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