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 ((can_signal_ != nullptr || diagnostic_message_ != nullptr) && afb_event_is_valid(event_));
  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::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message() const
 101 {
 102         return diagnostic_message_;
 103 }
 104
 105 const std::string low_can_subscription_t::get_name() const
 106 {
 107         if (can_signal_ != nullptr)
 108                 return can_signal_->get_name();
 109         if (diagnostic_message_ != nullptr)
 110                 return diagnostic_message_->get_name() ;
 111
 112         return "";
 113 }
 114
 115 float low_can_subscription_t::get_frequency() const
 116 {
 117         return event_filter_.frequency;
 118 }
 119
 120 float low_can_subscription_t::get_min() const
 121 {
 122         return event_filter_.min;
 123 }
 124
 125 float low_can_subscription_t::get_max() const
 126 {
 127         return event_filter_.max;
 128 }
 129
 130 utils::socketcan_bcm_t& low_can_subscription_t::get_socket()
 131 {
 132         return socket_;
 133 }
 134
 135 void low_can_subscription_t::set_event(struct afb_event event)
 136 {
 137         event_ = event;
 138 }
 139
 140 void low_can_subscription_t::set_frequency(float freq)
 141 {
 142         event_filter_.frequency = freq;
 143 }
 144
 145 void low_can_subscription_t::set_min(float min)
 146 {
 147         event_filter_.min = min;
 148 }
 149
 150 void low_can_subscription_t::set_max(float max)
 151 {
 152         event_filter_.max = max;
 153 }
 154
 155 /// @brief Create a RX_SETUP receive job used by the BCM socket.
 156 ///
 157 /// @return 0 if ok else -1
 158 int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
 159 {
 160         can_signal_= sig;
 161         return create_rx_filter();
 162 }
 163
 164 /// @brief Create a RX_SETUP receive job used by the BCM socket.
 165 ///
 166 /// @return 0 if ok else -1
 167 int low_can_subscription_t::create_rx_filter()
 168 {
 169         if (can_signal_ == nullptr)
 170                 {return -1;}
 171
 172         // Make sure that socket has been opened.
 173         if(! socket_)
 174         {
 175                 socket_.open(can_signal_->get_message()->get_bus_device_name());
 176                 index_ = (int)socket_.socket();
 177         }
 178
 179         struct utils::simple_bcm_msg bcm_msg;
 180         struct can_frame cfd;
 181
 182         memset(&cfd, 0, sizeof(cfd));
 183         memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
 184         float val = (float)(1 << can_signal_->get_bit_size()) - 1;
 185
 186         struct timeval freq;
 187         frequency_clock_t f = std::isnan(event_filter_.frequency) ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency);
 188         freq = f.get_timeval_from_period();
 189
 190         bcm_msg.msg_head.opcode  = RX_SETUP;
 191         bcm_msg.msg_head.can_id  = can_signal_->get_message()->get_id();
 192         bcm_msg.msg_head.flags = SETTIMER|RX_NO_AUTOTIMER;
 193         bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec ;
 194         bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
 195         bcm_msg.msg_head.nframes = 1;
 196         bitfield_encode_float(val,
 197                                                         can_signal_->get_bit_position(),
 198                                                         can_signal_->get_bit_size(),
 199                                                         can_signal_->get_factor(),
 200                                                         can_signal_->get_offset(),
 201                                                         cfd.data,
 202                                                         CAN_MAX_DLEN);
 203
 204         bcm_msg.frames = cfd;
 205
 206         if(socket_ << bcm_msg)
 207                 return 0;
 208         return -1;
 209 }
 210
 211 ///******************************************************************************
 212 ///
 213 ///             SystemD event loop Callbacks
 214 ///
 215 ///*******************************************************************************/
 216
 217 void on_no_clients(const std::string& message)
 218 {
 219         DiagnosticRequest* diag_req = application_t::instance().get_request_from_diagnostic_message(message);
 220         if(diag_req != nullptr)
 221         {
 222                 active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
 223                 if( adr != nullptr)
 224                         application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
 225         }
 226         delete diag_req;
 227         diag_req = nullptr;
 228 }
 229
 230 static void push_n_notify(const can_message_t& cm)
 231 {
 232         can_bus_t& cbm = application_t::instance().get_can_bus_manager();
 233         std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
 234         { cbm.push_new_can_message(cm); }
 235         cbm.get_new_can_message_cv().notify_one();
 236 }
 237
 238 int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata)
 239 {
 240         can_message_t cm;
 241         low_can_subscription_t* can_subscription;
 242         diagnostic_manager_t& diag_m = application_t::instance().get_diagnostic_manager();
 243
 244         if(userdata != nullptr)
 245         {
 246                 can_subscription = (low_can_subscription_t*)userdata;
