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 "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"
  39
  40 extern "C"
  41 {
  42         #include <afb/afb-service-itf.h>
  43 };
  44
  45 ///******************************************************************************
  46 ///
  47 ///     low_can_subscription_t object
  48 ///
  49 ///*******************************************************************************/
  50
  51 low_can_subscription_t::low_can_subscription_t()
  52         : index_{-1},
  53         sig_name_{},
  54         bus_name_{""},
  55         can_id_{0},
  56         bit_position_{0},
  57         bit_size_{0},
  58         factor_{-1.0},
  59         offset_{-1},
  60         socket_{}
  61 {}
  62
  63 low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter)
  64         : event_filter_{event_filter}
  65 {}
  66
  67 low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
  68         : index_{s.index_},
  69         sig_name_{s.sig_name_},
  70         bus_name_{s.bus_name_},
  71         can_id_{s.can_id_},
  72         bit_position_{s.bit_position_},
  73         bit_size_{s.bit_size_},
  74         factor_{s.factor_},
  75         offset_{s.offset_},
  76         event_filter_{s.event_filter_},
  77         socket_{std::move(s.socket_)}
  78 {}
  79
  80         low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s)
  81 {
  82         socket_ = std::move(s.socket_);
  83         return *this;
  84 }
  85
  86 low_can_subscription_t::operator bool() const
  87 {
  88         return socket_.socket() != INVALID_SOCKET;
  89 }
  90
  91 int low_can_subscription_t::get_index() const
  92 {
  93         return index_;
  94 }
  95
  96 const std::string low_can_subscription_t::get_sig_name() const
  97 {
  98         return sig_name_;
  99 }
 100
 101 float low_can_subscription_t::get_frequency() const
 102 {
 103         return event_filter_.frequency;
 104 }
 105
 106 float low_can_subscription_t::get_min() const
 107 {
 108         return event_filter_.min;
 109 }
 110
 111 float low_can_subscription_t::get_max() const
 112 {
 113         return event_filter_.max;
 114 }
 115
 116 utils::socketcan_bcm_t& low_can_subscription_t::get_socket()
 117 {
 118         return socket_;
 119 }
 120
 121 void low_can_subscription_t::set_frequency(float freq)
 122 {
 123         event_filter_.frequency = freq;
 124 }
 125
 126 void low_can_subscription_t::set_min(float min)
 127 {
 128         event_filter_.min = min;
 129 }
 130
 131 void low_can_subscription_t::set_max(float max)
 132 {
 133         event_filter_.max = max;
 134 }
 135
 136 /// @brief Create a RX_SETUP receive job used by the BCM socket.
 137 ///
 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)
 140 {
 141         // Make sure that socket has been opened.
 142         if(! socket_)
 143         {
 144                 socket_.open(bus_name);
 145                 index_ = (int)socket_.socket();
 146         }
 147
 148         sig_name_ = sig_name;
 149         bus_name_ = bus_name;
 150         can_id_ = can_id;
 151         bit_position_ = bit_position;
 152         bit_size_ = bit_size;
 153         factor_ = factor;
 154         offset_ = offset;
 155
 156         struct utils::simple_bcm_msg bcm_msg;
 157         struct can_frame cfd;
 158
 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;
 162
 163         struct timeval freq;
 164         frequency_clock_t f(event_filter_.frequency);
 165         freq = f.get_timeval_from_period();
 166
 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,
 174                                                                                 bit_position_,
 175                                                                                 bit_size_,
 176                                                                                 factor_,
 177                                                                                 offset_,
 178                                                                                 cfd.data,
 179                                                                                 CAN_MAX_DLEN);
 180
 181         bcm_msg.frames = cfd;
 182
 183         if(socket_ << bcm_msg)
 184                 return 0;
 185         return -1;
 186 }
 187
 188 /// @brief Create a RX_SETUP receive job used by the BCM socket.
 189 ///
 190 /// @return 0 if ok else -1
 191 int low_can_subscription_t::create_rx_filter()
 192 {
 193         // Make sure that socket has been opened.
