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         index_ = diagnostic_message->get_pid();
  66 }
  67
  68 low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
  69         : index_{s.index_},
  70         event_filter_{s.event_filter_},
  71         socket_{std::move(s.socket_)}
  72 {}
  73
  74         low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s)
  75 {
  76         socket_ = std::move(s.socket_);
  77         return *this;
  78 }
  79
  80 low_can_subscription_t::operator bool() const
  81 {
  82         return socket_.socket() != INVALID_SOCKET;
  83 }
  84
  85 struct afb_event& low_can_subscription_t::get_event()
  86 {
  87         return event_;
  88 }
  89
  90 int low_can_subscription_t::get_index() const
  91 {
  92         return index_;
  93 }
  94
  95 const std::shared_ptr<can_signal_t> low_can_subscription_t::get_can_signal() const
  96 {
  97         return can_signal_;
  98 }
  99
 100 const std::string low_can_subscription_t::get_name() const
 101 {
 102         if (can_signal_ != nullptr)
 103                 return can_signal_->get_name();
 104         if (diagnostic_message_ != nullptr)
 105                 return diagnostic_message_->get_name() ;
 106
 107         return "";
 108 }
 109
 110 float low_can_subscription_t::get_frequency() const
 111 {
 112         return event_filter_.frequency;
 113 }
 114
 115 float low_can_subscription_t::get_min() const
 116 {
 117         return event_filter_.min;
 118 }
 119
 120 float low_can_subscription_t::get_max() const
 121 {
 122         return event_filter_.max;
 123 }
 124
 125 utils::socketcan_bcm_t& low_can_subscription_t::get_socket()
 126 {
 127         return socket_;
 128 }
 129
 130 void low_can_subscription_t::set_event(struct afb_event event)
 131 {
 132         event_ = event;
 133 }
 134
 135 void low_can_subscription_t::set_frequency(float freq)
 136 {
 137         event_filter_.frequency = freq;
 138 }
 139
 140 void low_can_subscription_t::set_min(float min)
 141 {
 142         event_filter_.min = min;
 143 }
 144
 145 void low_can_subscription_t::set_max(float max)
 146 {
 147         event_filter_.max = max;
 148 }
 149
 150 /// @brief Create a RX_SETUP receive job used by the BCM socket.
 151 ///
 152 /// @return 0 if ok else -1
 153 int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
 154 {
 155         can_signal_= sig;
 156         return create_rx_filter();
 157 }
 158
 159 /// @brief Create a RX_SETUP receive job used by the BCM socket.
 160 ///
 161 /// @return 0 if ok else -1
 162 int low_can_subscription_t::create_rx_filter()
 163 {
 164         if (can_signal_ == nullptr)
 165                 {return -1;}
 166
 167         // Make sure that socket has been opened.
 168         if(! socket_)
 169         {
 170                 socket_.open(can_signal_->get_message()->get_bus_device_name());
 171                 index_ = (int)socket_.socket();
 172         }
 173
 174         struct utils::simple_bcm_msg bcm_msg;
 175         struct can_frame cfd;
 176
 177         memset(&cfd, 0, sizeof(cfd));
 178         memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
 179         float val = (float)(1 << can_signal_->get_bit_size()) - 1;
 180
 181         struct timeval freq;
 182         frequency_clock_t f = std::isnan(event_filter_.frequency) ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency);
 183         freq = f.get_timeval_from_period();
 184
 185         bcm_msg.msg_head.opcode  = RX_SETUP;
 186         bcm_msg.msg_head.can_id  = can_signal_->get_message()->get_id();
 187         bcm_msg.msg_head.flags = SETTIMER|RX_NO_AUTOTIMER;
 188         bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec ;
 189         bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
 190         bcm_msg.msg_head.nframes = 1;
 191         bitfield_encode_float(val,
 192                                                         can_signal_->get_bit_position(),
 193                                                         can_signal_->get_bit_size(),
 194                                                         can_signal_->get_factor(),
 195                                                         can_signal_->get_offset(),
 196                                                         cfd.data,
 197                                                         CAN_MAX_DLEN);
 198
 199         bcm_msg.frames = cfd;
 200
 201         if(socket_ << bcm_msg)
 202                 return 0;
 203         return -1;
 204 }
 205
 206 ///******************************************************************************
 207 ///
 208 ///             SystemD event loop Callbacks
 209 ///
 210 ///*******************************************************************************/
 211
 212 void on_no_clients(const std::string& message)
 213 {
 214         DiagnosticRequest* diag_req = application_t::instance().get_request_from_diagnostic_message(message);
 215         if(diag_req != nullptr)
 216         {
 217                 active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
 218                 if( adr != nullptr)
 219                         application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
 220         }
 221         delete diag_req;
 222         diag_req = nullptr;
 223 }
 224
 225 static void push_n_notify(const can_message_t& cm)
 226 {
 227         can_bus_t& cbm = application_t::instance().get_can_bus_manager();
 228         std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
 229         { cbm.push_new_can_message(cm); }
 230         cbm.get_new_can_message_cv().notify_one();
 231 }
 232
 233 int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata)
 234 {
 235         can_message_t cm;