 247                 utils::socketcan_bcm_t& s = can_subscription->get_socket();
 248                 s >> cm;
 249         }
 250         else
 251         {
 252                 utils::socketcan_bcm_t& s = diag_m.get_socket();
 253                 s >> cm;
 254         }
 255
 256         push_n_notify(cm);
 257
 258         /* check if error or hangup */
 259         if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
 260         {
 261                 sd_event_source_unref(s);
 262                 if(userdata != nullptr)
 263                 {
 264                         can_subscription->get_socket().close();
 265                         can_subscription->create_rx_filter();
 266                         NOTICE(binder_interface, "%s: Recreated RX_SETUP BCM job for can_subscription: %s", __FUNCTION__, can_subscription->get_name().c_str());
 267                 }
 268                 else
 269                 {
 270                         diag_m.get_socket().close();
 271                         diag_m.cleanup_active_requests(true);
 272                         ERROR(binder_interface, "%s: Error on diagnostic manager socket, cancelling active requests.", __FUNCTION__);
 273                 }
 274                 return -1;
 275         }
 276
 277         return 0;
 278 }
 279
 280 ///******************************************************************************
 281 ///
 282 ///             Subscription and unsubscription
 283 ///
 284 ///*******************************************************************************/
 285
 286 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)
 287 {
 288         /* Make the subscription or unsubscription to the event */
 289         if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[can_subscription->get_index()]->get_event())) < 0)
 290         {
 291                 ERROR(binder_interface, "%s: Operation goes wrong for signal: %s", __FUNCTION__, can_subscription->get_name().c_str());
 292                 return -1;
 293         }
 294         return 0;
 295 }
 296
 297 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)
 298 {
 299         int sub_index = can_subscription->get_index();
 300         can_subscription->set_event(afb_daemon_make_event(binder_interface->daemon, can_subscription->get_name().c_str()));
 301         s[sub_index] = can_subscription;
 302         if (!afb_event_is_valid(s[sub_index]->get_event()))
 303         {
 304                 ERROR(binder_interface, "%s: Can't create an event for %s, something goes wrong.", __FUNCTION__, can_subscription->get_name().c_str());
 305                 return -1;
 306         }
 307         return 0;
 308 }
 309
 310 /// @brief Will determine if it is needed or not to create the event handle and checks it to be sure that
 311 /// we got a valid afb_event to get subscribe or unsubscribe. Then launch the subscription or unsubscription
 312 /// against the application framework using that event handle.
 313 static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, std::shared_ptr<low_can_subscription_t>& can_subscription)
 314 {
 315         int ret;
 316         int sub_index = can_subscription->get_index();
 317         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 318
 319         std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 320         std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
 321         if (can_subscription && s.find(sub_index) != s.end())
 322         {
 323                 if (!afb_event_is_valid(s[sub_index]->get_event()) && !subscribe)
 324                 {
 325                         NOTICE(binder_interface, "%s: Event isn't valid, no need to unsubscribed.", __FUNCTION__);
 326                         ret = -1;
 327                 }
 328                 else
 329                 {
 330                         // Event it isn't valid anymore, recreate it
 331                         ret = create_event_handle(can_subscription, s);
 332                 }
 333         }
 334         else
 335         {
 336                 /* Event doesn't exist , so let's create it */
 337                 can_subscription->set_event({nullptr, nullptr});
 338                 s[sub_index] = can_subscription;
 339                 ret = create_event_handle(can_subscription, s);
 340         }
 341
 342         // Check whether or not the event handler has been correctly created and
 343         // make the subscription/unsubscription operation is so.
 344         if (ret < 0)
 345                 return ret;
 346         return make_subscription_unsubscription(request, can_subscription, s, subscribe);
 347 }
 348
 349 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)
 350 {
 351         int rets = 0;
 352         application_t& app = application_t::instance();
 353         diagnostic_manager_t& diag_m = app.get_diagnostic_manager();
 354
 355         for(const auto& sig : diagnostic_messages)
 356         {
 357                 DiagnosticRequest* diag_req = app.get_request_from_diagnostic_message(sig->get_name());
 358                 float frequency = std::isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency;
 359
 360                 // If the requested diagnostic message isn't supported by the car then unsubcribe it
 361                 // no matter what we want, worse case will be a fail unsubscription but at least we don't
 362                 // poll a PID for nothing.
