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 "configuration.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
  39 extern "C"
  40 {
  41         #include <afb/afb-service-itf.h>
  42 };
  43
  44 void on_no_clients(std::string message)
  45 {
  46         DiagnosticRequest* diag_req = configuration_t::instance().get_request_from_diagnostic_message(message);
  47         if(diag_req != nullptr)
  48         {
  49                 active_diagnostic_request_t* adr = configuration_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
  50                 if( adr != nullptr)
  51                         configuration_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
  52         }
  53 }
  54
  55 static void push_n_notify(const can_message_t& cm)
  56 {
  57         can_bus_t& cbm = configuration_t::instance().get_can_bus_manager();
  58         std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
  59         { cbm.push_new_can_message(cm); }
  60         cbm.get_new_can_message_cv().notify_one();
  61 }
  62
  63 int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata)
  64 {
  65         can_message_t cm;
  66         can_signal_t* sig;
  67         diagnostic_manager_t& diag_m = configuration_t::instance().get_diagnostic_manager();
  68
  69         if(userdata != nullptr)
  70         {
  71                 sig = (can_signal_t*)userdata;
  72                 utils::socketcan_bcm_t s = sig->get_socket();
  73                 s >> cm;
  74         }
  75         else
  76         {
  77                 utils::socketcan_bcm_t s = diag_m.get_socket();
  78                 s >> cm;
  79         }
  80
  81         push_n_notify(cm);
  82
  83         /* check if error or hangup */
  84         if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
  85         {
  86                 sd_event_source_unref(s);
  87                 if(userdata != nullptr)
  88                 {
  89                         sig->get_socket().close();
  90                         sig->create_rx_filter();
  91                         NOTICE(binder_interface, "%s: Recreated RX_SETUP BCM job for signal: %s", __FUNCTION__, sig->get_name().c_str());
  92                 }
  93                 else
  94                 {
  95                         diag_m.get_socket().close();
  96                         diag_m.cleanup_active_requests(true);
  97                         ERROR(binder_interface, "%s: Error on diagnostic manager socket, cancelling active requests.", __FUNCTION__);
  98                 }
  99                 return -1;
 100         }
 101
 102         return 0;
 103 }
 104
 105
 106 ///******************************************************************************
 107 ///
 108 ///             Subscription and unsubscription
 109 ///
 110 ///*******************************************************************************/
 111
 112 static int make_subscription_unsubscription(struct afb_req request, const std::string& sig_name, std::map<std::string, struct afb_event>& s, bool subscribe)
 113 {
 114         /* Make the subscription or unsubscription to the event */
 115         if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[sig_name])) < 0)
 116         {
 117                 ERROR(binder_interface, "%s: Operation goes wrong for signal: %s", __FUNCTION__, sig_name.c_str());
 118                 return 0;
 119         }
 120         return 1;
 121 }
 122
 123 static int create_event_handle(const std::string& sig_name, std::map<std::string, struct afb_event>& s)
 124 {
 125         s[sig_name] = afb_daemon_make_event(binder_interface->daemon, sig_name.c_str());
 126         if (!afb_event_is_valid(s[sig_name]))
 127         {
 128                 ERROR(binder_interface, "%s: Can't create an event for %s, something goes wrong.", __FUNCTION__, sig_name.c_str());
 129                 return 0;
 130         }
 131         return 1;
 132 }
 133
 134 /// @brief Will determine if it is needed or not to create the event handle and checks it to be sure that
 135 /// we got a valid afb_event to get subscribe or unsubscribe. Then launch the subscription or unsubscription
 136 /// against the application framework using that event handle.
 137 static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, const std::string& sig)
 138 {
 139         int ret;
 140
 141         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 142
 143         std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 144         std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals();
 145         if (s.find(sig) != s.end())
 146         {
 147                 if (!afb_event_is_valid(s[sig]) && !subscribe)
 148                 {
 149                         NOTICE(binder_interface, "%s: Event isn't valid, no need to unsubscribed.", __FUNCTION__);
 150                         ret = -1;
 151                 }
 152                 else
 153                 {
 154                         // Event it isn't valid annymore, recreate it
 155                         ret = create_event_handle(sig, s);
 156                 }
 157         }
 158         else
 159         {
 160                 /* Event doesn't exist , so let's create it */
 161                 struct afb_event empty_event = {nullptr, nullptr};
 162                 s[sig] = empty_event;
 163                 ret = create_event_handle(sig, s);
 164         }
 165
 166         // Check whether or not the event handler has been correctly created and
 167         // make the subscription/unsubscription operation is so.
 168         if (ret <= 0)
 169                 return ret;
 170         return make_subscription_unsubscription(request, sig, s, subscribe);
 171 }
 172
 173 ///
 174 /// @brief subscribe to all signals in the vector signals
 175 ///
 176 /// @param[in] afb_req request : contain original request use to subscribe or unsubscribe
 177 /// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription
 178 /// @param[in] signals -  struct containing vectors with can_signal_t and diagnostic_messages to subscribe
 179 ///
 180 /// @return Number of correctly subscribed signal
 181 ///
 182 static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals)
 183 {
 184         int rets = 0;
 185
 186         //TODO: Implement way to dynamically call the right function no matter
 187         // how much signals types we have.
 188         configuration_t& conf = configuration_t::instance();
 189
 190         for(const auto& sig : signals.diagnostic_messages)
 191         {
 192                 int ret = 0;
 193                 diagnostic_manager_t& diag_m = conf.get_diagnostic_manager();
 194                 DiagnosticRequest* diag_req = conf.get_request_from_diagnostic_message(sig->get_name());
 195
 196                 // If the requested diagnostic message isn't supported by the car then unsubcribe it
 197                 // no matter what we want, worse case will be a fail unsubscription but at least we don't
 198                 // poll a PID for nothing.
