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 struct afb_event& low_can_subscription_t::get_event()
  84 {
  85         return event_;
  86 }
  87
  88 int low_can_subscription_t::get_index() const
  89 {
  90         return index_;
  91 }
  92
  93 const std::shared_ptr<can_signal_t> low_can_subscription_t::get_can_signal() const
  94 {
  95         return can_signal_;
  96 }
  97
  98 const std::string low_can_subscription_t::get_name() const
  99 {
 100         if (can_signal_ != nullptr)
 101                 return can_signal_->get_name();
 102         if (diagnostic_message_ != nullptr)
 103                 return diagnostic_message_->get_name() ;
 104
 105         return "";
 106 }
 107
 108 float low_can_subscription_t::get_frequency() const
 109 {
 110         return event_filter_.frequency;
 111 }
 112
 113 float low_can_subscription_t::get_min() const
 114 {
 115         return event_filter_.min;
 116 }
 117
 118 float low_can_subscription_t::get_max() const
 119 {
 120         return event_filter_.max;
 121 }
 122
 123 utils::socketcan_bcm_t& low_can_subscription_t::get_socket()
 124 {
 125         return socket_;
 126 }
 127
 128 void low_can_subscription_t::set_event(struct afb_event event)
 129 {
 130         event_ = event;
 131 }
 132
 133 void low_can_subscription_t::set_frequency(float freq)
 134 {
 135         event_filter_.frequency = freq;
 136 }
 137
 138 void low_can_subscription_t::set_min(float min)
 139 {
 140         event_filter_.min = min;
 141 }
 142
 143 void low_can_subscription_t::set_max(float max)
 144 {
 145         event_filter_.max = max;
 146 }
 147
 148 /// @brief Create a RX_SETUP receive job used by the BCM socket.
 149 ///
 150 /// @return 0 if ok else -1
 151 int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
 152 {
 153         can_signal_= sig;
 154         return create_rx_filter();
 155 }
 156
 157 /// @brief Create a RX_SETUP receive job used by the BCM socket.
 158 ///
 159 /// @return 0 if ok else -1
 160 int low_can_subscription_t::create_rx_filter()
 161 {
 162         if (can_signal_ == nullptr)
 163                 {return -1;}
 164
 165         // Make sure that socket has been opened.
 166         if(! socket_)
 167         {
 168                 socket_.open(can_signal_->get_message()->get_bus_device_name());
 169                 index_ = (int)socket_.socket();
 170         }
 171
 172         struct utils::simple_bcm_msg bcm_msg;
 173         struct can_frame cfd;
 174
 175         memset(&cfd, 0, sizeof(cfd));
 176         memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
 177         float val = (float)(1 << can_signal_->get_bit_size()) - 1;
 178
 179         struct timeval freq;
 180         frequency_clock_t f = std::isnan(event_filter_.frequency) ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency);
 181         freq = f.get_timeval_from_period();
 182
 183         bcm_msg.msg_head.opcode  = RX_SETUP;
 184         bcm_msg.msg_head.can_id  = can_signal_->get_message()->get_id();
 185         bcm_msg.msg_head.flags = SETTIMER|RX_NO_AUTOTIMER;
 186         bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec ;
 187         bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
 188         bcm_msg.msg_head.nframes = 1;
 189         bitfield_encode_float(val,
 190                                                         can_signal_->get_bit_position(),
 191                                                         can_signal_->get_bit_size(),
 192                                                         can_signal_->get_factor(),
 193                                                         can_signal_->get_offset(),
 194                                                         cfd.data,
 195                                                         CAN_MAX_DLEN);
 196
 197         bcm_msg.frames = cfd;
 198
 199         if(socket_ << bcm_msg)
 200                 return 0;
 201         return -1;
 202 }
 203
 204 ///******************************************************************************
 205 ///
 206 ///             SystemD event loop Callbacks
 207 ///
 208 ///*******************************************************************************/
 209
 210 void on_no_clients(const std::string& message)
 211 {
 212         DiagnosticRequest* diag_req = application_t::instance().get_request_from_diagnostic_message(message);
 213         if(diag_req != nullptr)
 214         {
 215                 active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
 216                 if( adr != nullptr)
 217                         application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
 218         }
 219         delete diag_req;
 220         diag_req = nullptr;
 221 }
 222
 223 static void push_n_notify(const can_message_t& cm)
 224 {
 225         can_bus_t& cbm = application_t::instance().get_can_bus_manager();
 226         std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
 227         { cbm.push_new_can_message(cm); }
 228         cbm.get_new_can_message_cv().notify_one();
 229 }
 230
 231 int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata)
 232 {
 233         can_message_t cm;
 234         low_can_subscription_t* can_subscription;
 235         diagnostic_manager_t& diag_m = application_t::instance().get_diagnostic_manager();
 236
 237         if(userdata != nullptr)
 238         {
