @brief Create a RX_SETUP receive job used by the BCM socket.
 139 ///
 140 /// @return 0 if ok else -1
 141 int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
 142 {
 143         can_signal_= sig;
 144         return create_rx_filter();
 145 }
 146
 147 /// @brief Create a RX_SETUP receive job used by the BCM socket.
 148 ///
 149 /// @return 0 if ok else -1
 150 int low_can_subscription_t::create_rx_filter()
 151 {
 152         if (can_signal_ == nullptr)
 153                 {return -1;}
 154
 155         // Make sure that socket has been opened.
 156         if(! socket_)
 157         {
 158                 socket_.open(can_signal_->get_message()->get_bus_device_name());
 159                 index_ = (int)socket_.socket();
 160         }
 161
 162         struct utils::simple_bcm_msg bcm_msg;
 163         struct can_frame cfd;
 164
 165         memset(&cfd, 0, sizeof(cfd));
 166         memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
 167         float val = (float)(1 << can_signal_->get_bit_size()) - 1;
 168
 169         struct timeval freq;
 170         frequency_clock_t f = std::isnan(event_filter_.frequency) ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency);
 171         freq = f.get_timeval_from_period();
 172
 173         bcm_msg.msg_head.opcode  = RX_SETUP;
 174         bcm_msg.msg_head.can_id  = can_signal_->get_message()->get_id();
 175         bcm_msg.msg_head.flags = SETTIMER|RX_NO_AUTOTIMER;
 176         bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec ;
 177         bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
 178         bcm_msg.msg_head.nframes = 1;
 179         bitfield_encode_float(val,
 180                                                         can_signal_->get_bit_position(),
 181                                                         can_signal_->get_bit_size(),
 182                                                         can_signal_->get_factor(),
 183                                                         can_signal_->get_offset(),
 184                                                         cfd.data,
 185                                                         CAN_MAX_DLEN);
 186
 187         bcm_msg.frames = cfd;
 188
 189         if(socket_ << bcm_msg)
 190                 return 0;
 191         return -1;
 192 }
 193
 194 ///******************************************************************************
 195 ///
 196 ///             SystemD event loop Callbacks
 197 ///
 198 ///*******************************************************************************/
 199
 200 void on_no_clients(const std::string& message)
 201 {
 202         DiagnosticRequest* diag_req = application_t::instance().get_request_from_diagnostic_message(message);
 203         if(diag_req != nullptr)
 204         {
 205                 active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
 206                 if( adr != nullptr)
 207                         application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
 208         }
 209         delete diag_req;
 210         diag_req = nullptr;
 211 }
 212
 213 static void push_n_notify(const can_message_t& cm)
 214 {
 215         can_bus_t& cbm = application_t::instance().get_can_bus_manager();
 216         std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
 217         { cbm.push_new_can_message(cm); }
 218         cbm.get_new_can_message_cv().notify_one();
 219 }
 220
 221 int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata)
 222 {
 223         can_message_t cm;
 224         low_can_subscription_t* can_subscription;
 225         diagnostic_manager_t& diag_m = application_t::instance().get_diagnostic_manager();
 226
 227         if(userdata != nullptr)
 228         {
 229                 can_subscription = (low_can_subscription_t*)userdata;
 230                 utils::socketcan_bcm_t& s = can_subscription->get_socket();
 231                 s >> cm;
 232         }
 233         else
 234         {
 235                 utils::socketcan_bcm_t& s = diag_m.get_socket();
 236                 s >> cm;
 237         }
 238
 239         push_n_notify(cm);
 240
 241         /* check if error or hangup */
 242         if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
 243         {
 244                 sd_event_source_unref(s);
 245                 if(userdata != nullptr)
 246                 {
 247                         can_subscription->get_socket().close();
 248                         can_subscription->create_rx_filter();
 249                         NOTICE(binder_interface, "%s: Recreated RX_SETUP BCM job for can_subscription: %s", __FUNCTION__, can_subscription->get_name().c_str());