 199                 if(sig->get_supported() && subscribe)
 200                 {
 201                         float frequency = sig->get_frequency();
 202                         diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), (float)frequency);
 203                                 //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);
 204                 }
 205                 else
 206                 {
 207                         diag_m.cleanup_request(
 208                                 diag_m.find_recurring_request(diag_req), true);
 209                         WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, sig->get_name().c_str());
 210                         return -1;
 211                 }
 212
 213                 ret = subscribe_unsubscribe_signal(request, subscribe, sig->get_name());
 214                 if(ret <= 0)
 215                         return ret;
 216                 rets++;
 217                 DEBUG(binder_interface, "%s: Signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
 218         }
 219
 220         for(const auto& sig: signals.can_signals)
 221         {
 222                 if(sig->create_rx_filter() <= 0 &&
 223                         subscribe_unsubscribe_signal(request, subscribe, sig->get_name()) <=0)
 224                 {
 225                         return -1;
 226                 }
 227                 struct sd_event_source* e_source;
 228                 sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &e_source, sig->get_socket().socket(), EPOLLIN, read_message, sig.get());
 229                 rets++;
 230                 DEBUG(binder_interface, "%s: signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
 231         }
 232         return rets;
 233 }
 234
 235 static int process_args(struct afb_req request, const std::map<std::string, struct event_filter_t>& args, bool subscribe)
 236 {
 237         struct utils::signals_found sf;
 238         int ok = 0, total = 0;
 239
 240         for(const auto& sig: args)
 241         {
 242                 openxc_DynamicField search_key = build_DynamicField(sig.first);
 243                 sf = utils::signals_manager_t::instance().find_signals(search_key);
 244                 total = (int)sf.can_signals.size() + (int)sf.diagnostic_messages.size();
 245
 246                 if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
 247                         NOTICE(binder_interface, "%s: No signal(s) found for %s.", __FUNCTION__, sig.first.c_str());
 248                 else
 249                         ok = subscribe_unsubscribe_signals(request, subscribe, sf);
 250         }
 251         NOTICE(binder_interface, "%s: Subscribed/unsubscribe correctly to %d/%d signal(s).", __FUNCTION__, ok, total);
 252         return ok;
 253 }
 254
 255 static int parse_filter(json_object* event, struct event_filter_t* event_filter)
 256 {
 257         struct json_object  *filter, *obj;
 258         int ret = 0;
 259
 260         if (json_object_object_get_ex(event, "filter", &filter))
 261         {
 262                 event_filter->frequency = -1.0;
 263                 event_filter->min = -1.0;
 264                 event_filter->max = -1.0;
 265                 if (json_object_object_get_ex(filter, "frequency", &obj)
 266                 && json_object_get_type(obj) == json_type_double)
 267                 {
 268                         event_filter->frequency = json_object_get_double(obj);
 269                         ret += 1;
 270                 }
 271                 if (json_object_object_get_ex(filter, "min", &obj)
 272                 && json_object_get_type(obj) == json_type_double)
 273                 {
 274                         event_filter->min = json_object_get_double(obj);
 275                         ret += 2;
 276                 }
 277                 if (json_object_object_get_ex(filter, "max", &obj)
 278                 && json_object_get_type(obj) == json_type_double)
 279                 {
 280                         event_filter->max = json_object_get_double(obj);
 281                         ret += 4;
 282                 }
 283         }
 284
 285         return ret;
 286 }
 287
 288 static const std::map<std::string, struct event_filter_t> parse_args_from_request(struct afb_req request)
 289 {
 290         int i, n;
 291         std::map<std::string, struct event_filter_t> ret;
 292         struct json_object *args, *event, *x;
 293         struct event_filter_t event_filter;
 294
 295         /* retrieve signals to subscribe */
 296         args = afb_req_json(request);
 297         if (args == NULL || !json_object_object_get_ex(args, "event", &event))
 298         {
 299                 event = json_object_new_string("*");
 300                 parse_filter(event, &event_filter);
 301                 ret["*"] = event_filter;
 302         }
 303         else if (json_object_get_type(event) != json_type_array)
 304         {
 305                 const std::string event_pattern = std::string(json_object_get_string(event));
 306                 parse_filter(event, &event_filter);
 307                 ret[event_pattern] = event_filter;
 308         }
 309         else
 310         {
 311                 n = json_object_array_length(event);
 312                 for (i = 0 ; i < n ; i++)
 313                 {
 314                         x = json_object_array_get_idx(event, i);
 315                         const std::string event_pattern = std::string(json_object_get_string(x));
 316                         parse_filter(x, &event_filter);
 317                         ret[event_pattern] = event_filter;
 318                 }
 319         }
 320
 321         return ret;
 322 }
 323
 324 void subscribe(struct afb_req request)
 325 {
 326         bool subscribe = true;
 327
 328         const std::map<std::string, struct event_filter_t> args = parse_args_from_request(request);
 329
 330         if (process_args(request, args, subscribe) > 0)
 331                 afb_req_success(request, NULL, NULL);
 332         else
 333                 afb_req_fail(request, "error", NULL);
 334 }
 335
 336 void unsubscribe(struct afb_req request)
 337 {
 338         bool subscribe = false;
 339
 340         const std::map<std::string, struct event_filter_t> args = parse_args_from_request(request);
 341
 342         if (process_args(request, args, subscribe) > 0)
 343                 afb_req_success(request, NULL, NULL);
 344         else
 345                 afb_req_fail(request, "error", NULL);
 346 }