 239                 can_subscription = (low_can_subscription_t*)userdata;
 240                 utils::socketcan_bcm_t& s = can_subscription->get_socket();
 241                 s >> cm;
 242         }
 243         else
 244         {
 245                 utils::socketcan_bcm_t& s = diag_m.get_socket();
 246                 s >> cm;
 247         }
 248
 249         push_n_notify(cm);
 250
 251         /* check if error or hangup */
 252         if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
 253         {
 254                 sd_event_source_unref(s);
 255                 if(userdata != nullptr)
 256                 {
 257                         can_subscription->get_socket().close();
 258                         can_subscription->create_rx_filter();
 259                         NOTICE(binder_interface, "%s: Recreated RX_SETUP BCM job for can_subscription: %s", __FUNCTION__, can_subscription->get_name().c_str());
 260                 }
 261                 else
 262                 {
 263                         diag_m.get_socket().close();
 264                         diag_m.cleanup_active_requests(true);
 265                         ERROR(binder_interface, "%s: Error on diagnostic manager socket, cancelling active requests.", __FUNCTION__);
 266                 }
 267                 return -1;
 268         }
 269
 270         return 0;
 271 }
 272
 273 ///******************************************************************************
 274 ///
 275 ///             Subscription and unsubscription
 276 ///
 277 ///*******************************************************************************/
 278
 279 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)
 280 {
 281         /* Make the subscription or unsubscription to the event */
 282         if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[can_subscription->get_index()]->get_event())) < 0)
 283         {
 284                 ERROR(binder_interface, "%s: Operation goes wrong for signal: %s", __FUNCTION__, can_subscription->get_name().c_str());
 285                 return -1;
 286         }
 287         return 0;
 288 }
 289
 290 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)
 291 {
 292         int sub_index = can_subscription->get_index();
 293         can_subscription->set_event(afb_daemon_make_event(binder_interface->daemon, can_subscription->get_name().c_str()));
 294         s[sub_index] = can_subscription;
 295         if (!afb_event_is_valid(s[sub_index]->get_event()))
 296         {
 297                 ERROR(binder_interface, "%s: Can't create an event for %s, something goes wrong.", __FUNCTION__, can_subscription->get_name().c_str());
 298                 return -1;
 299         }
 300         return 0;
 301 }
 302
 303 /// @brief Will determine if it is needed or not to create the event handle and checks it to be sure that
 304 /// we got a valid afb_event to get subscribe or unsubscribe. Then launch the subscription or unsubscription
 305 /// against the application framework using that event handle.
 306 static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, std::shared_ptr<low_can_subscription_t>& can_subscription)
 307 {
 308         int ret;
 309         int sub_index = can_subscription->get_index();
 310         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 311
 312         std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 313         std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
 314         if (can_subscription && s.find(sub_index) != s.end())
 315         {
 316                 if (!afb_event_is_valid(s[sub_index]->get_event()) && !subscribe)
 317                 {
 318                         NOTICE(binder_interface, "%s: Event isn't valid, no need to unsubscribed.", __FUNCTION__);
 319                         ret = -1;
 320                 }
 321                 else
 322                 {
 323                         // Event it isn't valid anymore, recreate it
 324                         ret = create_event_handle(can_subscription, s);
 325                 }
 326         }
 327         else
 328         {
 329                 /* Event doesn't exist , so let's create it */
 330                 can_subscription->set_event({nullptr, nullptr});
 331                 s[sub_index] = can_subscription;
 332                 ret = create_event_handle(can_subscription, s);
 333         }
 334
 335         // Check whether or not the event handler has been correctly created and
 336         // make the subscription/unsubscription operation is so.
 337         if (ret < 0)
 338                 return ret;
 339         return make_subscription_unsubscription(request, can_subscription, s, subscribe);
 340 }
 341
 342 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)
 343 {
 344         int rets = 0;
 345         application_t& conf = application_t::instance();
 346         diagnostic_manager_t& diag_m = conf.get_diagnostic_manager();
 347
 348         for(const auto& sig : diagnostic_messages)
 349         {
 350                 active_diagnostic_request_t* adr;
 351                 DiagnosticRequest* diag_req = conf.get_request_from_diagnostic_message(sig->get_name());
 352
 353                 // If the requested diagnostic message isn't supported by the car then unsubcribe it
 354                 // no matter what we want, worse case will be a fail unsubscription but at least we don't
 355                 // poll a PID for nothing.