 194         if(! socket_)
 195         {
 196                 socket_.open(bus_name_);
 197                 index_ = (int)socket_.socket();
 198         }
 199
 200         struct utils::simple_bcm_msg bcm_msg;
 201         struct can_frame cfd;
 202
 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;
 206
 207         struct timeval freq;
 208         frequency_clock_t f(event_filter_.frequency);
 209         freq = f.get_timeval_from_period();
 210
 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,
 218                                                                                 bit_position_,
 219                                                                                 bit_size_,
 220                                                                                 factor_,
 221                                                                                 offset_,
 222                                                                                 cfd.data,
 223                                                                                 CAN_MAX_DLEN);
 224
 225         bcm_msg.frames = cfd;
 226
 227         if(socket_ << bcm_msg)
 228                 return 0;
 229         return -1;
 230 }
 231
 232 ///******************************************************************************
 233 ///
 234 ///             SystemD event loop Callbacks
 235 ///
 236 ///*******************************************************************************/
 237
 238 void on_no_clients(const std::string& message)
 239 {
 240         DiagnosticRequest* diag_req = application_t::instance().get_request_from_diagnostic_message(message);
 241         if(diag_req != nullptr)
 242         {
 243                 active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
 244                 if( adr != nullptr)
 245                         application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
 246         }
 247         delete diag_req;
 248         diag_req = nullptr;
 249 }
 250
 251 static void push_n_notify(const can_message_t& cm)
 252 {
 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();
 257 }
 258
 259 int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata)
 260 {
 261         can_message_t cm;
 262         low_can_subscription_t* can_subscription;
 263         diagnostic_manager_t& diag_m = application_t::instance().get_diagnostic_manager();
 264
 265         if(userdata != nullptr)
 266         {
 267                 can_subscription = (low_can_subscription_t*)userdata;
 268                 utils::socketcan_bcm_t& s = can_subscription->get_socket();
 269                 s >> cm;
 270         }
 271         else
 272         {
 273                 utils::socketcan_bcm_t& s = diag_m.get_socket();
 274                 s >> cm;
 275         }
 276
 277         push_n_notify(cm);
 278
 279         /* check if error or hangup */
 280         if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
 281         {
 282                 sd_event_source_unref(s);
 283                 if(userdata != nullptr)
 284                 {
 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());
 288                 }
 289                 else
 290                 {
 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__);
 294                 }
 295                 return -1;
 296         }
 297
 298         return 0;
 299 }
 300
 301 ///******************************************************************************
 302 ///
 303 ///             Subscription and unsubscription
 304 ///
 305 ///*******************************************************************************/
 306
 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)
 308 {
 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)
 311         {
 312                 ERROR(binder_interface, "%s: Operation goes wrong for signal: %s", __FUNCTION__, can_subscription->get_sig_name().c_str());
 313                 return -1;
 314         }
 315         return 0;
 316 }
 317
 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)
 319 {
 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))
 324         {
 325                 ERROR(binder_interface, "%s: Can't create an event for %s, something goes wrong.", __FUNCTION__, can_subscription->get_sig_name().c_str());
 326                 return -1;
 327         }
 328         return 0;
 329 }
 330
 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)
 335 {
 336         int ret;
 337         int sub_index = can_subscription->get_index();
 338         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 339
 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())
 343         {
 344                 if (!afb_event_is_valid(s[sub_index].second) && !subscribe)
 345                 {
 346                         NOTICE(binder_interface, "%s: Event isn't valid, no need to unsubscribed.", __FUNCTION__);
 347                         ret = -1;
 348                 }
 349                 else
 350                 {
 351                         // Event it isn't valid anymore, recreate it
 352                         ret = create_event_handle(can_subscription, s);
 353                 }
 354         }
 355         else
 356         {
 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);
 361         }
 362
 363         // Check whether or not the event handler has been correctly created and
 364         // make the subscription/unsubscription operation is so.
 365         if (ret < 0)
 366                 return ret;
 367         return make_subscription_unsubscription(request, can_subscription, s, subscribe);
 368 }
 369
 370 ///
 371 /// @brief subscribe to all signals in the vector signals
 372 ///
 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
 376 ///
 377 /// @return Number of correctly subscribed signal
 378 ///
 379 static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals, struct event_filter_t& event_filter)
 380 {
 381         int rets = 0;
 382
 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();
 386
 387         for(const auto& sig : signals.diagnostic_messages)
 388         {
 389                 int ret = 0;
 390                 diagnostic_manager_t& diag_m = conf.get_diagnostic_manager();
 391                 DiagnosticRequest* diag_req = conf.get_request_from_diagnostic_message(sig->get_name());
 392
 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)