 363                 //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);
 364                 if(sig->get_supported() && subscribe &&
 365                         diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), frequency) != nullptr)
 366                 {
 367                 std::shared_ptr<low_can_subscription_t> can_subscription(new low_can_subscription_t(event_filter, sig));
 368                 int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription);
 369                 if(ret < 0)
 370                         return ret;
 371                 rets++;
 372                 DEBUG(binder_interface, "%s: Signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
 373                 }
 374                 else
 375                 {
 376                         diag_m.cleanup_request(
 377                                 diag_m.find_recurring_request(diag_req), true);
 378                         WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, sig->get_name().c_str());
 379                         delete diag_req;
 380                         diag_req = nullptr;
 381                         return -1;
 382                 }
 383         }
 384
 385         return rets;
 386 }
 387
 388 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)
 389 {
 390         int rets = 0;
 391         for(const auto& sig: can_signals)
 392         {
 393                 std::shared_ptr<low_can_subscription_t> can_subscription(new low_can_subscription_t(event_filter));
 394                 if(can_subscription->create_rx_filter(sig) < 0)
 395                         {return -1;}
 396                 else if(subscribe_unsubscribe_signal(request, subscribe, can_subscription) < 0)
 397                         {return -1;}
 398
 399                 struct sd_event_source* e_source;
 400                 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());
 401                 rets++;
 402                 DEBUG(binder_interface, "%s: signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
 403         }
 404         return rets;
 405 }
 406
 407 ///
 408 /// @brief subscribe to all signals in the vector signals
 409 ///
 410 /// @param[in] afb_req request : contain original request use to subscribe or unsubscribe
 411 /// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription
 412 /// @param[in] signals -  struct containing vectors with can_signal_t and diagnostic_messages to subscribe
 413 ///
 414 /// @return Number of correctly subscribed signal
 415 ///
 416 static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals, struct event_filter_t& event_filter)
 417 {
 418         int rets = 0;
 419
 420         rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter);
 421         rets += subscribe_unsubscribe_can_signals(request, subscribe, signals.can_signals, event_filter);
 422
 423         return rets;
 424 }
 425
 426 static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const std::string& tag, json_object* args)
 427 {
 428         int ret = 0;
 429         struct event_filter_t event_filter;
 430         struct json_object  *filter, *obj;
 431         struct utils::signals_found sf;
 432
 433         // computes the filter
 434         if (json_object_object_get_ex(args, "filter", &filter))
 435         {
 436                 if (json_object_object_get_ex(filter, "frequency", &obj)
 437                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 438                 {
 439                         event_filter.frequency = (float)json_object_get_double(obj);
 440                         ret += 1;
 441                 }
 442                 if (json_object_object_get_ex(filter, "min", &obj)
 443                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 444                 {
 445                         event_filter.min = (float)json_object_get_double(obj);
 446                         ret += 2;
 447                 }
 448                 if (json_object_object_get_ex(filter, "max", &obj)
 449                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 450                 {
 451                         event_filter.max = (float)json_object_get_double(obj);
 452                         ret += 4;
 453                 }
 454         }
 455
 456         // subscribe or unsubscribe
 457         openxc_DynamicField search_key = build_DynamicField(tag);
 458         sf = utils::signals_manager_t::instance().find_signals(search_key);
 459         if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
 460                 NOTICE(binder_interface, "%s: No signal(s) found for %s.", __FUNCTION__, tag.c_str());
 461         else
 462                 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
 463
 464         return ret;
 465 }
 466
 467 static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe)
 468 {
 469         int i, n, rc, rc2;
 470         struct json_object *args, *event, *x;
 471
 472         args = afb_req_json(request);
 473         if (args == NULL || !json_object_object_get_ex(args, "event", &event))
 474         {
 475                 rc = one_subscribe_unsubscribe(request, subscribe, "*", args);
 476         }
 477         else if (json_object_get_type(event) != json_type_array)
 478         {
 479                 rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), args);
 480         }
 481         else
 482         {
 483                 rc = 0;
 484                 n = json_object_array_length(event);
 485                 for (i = 0 ; i < n ; i++)
 486                 {
 487                         x = json_object_array_get_idx(event, i);
 488                         rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), args);
 489                         if (rc >= 0)
 490                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 491                 }
 492         }
 493
 494         if (rc >= 0)
 495                 afb_req_success(request, NULL, NULL);
 496         else
 497                 afb_req_fail(request, "error", NULL);
 498 }
 499
 500 void subscribe(struct afb_req request)
 501 {
 502         do_subscribe_unsubscribe(request, true);
 503 }
 504
 505 void unsubscribe(struct afb_req request)
 506 {
 507         do_subscribe_unsubscribe(request, false);
 508 }