 356                 if(sig->get_supported() && subscribe)
 357                 {
 358                         float frequency = std::isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency;
 359
 360                         adr = diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), frequency);
 361                         //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);
 362                 }
 363                 else
 364                 {
 365                         diag_m.cleanup_request(
 366                                 diag_m.find_recurring_request(diag_req), true);
 367                         WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, sig->get_name().c_str());
 368                         delete diag_req;
 369                         diag_req = nullptr;
 370                         return -1;
 371                 }
 372
 373                 std::shared_ptr<low_can_subscription_t> can_subscription(new low_can_subscription_t(event_filter, sig));
 374                 int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription);
 375                 if(ret < 0)
 376                         return ret;
 377                 rets++;
 378                 DEBUG(binder_interface, "%s: Signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
 379         }
 380
 381         return rets;
 382 }
 383
 384 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)
 385 {
 386         int rets = 0;
 387         for(const auto& sig: can_signals)
 388         {
 389                 std::shared_ptr<low_can_subscription_t> can_subscription(new low_can_subscription_t(event_filter));
 390                 if(can_subscription->create_rx_filter(sig) < 0)
 391                         {return -1;}
 392                 else if(subscribe_unsubscribe_signal(request, subscribe, can_subscription) < 0)
 393                         {return -1;}
 394
 395                 struct sd_event_source* e_source;
 396                 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());
 397                 rets++;
 398                 DEBUG(binder_interface, "%s: signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
 399         }
 400         return rets;
 401 }
 402
 403 ///
 404 /// @brief subscribe to all signals in the vector signals
 405 ///
 406 /// @param[in] afb_req request : contain original request use to subscribe or unsubscribe
 407 /// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription
 408 /// @param[in] signals -  struct containing vectors with can_signal_t and diagnostic_messages to subscribe
 409 ///
 410 /// @return Number of correctly subscribed signal
 411 ///
 412 static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals, struct event_filter_t& event_filter)
 413 {
 414         int rets = 0;
 415
 416         rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter);
 417         rets += subscribe_unsubscribe_can_signals(request, subscribe, signals.can_signals, event_filter);
 418
 419         return rets;
 420 }
 421
 422 static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const std::string& tag, json_object* args)
 423 {
 424         int ret = 0;
 425         struct event_filter_t event_filter;
 426         struct json_object  *filter, *obj;
 427         struct utils::signals_found sf;
 428
 429         // computes the filter
 430         if (json_object_object_get_ex(args, "filter", &filter))
 431         {
 432                 if (json_object_object_get_ex(filter, "frequency", &obj)
 433                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 434                 {
 435                         event_filter.frequency = (float)json_object_get_double(obj);
 436                         ret += 1;
 437                 }
 438                 if (json_object_object_get_ex(filter, "min", &obj)
 439                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 440                 {
 441                         event_filter.min = (float)json_object_get_double(obj);
 442                         ret += 2;
 443                 }
 444                 if (json_object_object_get_ex(filter, "max", &obj)
 445                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 446                 {
 447                         event_filter.max = (float)json_object_get_double(obj);
 448                         ret += 4;
 449                 }
 450         }
 451
 452         // subscribe or unsubscribe
 453         openxc_DynamicField search_key = build_DynamicField(tag);
 454         sf = utils::signals_manager_t::instance().find_signals(search_key);
 455         if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
 456                 NOTICE(binder_interface, "%s: No signal(s) found for %s.", __FUNCTION__, tag.c_str());
 457         else
 458                 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
 459
 460         return ret;
 461 }
 462
 463 static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe)
 464 {
 465         int i, n, rc, rc2;
 466         struct json_object *args, *event, *x;
 467
 468         args = afb_req_json(request);
 469         if (args == NULL || !json_object_object_get_ex(args, "event", &event))
 470         {
 471                 rc = one_subscribe_unsubscribe(request, subscribe, "*", args);
 472         }
 473         else if (json_object_get_type(event) != json_type_array)
 474         {
 475                 rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), args);
 476         }
 477         else
 478         {
 479                 rc = 0;
 480                 n = json_object_array_length(event);
 481                 for (i = 0 ; i < n ; i++)
 482                 {
 483                         x = json_object_array_get_idx(event, i);
 484                         rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), args);
 485                         if (rc >= 0)
 486                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 487                 }
 488         }
 489
 490         if (rc >= 0)
 491                 afb_req_success(request, NULL, NULL);
 492         else
 493                 afb_req_fail(request, "error", NULL);
 494 }
 495
 496 void subscribe(struct afb_req request)
 497 {
 498         do_subscribe_unsubscribe(request, true);
 499 }
 500
 501 void unsubscribe(struct afb_req request)
 502 {
 503         do_subscribe_unsubscribe(request, false);
 504 }