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()
63 low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter)
64 : event_filter_{event_filter}
67 low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
69 sig_name_{s.sig_name_},
70 bus_name_{s.bus_name_},
72 bit_position_{s.bit_position_},
73 bit_size_{s.bit_size_},
76 event_filter_{s.event_filter_},
77 socket_{std::move(s.socket_)}
80 low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s)
82 socket_ = std::move(s.socket_);
86 low_can_subscription_t::operator bool() const
88 return socket_.socket() != INVALID_SOCKET;
91 int low_can_subscription_t::get_index() const
96 const std::string low_can_subscription_t::get_sig_name() const
101 float low_can_subscription_t::get_frequency() const
103 return event_filter_.frequency;
106 float low_can_subscription_t::get_min() const
108 return event_filter_.min;
111 float low_can_subscription_t::get_max() const
113 return event_filter_.max;
116 utils::socketcan_bcm_t& low_can_subscription_t::get_socket()
121 void low_can_subscription_t::set_frequency(float freq)
123 event_filter_.frequency = freq;
126 void low_can_subscription_t::set_min(float min)
128 event_filter_.min = min;
131 void low_can_subscription_t::set_max(float max)
133 event_filter_.max = max;
136 /// @brief Create a RX_SETUP receive job used by the BCM socket.
138 /// @return 0 if ok else -1
139 int low_can_subscription_t::create_rx_filter(const std::string& bus_name, const std::string& sig_name, uint32_t can_id, uint8_t bit_position, uint8_t bit_size, float factor, float offset)
141 // Make sure that socket has been opened.
144 socket_.open(bus_name);
145 index_ = (int)socket_.socket();
148 sig_name_ = sig_name;
149 bus_name_ = bus_name;
151 bit_position_ = bit_position;
152 bit_size_ = bit_size;
156 struct utils::simple_bcm_msg bcm_msg;
157 struct can_frame cfd;
159 memset(&cfd, 0, sizeof(cfd));
160 memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
161 float val = (float)(1 << bit_size_) - 1;
164 frequency_clock_t f(event_filter_.frequency);
165 freq = f.get_timeval_from_period();
167 bcm_msg.msg_head.opcode = RX_SETUP;
168 bcm_msg.msg_head.can_id = can_id_;
169 bcm_msg.msg_head.flags = SETTIMER|RX_NO_AUTOTIMER;
170 bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec ;
171 bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
172 bcm_msg.msg_head.nframes = 1;
173 bitfield_encode_float(val,
181 bcm_msg.frames = cfd;
183 if(socket_ << bcm_msg)
188 /// @brief Create a RX_SETUP receive job used by the BCM socket.
190 /// @return 0 if ok else -1
191 int low_can_subscription_t::create_rx_filter()
193 // Make sure that socket has been opened.
196 socket_.open(bus_name_);
197 index_ = (int)socket_.socket();
200 struct utils::simple_bcm_msg bcm_msg;
201 struct can_frame cfd;
203 memset(&cfd, 0, sizeof(cfd));
204 memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
205 float val = (float)(1 << bit_size_) - 1;
208 frequency_clock_t f(event_filter_.frequency);
209 freq = f.get_timeval_from_period();
211 bcm_msg.msg_head.opcode = RX_SETUP;
212 bcm_msg.msg_head.can_id = can_id_;
213 bcm_msg.msg_head.flags = SETTIMER|RX_NO_AUTOTIMER;
214 bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec ;
215 bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
216 bcm_msg.msg_head.nframes = 1;
217 bitfield_encode_float(val,
225 bcm_msg.frames = cfd;
227 if(socket_ << bcm_msg)
232 ///******************************************************************************
234 /// SystemD event loop Callbacks
236 ///*******************************************************************************/
238 void on_no_clients(const std::string& message)
240 DiagnosticRequest* diag_req = application_t::instance().get_request_from_diagnostic_message(message);
241 if(diag_req != nullptr)
243 active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
245 application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
251 static void push_n_notify(const can_message_t& cm)
253 can_bus_t& cbm = application_t::instance().get_can_bus_manager();
254 std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
255 { cbm.push_new_can_message(cm); }
256 cbm.get_new_can_message_cv().notify_one();
259 int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata)
262 low_can_subscription_t* can_subscription;
263 diagnostic_manager_t& diag_m = application_t::instance().get_diagnostic_manager();
265 if(userdata != nullptr)
267 can_subscription = (low_can_subscription_t*)userdata;
268 utils::socketcan_bcm_t& s = can_subscription->get_socket();
273 utils::socketcan_bcm_t& s = diag_m.get_socket();
279 /* check if error or hangup */
280 if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
282 sd_event_source_unref(s);
283 if(userdata != nullptr)
285 can_subscription->get_socket().close();
286 can_subscription->create_rx_filter();
287 NOTICE(binder_interface, "%s: Recreated RX_SETUP BCM job for can_subscription: %s", __FUNCTION__, can_subscription->get_sig_name().c_str());
291 diag_m.get_socket().close();
292 diag_m.cleanup_active_requests(true);
293 ERROR(binder_interface, "%s: Error on diagnostic manager socket, cancelling active requests.", __FUNCTION__);
301 ///******************************************************************************
303 /// Subscription and unsubscription
305 ///*******************************************************************************/
307 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)
309 /* Make the subscription or unsubscription to the event */
310 if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[can_subscription->get_index()].second)) < 0)
312 ERROR(binder_interface, "%s: Operation goes wrong for signal: %s", __FUNCTION__, can_subscription->get_sig_name().c_str());
318 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)
320 int sub_index = can_subscription->get_index();
321 struct afb_event event = afb_daemon_make_event(binder_interface->daemon, can_subscription->get_sig_name().c_str());
322 s[sub_index] = std::make_pair(can_subscription, event);
323 if (!afb_event_is_valid(s[sub_index].second))
325 ERROR(binder_interface, "%s: Can't create an event for %s, something goes wrong.", __FUNCTION__, can_subscription->get_sig_name().c_str());
331 /// @brief Will determine if it is needed or not to create the event handle and checks it to be sure that
332 /// we got a valid afb_event to get subscribe or unsubscribe. Then launch the subscription or unsubscription
333 /// against the application framework using that event handle.