 397                 {
 398                         float frequency;
 399
 400                         if(event_filter.frequency >= 0)
 401                                 { frequency = event_filter.frequency; }
 402                         else
 403                                 { frequency = sig->get_frequency(); }
 404
 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);
 407                 }
 408                 else
 409                 {
 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());
 413                         delete diag_req;
 414                         diag_req = nullptr;
 415                         return -1;
 416                 }
 417
 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);
 420                 if(ret < 0)
 421                         return ret;
 422                 rets++;
 423                 DEBUG(binder_interface, "%s: Signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
 424         }
 425
 426         for(const auto& sig: signals.can_signals)
 427         {
 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(),
 430                 sig->get_name(),
 431                 sig->get_message()->get_id(),
 432                 sig->get_bit_position(),
 433                 sig->get_bit_size(),
 434                 sig->get_factor(),
 435                 sig->get_offset()) < 0)
 436                         {return -1;}
 437                 else if(subscribe_unsubscribe_signal(request, subscribe, can_subscription) < 0)
 438                         {return -1;}
 439
 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());
 442                 rets++;
 443                 DEBUG(binder_interface, "%s: signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
 444         }
 445         return rets;
 446 }
 447
 448 static int process_args(struct afb_req request, std::map<std::string, struct event_filter_t>& args, bool subscribe)
 449 {
 450         struct utils::signals_found sf;
 451         int ok = 0, total = 0;
 452
 453         for(auto& sig: args)
 454         {
 455                 openxc_DynamicField search_key = build_DynamicField(sig.first);
 456                 sf = utils::signals_manager_t::instance().find_signals(search_key);
 457                 total = (int)sf.can_signals.size() + (int)sf.diagnostic_messages.size();
 458
 459                 if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
 460                         NOTICE(binder_interface, "%s: No signal(s) found for %s.", __FUNCTION__, sig.first.c_str());
 461                 else
 462                         ok = subscribe_unsubscribe_signals(request, subscribe, sf, sig.second);
 463         }
 464         NOTICE(binder_interface, "%s: Subscribed/unsubscribe correctly to %d/%d signal(s).", __FUNCTION__, ok, total);
 465         return ok;
 466 }
 467
 468 static int parse_filter(json_object* event,  struct event_filter_t& event_filter)
 469 {
 470         struct json_object  *filter, *obj;
 471         int ret = 0;
 472
 473         if (json_object_object_get_ex(event, "filter", &filter))
 474         {
 475                 if (json_object_object_get_ex(filter, "frequency", &obj)
 476                 && json_object_get_type(obj) == json_type_double)
 477                 {
 478                         event_filter.frequency = (float)json_object_get_double(obj);
 479                         ret += 1;
 480                 }
 481                 if (json_object_object_get_ex(filter, "min", &obj)
 482                 && json_object_get_type(obj) == json_type_double)
 483                 {
 484                         event_filter.min = (float)json_object_get_double(obj);
 485                         ret += 2;
 486                 }
 487                 if (json_object_object_get_ex(filter, "max", &obj)
 488                 && json_object_get_type(obj) == json_type_double)
 489                 {
 490                         event_filter.max = (float)json_object_get_double(obj);
 491                         ret += 4;
 492                 }
 493         }
 494
 495         return ret;
 496 }
 497
 498 static const std::map<std::string, struct event_filter_t> parse_args_from_request(struct afb_req request)
 499 {
 500         int i, n;
 501         std::map<std::string,  struct event_filter_t > ret;
 502         struct json_object *args, *event, *x;
 503         struct event_filter_t event_filter;
 504
 505         /* retrieve signals to subscribe */
 506         args = afb_req_json(request);
 507         if (args == NULL || !json_object_object_get_ex(args, "event", &event))
 508         {
 509                 parse_filter(json_object_new_string("*"), event_filter);
 510                 ret["*"] = event_filter;
 511         }
 512         else if (json_object_get_type(event) != json_type_array)
 513         {
 514                 const std::string event_pattern = std::string(json_object_get_string(event));
 515                 parse_filter(event, event_filter);
 516                 ret[event_pattern] = event_filter;
 517         }
 518         else
 519         {
 520                 n = json_object_array_length(event);
 521                 for (i = 0 ; i < n ; i++)
 522                 {
 523                         x = json_object_array_get_idx(event, i);
 524                         const std::string event_pattern = std::string(json_object_get_string(x));
 525                         parse_filter(x, event_filter);
 526                         ret[event_pattern] = event_filter;
 527                 }
 528         }
 529
 530         return ret;
 531 }
 532
 533 void subscribe(struct afb_req request)
 534 {
 535         bool subscribe = true;
 536
 537          std::map<std::string, struct event_filter_t> args = parse_args_from_request(request);
 538
 539         if (process_args(request, args, subscribe) > 0)
 540                 afb_req_success(request, NULL, NULL);
 541         else
 542                 afb_req_fail(request, "error", NULL);
 543 }
 544
 545 void unsubscribe(struct afb_req request)
 546 {
 547         bool subscribe = false;
 548
 549         std::map<std::string, struct event_filter_t>  args = parse_args_from_request(request);
 550
 551         if (process_args(request, args, subscribe) > 0)
 552                 afb_req_success(request, NULL, NULL);
 553         else
 554                 afb_req_fail(request, "error", NULL);
 555 }