 250                 }
 251                 else
 252                 {
 253                         diag_m.get_socket().close();
 254                         diag_m.cleanup_active_requests(true);
 255                         ERROR(binder_interface, "%s: Error on diagnostic manager socket, cancelling active requests.", __FUNCTION__);
 256                 }
 257                 return -1;
 258         }
 259
 260         return 0;
 261 }
 262
 263 ///******************************************************************************
 264 ///
 265 ///             Subscription and unsubscription
 266 ///
 267 ///*******************************************************************************/
 268
 269 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)
 270 {
 271         /* Make the subscription or unsubscription to the event */
 272         if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[can_subscription->get_index()].second)) < 0)
 273         {
 274                 ERROR(binder_interface, "%s: Operation goes wrong for signal: %s", __FUNCTION__, can_subscription->get_name().c_str());
 275                 return -1;
 276         }
 277         return 0;
 278 }
 279
 280 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)
 281 {
 282         int sub_index = can_subscription->get_index();
 283         struct afb_event event = afb_daemon_make_event(binder_interface->daemon, can_subscription->get_name().c_str());
 284         s[sub_index] = std::make_pair(can_subscription, event);
 285         if (!afb_event_is_valid(s[sub_index].second))
 286         {
 287                 ERROR(binder_interface, "%s: Can't create an event for %s, something goes wrong.", __FUNCTION__, can_subscription->get_name().c_str());
 288                 return -1;
 289         }
 290         return 0;
 291 }
 292
 293 /// @brief Will determine if it is needed or not to create the event handle and checks it to be sure that
 294 /// we got a valid afb_event to get subscribe or unsubscribe. Then launch the subscription or unsubscription
 295 /// against the application framework using that event handle.
 296 static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, std::shared_ptr<low_can_subscription_t>& can_subscription)
 297 {
 298         int ret;
 299         int sub_index = can_subscription->get_index();
 300         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 301
 302         std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 303         std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s = sm.get_subscribed_signals();
 304         if (can_subscription && s.find(sub_index) != s.end())
 305         {
 306                 if (!afb_event_is_valid(s[sub_index].second) && !subscribe)
 307                 {
 308                         NOTICE(binder_interface, "%s: Event isn't valid, no need to unsubscribed.", __FUNCTION__);
 309                         ret = -1;
 310                 }
 311                 else
 312                 {
 313                         // Event it isn't valid anymore, recreate it
 314                         ret = create_event_handle(can_subscription, s);
 315                 }
 316         }
 317         else
 318         {
 319                 /* Event doesn't exist , so let's create it */
 320                 struct afb_event empty_event = {nullptr, nullptr};
 321                 s[sub_index] = std::make_pair(can_subscription, empty_event);
 322                 ret = create_event_handle(can_subscription, s);
 323         }
 324
 325         // Check whether or not the event handler has been correctly created and
 326         // make the subscription/unsubscription operation is so.
 327         if (ret < 0)
 328                 return ret;
 329         return make_subscription_unsubscription(request, can_subscription, s, subscribe);
 330 }
 331
 332 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)
 333 {
 334         int rets = 0;
 335         application_t& conf = application_t::instance();
 336         diagnostic_manager_t& diag_m = conf.get_diagnostic_manager();
 337
 338         for(const auto& sig : diagnostic_messages)
 339         {
 340                 active_diagnostic_request_t* adr;
 341                 DiagnosticRequest* diag_req = conf.get_request_from_diagnostic_message(sig->get_name());
 342
 343                 // If the requested diagnostic message isn't supported by the car then unsubcribe it
 344                 // no matter what we want, worse case will be a fail unsubscription but at least we don't
 345                 // poll a PID for nothing.