 236         low_can_subscription_t* can_subscription;
 237         diagnostic_manager_t& diag_m = application_t::instance().get_diagnostic_manager();
 238
 239         if(userdata != nullptr)
 240         {
 241                 can_subscription = (low_can_subscription_t*)userdata;
 242                 utils::socketcan_bcm_t& s = can_subscription->get_socket();
 243                 s >> cm;
 244         }
 245         else
 246         {
 247                 utils::socketcan_bcm_t& s = diag_m.get_socket();
 248                 s >> cm;
 249         }
 250
 251         push_n_notify(cm);
 252
 253         /* check if error or hangup */
 254         if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
 255         {
 256                 sd_event_source_unref(s);
 257                 if(userdata != nullptr)
 258                 {
 259                         can_subscription->get_socket().close();
 260                         can_subscription->create_rx_filter();
 261                         NOTICE(binder_interface, "%s: Recreated RX_SETUP BCM job for can_subscription: %s", __FUNCTION__, can_subscription->get_name().c_str());
 262                 }
 263                 else
 264                 {
 265                         diag_m.get_socket().close();
 266                         diag_m.cleanup_active_requests(true);
 267                         ERROR(binder_interface, "%s: Error on diagnostic manager socket, cancelling active requests.", __FUNCTION__);
 268                 }
 269                 return -1;
 270         }
 271
 272         return 0;
 273 }
 274
 275 ///******************************************************************************
 276 ///
 277 ///             Subscription and unsubscription
 278 ///
 279 ///*******************************************************************************/
 280
 281 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)
 282 {
 283         /* Make the subscription or unsubscription to the event */
 284         if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[can_subscription->get_index()]->get_event())) < 0)
 285         {
 286                 ERROR(binder_interface, "%s: Operation goes wrong for signal: %s", __FUNCTION__, can_subscription->get_name().c_str());
 287                 return -1;
 288         }
 289         return 0;
 290 }
 291
 292 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)
 293 {
 294         int sub_index = can_subscription->get_index();
 295         can_subscription->set_event(afb_daemon_make_event(binder_interface->daemon, can_subscription->get_name().c_str()));
 296         s[sub_index] = can_subscription;
 297         if (!afb_event_is_valid(s[sub_index]->get_event()))
 298         {
 299                 ERROR(binder_interface, "%s: Can't create an event for %s, something goes wrong.", __FUNCTION__, can_subscription->get_name().c_str());
 300                 return -1;
 301         }
 302         return 0;
 303 }
 304
 305 /// @brief Will determine if it is needed or not to create the event handle and checks it to be sure that
 306 /// we got a valid afb_event to get subscribe or unsubscribe. Then launch the subscription or unsubscription
 307 /// against the application framework using that event handle.
 308 static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, std::shared_ptr<low_can_subscription_t>& can_subscription)
 309 {
 310         int ret;
 311         int sub_index = can_subscription->get_index();
 312         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 313
 314         std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 315         std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
 316         if (can_subscription && s.find(sub_index) != s.end())
 317         {
 318                 if (!afb_event_is_valid(s[sub_index]->get_event()) && !subscribe)
 319                 {
 320                         NOTICE(binder_interface, "%s: Event isn't valid, no need to unsubscribed.", __FUNCTION__);
 321                         ret = -1;
 322                 }
 323                 else
 324                 {
 325                         // Event it isn't valid anymore, recreate it
 326                         ret = create_event_handle(can_subscription, s);
 327                 }
 328         }
 329         else
 330         {
 331                 /* Event doesn't exist , so let's create it */
 332                 can_subscription->set_event({nullptr, nullptr});
 333                 s[sub_index] = can_subscription;
 334                 ret = create_event_handle(can_subscription, s);
 335         }
 336
 337         // Check whether or not the event handler has been correctly created and
 338         // make the subscription/unsubscription operation is so.
 339         if (ret < 0)
 340                 return ret;
 341         return make_subscription_unsubscription(request, can_subscription, s, subscribe);
 342 }
 343
 344 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)
 345 {
 346         int rets = 0;
 347         application_t& app = application_t::instance();
 348         diagnostic_manager_t& diag_m = app.get_diagnostic_manager();
 349
 350         for(const auto& sig : diagnostic_messages)
 351         {
 352                 DiagnosticRequest* diag_req = app.get_request_from_diagnostic_message(sig->get_name());
 353                 float frequency = std::isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency;
 354
 355                 // If the requested diagnostic message isn't supported by the car then unsubcribe it
 356                 // no matter what we want, worse case will be a fail unsubscription but at least we don't
 357                 // poll a PID for nothing.