334 static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, std::shared_ptr<low_can_subscription_t>& can_subscription)
337 int sub_index = can_subscription->get_index();
338 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
340 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
341 std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s = sm.get_subscribed_signals();
342 if (can_subscription && s.find(sub_index) != s.end())
344 if (!afb_event_is_valid(s[sub_index].second) && !subscribe)
346 NOTICE(binder_interface, "%s: Event isn't valid, no need to unsubscribed.", __FUNCTION__);
351 // Event it isn't valid anymore, recreate it
352 ret = create_event_handle(can_subscription, s);
357 /* Event doesn't exist , so let's create it */
358 struct afb_event empty_event = {nullptr, nullptr};
359 s[sub_index] = std::make_pair(can_subscription, empty_event);
360 ret = create_event_handle(can_subscription, s);
363 // Check whether or not the event handler has been correctly created and
364 // make the subscription/unsubscription operation is so.
367 return make_subscription_unsubscription(request, can_subscription, s, subscribe);
371 /// @brief subscribe to all signals in the vector signals
373 /// @param[in] afb_req request : contain original request use to subscribe or unsubscribe
374 /// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription
375 /// @param[in] signals - struct containing vectors with can_signal_t and diagnostic_messages to subscribe
377 /// @return Number of correctly subscribed signal
379 static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals, struct event_filter_t& event_filter)
383 //TODO: Implement way to dynamically call the right function no matter
384 // how much signals types we have.
385 application_t& conf = application_t::instance();
387 for(const auto& sig : signals.diagnostic_messages)
390 diagnostic_manager_t& diag_m = conf.get_diagnostic_manager();
391 DiagnosticRequest* diag_req = conf.get_request_from_diagnostic_message(sig->get_name());
393 // If the requested diagnostic message isn't supported by the car then unsubcribe it
394 // no matter what we want, worse case will be a fail unsubscription but at least we don't
395 // poll a PID for nothing.
396 if(sig->get_supported() && subscribe)
400 if(event_filter.frequency >= 0)
401 { frequency = event_filter.frequency; }
403 { frequency = sig->get_frequency(); }
405 diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), frequency);
406 //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);
410 diag_m.cleanup_request(
411 diag_m.find_recurring_request(diag_req), true);
412 WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, sig->get_name().c_str());
418 std::shared_ptr<low_can_subscription_t> can_subscription(new low_can_subscription_t(event_filter));
419 ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription);
423 DEBUG(binder_interface, "%s: Signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
426 for(const auto& sig: signals.can_signals)
428 std::shared_ptr<low_can_subscription_t> can_subscription(new low_can_subscription_t(event_filter));
429 if(can_subscription->create_rx_filter(sig->get_message()->get_bus_device_name(),
431 sig->get_message()->get_id(),
432 sig->get_bit_position(),
435 sig->get_offset()) < 0)
437 else if(subscribe_unsubscribe_signal(request, subscribe, can_subscription) < 0)
440 struct sd_event_source* e_source;
441 sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &e_source, can_subscription->get_socket().socket(), EPOLLIN, read_message, sig.get());
443 DEBUG(binder_interface, "%s: signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
448 static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const char *tag, struct json_object *event)
451 struct event_filter_t event_filter;
452 struct json_object *filter, *obj;
453 struct utils::signals_found sf;
455 // computes the filter
456 if (json_object_object_get_ex(event, "filter", &filter))
458 if (json_object_object_get_ex(filter, "frequency", &obj)
459 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
461 event_filter.frequency = (float)json_object_get_double(obj);
464 if (json_object_object_get_ex(filter, "min", &obj)
465 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
467 event_filter.min = (float)json_object_get_double(obj);
470 if (json_object_object_get_ex(filter, "max", &obj)
471 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
473 event_filter.max = (float)json_object_get_double(obj);
478 // subscribe or unsubscribe
479 openxc_DynamicField search_key = build_DynamicField(tag);
480 sf = utils::signals_manager_t::instance().find_signals(search_key);
481 if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
482 NOTICE(binder_interface, "%s: No signal(s) found for %s.", __FUNCTION__, tag.c_str());
484 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
489 static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe)
492 struct json_object *args, *event, *x;
494 args = afb_req_json(request);
495 if (args == NULL || !json_object_object_get_ex(args, "event", &event))
497 rc = one_subscribe_unsubscribe(request, subscribe, "*", NULL);
499 else if (json_object_get_type(event) != json_type_array)
501 rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), event);
506 n = json_object_array_length(event);
507 for (i = 0 ; i < n ; i++)
509 x = json_object_array_get_idx(event, i);
510 rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), x);
512 rc = rc2 >= 0 ? rc + rc2 : rc2;
517 afb_req_success(request, NULL, NULL);
519 afb_req_fail(request, "error", NULL);
522 void subscribe(struct afb_req request)
524 do_subscribe_unsubscribe(request, true);
527 void unsubscribe(struct afb_req request)
529 do_subscribe_unsubscribe(request, false);