 346                 if(sig->get_supported() && subscribe)
 347                 {
 348                         float frequency = std::isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency;
 349
 350                         adr = diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), frequency);
 351                         //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);
 352                 }
 353                 else
 354                 {
 355                         diag_m.cleanup_request(
 356                                 diag_m.find_recurring_request(diag_req), true);
 357                         WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, sig->get_name().c_str());
 358                         delete diag_req;
 359                         diag_req = nullptr;
 360                         return -1;
 361                 }
 362
 363                 std::shared_ptr<low_can_subscription_t> can_subscription(new low_can_subscription_t(event_filter, sig));
 364                 int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription);
 365                 if(ret < 0)
 366                         return ret;
 367                 rets++;
 368                 DEBUG(binder_interface, "%s: Signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
 369         }
 370
 371         return rets;
 372 }
 373
 374 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)
 375 {
 376         int rets = 0;
 377         for(const auto& sig: can_signals)
 378         {
 379                 std::shared_ptr<low_can_subscription_t> can_subscription(new low_can_subscription_t(event_filter));
 380                 if(can_subscription->create_rx_filter(sig) < 0)
 381                         {return -1;}
 382                 else if(subscribe_unsubscribe_signal(request, subscribe, can_subscription) < 0)
 383                         {return -1;}
 384
 385                 struct sd_event_source* e_source;
 386                 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());
 387                 rets++;
 388                 DEBUG(binder_interface, "%s: signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
 389         }
 390         return rets;
 391 }
 392
 393 ///
 394 /// @brief subscribe to all signals in the vector signals
 395 ///
 396 /// @param[in] afb_req request : contain original request use to subscribe or unsubscribe
 397 /// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription
 398 /// @param[in] signals -  struct containing vectors with can_signal_t and diagnostic_messages to subscribe
 399 ///
 400 /// @return Number of correctly subscribed signal
 401 ///
 402 static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals, struct event_filter_t& event_filter)
 403 {
 404         int rets = 0;
 405
 406         rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter);
 407         rets += subscribe_unsubscribe_can_signals(request, subscribe, signals.can_signals, event_filter);
 408
 409         return rets;
 410 }
 411
 412 static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const std::string& tag, json_object* args)
 413 {
 414         int ret = 0;
 415         struct event_filter_t event_filter;
 416         struct json_object  *filter, *obj;
 417         struct utils::signals_found sf;
 418
 419         // computes the filter
 420         if (json_object_object_get_ex(args, "filter", &filter))
 421         {
 422                 if (json_object_object_get_ex(filter, "frequency", &obj)
 423                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 424                 {
 425                         event_filter.frequency = (float)json_object_get_double(obj);
 426                         ret += 1;
 427                 }
 428                 if (json_object_object_get_ex(filter, "min", &obj)
 429                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 430                 {
 431                         event_filter.min = (float)json_object_get_double(obj);
 432                         ret += 2;
 433                 }
 434                 if (json_object_object_get_ex(filter, "max", &obj)
 435                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 436                 {
 437                         event_filter.max = (float)json_object_get_double(obj);
 438                         ret += 4;
 439                 }
 440         }
 441
 442         // subscribe or unsubscribe
 443         openxc_DynamicField search_key = build_DynamicField(tag);
 444         sf = utils::signals_manager_t::instance().find_signals(search_key);
 445         if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
 446                 NOTICE(binder_interface, "%s: No signal(s) found for %s.", __FUNCTION__, tag.c_str());
 447         else
 448                 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
 449
 450         return ret;
 451 }
 452
 453 static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe)
 454 {
 455         int i, n, rc, rc2;
 456         struct json_object *args, *event, *x;
 457
 458         args = afb_req_json(request);
 459         if (args == NULL || !json_object_object_get_ex(args, "event", &event))
 460         {
 461                 rc = one_subscribe_unsubscribe(request, subscribe, "*", args);
 462         }
 463         else if (json_object_get_type(event) != json_type_array)
 464         {
 465                 rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), args);
 466         }
 467         else
 468         {
 469                 rc = 0;
 470                 n = json_object_array_length(event);
 471                 for (i = 0 ; i < n ; i++)
 472                 {
 473                         x = json_object_array_get_idx(event, i);
 474                         rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), args);
 475                         if (rc >= 0)
 476                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 477                 }
 478         }
 479
 480         if (rc >= 0)
 481                 afb_req_success(request, NULL, NULL);
 482         else
 483                 afb_req_fail(request, "error", NULL);
 484 }
 485
 486 void subscribe(struct afb_req request)
 487 {
 488         do_subscribe_unsubscribe(request, true);
 489 }
 490
 491 void unsubscribe(struct afb_req request)
 492 {
 493         do_subscribe_unsubscribe(request, false);
 494 }