 358                 //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);
 359                 if(sig->get_supported() && subscribe &&
 360                         diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), frequency) != nullptr)
 361                 {
 362                 std::shared_ptr<low_can_subscription_t> can_subscription(new low_can_subscription_t(event_filter, sig));
 363                 int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription);
 364                 if(ret < 0)
 365                         return ret;
 366                 rets++;
 367                 DEBUG(binder_interface, "%s: Signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
 368                 }
 369                 else
 370                 {
 371                         diag_m.cleanup_request(
 372                                 diag_m.find_recurring_request(diag_req), true);
 373                         WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, sig->get_name().c_str());
 374                         delete diag_req;
 375                         diag_req = nullptr;
 376                         return -1;
 377                 }
 378         }
 379
 380         return rets;
 381 }
 382
 383 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)
 384 {
 385         int rets = 0;
 386         for(const auto& sig: can_signals)
 387         {
 388                 std::shared_ptr<low_can_subscription_t> can_subscription(new low_can_subscription_t(event_filter));
 389                 if(can_subscription->create_rx_filter(sig) < 0)
 390                         {return -1;}
 391                 else if(subscribe_unsubscribe_signal(request, subscribe, can_subscription) < 0)
 392                         {return -1;}
 393
 394                 struct sd_event_source* e_source;
 395                 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());
 396                 rets++;
 397                 DEBUG(binder_interface, "%s: signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
 398         }
 399         return rets;
 400 }
 401
 402 ///
 403 /// @brief subscribe to all signals in the vector signals
 404 ///
 405 /// @param[in] afb_req request : contain original request use to subscribe or unsubscribe
 406 /// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription
 407 /// @param[in] signals -  struct containing vectors with can_signal_t and diagnostic_messages to subscribe
 408 ///
 409 /// @return Number of correctly subscribed signal
 410 ///
 411 static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals, struct event_filter_t& event_filter)
 412 {
 413         int rets = 0;
 414
 415         rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter);
 416         rets += subscribe_unsubscribe_can_signals(request, subscribe, signals.can_signals, event_filter);
 417
 418         return rets;
 419 }
 420
 421 static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const std::string& tag, json_object* args)
 422 {
 423         int ret = 0;
 424         struct event_filter_t event_filter;
 425         struct json_object  *filter, *obj;
 426         struct utils::signals_found sf;
 427
 428         // computes the filter
 429         if (json_object_object_get_ex(args, "filter", &filter))
 430         {
 431                 if (json_object_object_get_ex(filter, "frequency", &obj)
 432                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 433                 {
 434                         event_filter.frequency = (float)json_object_get_double(obj);
 435                         ret += 1;
 436                 }
 437                 if (json_object_object_get_ex(filter, "min", &obj)
 438                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 439                 {
 440                         event_filter.min = (float)json_object_get_double(obj);
 441                         ret += 2;
 442                 }
 443                 if (json_object_object_get_ex(filter, "max", &obj)
 444                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 445                 {
 446                         event_filter.max = (float)json_object_get_double(obj);
 447                         ret += 4;
 448                 }
 449         }
 450
 451         // subscribe or unsubscribe
 452         openxc_DynamicField search_key = build_DynamicField(tag);
 453         sf = utils::signals_manager_t::instance().find_signals(search_key);
 454         if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
 455                 NOTICE(binder_interface, "%s: No signal(s) found for %s.", __FUNCTION__, tag.c_str());
 456         else
 457                 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
 458
 459         return ret;
 460 }
 461
 462 static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe)
 463 {
 464         int i, n, rc, rc2;
 465         struct json_object *args, *event, *x;
 466
 467         args = afb_req_json(request);
 468         if (args == NULL || !json_object_object_get_ex(args, "event", &event))
 469         {
 470                 rc = one_subscribe_unsubscribe(request, subscribe, "*", args);
 471         }
 472         else if (json_object_get_type(event) != json_type_array)
 473         {
 474                 rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), args);
 475         }
 476         else
 477         {
 478                 rc = 0;
 479                 n = json_object_array_length(event);
 480                 for (i = 0 ; i < n ; i++)
 481                 {
 482                         x = json_object_array_get_idx(event, i);
 483                         rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), args);
 484                         if (rc >= 0)
 485                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 486                 }
 487         }
 488
 489         if (rc >= 0)
 490                 afb_req_success(request, NULL, NULL);
 491         else
 492                 afb_req_fail(request, "error", NULL);
 493 }
 494
 495 void subscribe(struct afb_req request)
 496 {
 497         do_subscribe_unsubscribe(request, true);
 498 }
 499
 500 void unsubscribe(struct afb_req request)
 501 {
 502         do_subscribe_unsubscribe(request, false);
 503 }