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()
53 event_filter_{event_filter_t()},
57 low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter)
58 : event_filter_{event_filter}
61 low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
63 event_filter_{s.event_filter_},
64 socket_{std::move(s.socket_)}
67 low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s)
69 socket_ = std::move(s.socket_);
73 low_can_subscription_t::operator bool() const
75 return socket_.socket() != INVALID_SOCKET;
78 int low_can_subscription_t::get_index() const
83 const std::shared_ptr<can_signal_t> low_can_subscription_t::get_can_signal() const
88 const std::string low_can_subscription_t::get_sig_name() const
90 return can_signal_->get_name();
93 float low_can_subscription_t::get_frequency() const
95 return event_filter_.frequency;
98 float low_can_subscription_t::get_min() const
100 return event_filter_.min;
103 float low_can_subscription_t::get_max() const
105 return event_filter_.max;
108 utils::socketcan_bcm_t& low_can_subscription_t::get_socket()
113 void low_can_subscription_t::set_frequency(float freq)
115 event_filter_.frequency = freq;
118 void low_can_subscription_t::set_min(float min)
120 event_filter_.min = min;
123 void low_can_subscription_t::set_max(float max)
125 event_filter_.max = max;
128 /// @brief Create a RX_SETUP receive job used by the BCM socket.
130 /// @return 0 if ok else -1
131 int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
134 return create_rx_filter();
137 /// @brief Create a RX_SETUP receive job used by the BCM socket.
139 /// @return 0 if ok else -1
140 int low_can_subscription_t::create_rx_filter()
142 // Make sure that socket has been opened.
145 socket_.open(can_signal_->get_message()->get_bus_device_name());
146 index_ = (int)socket_.socket();
149 struct utils::simple_bcm_msg bcm_msg;
150 struct can_frame cfd;
152 memset(&cfd, 0, sizeof(cfd));
153 memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
154 float val = (float)(1 << can_signal_->get_bit_size()) - 1;
157 frequency_clock_t f(event_filter_.frequency);
158 freq = f.get_timeval_from_period();
160 bcm_msg.msg_head.opcode = RX_SETUP;
161 bcm_msg.msg_head.can_id = can_signal_->get_message()->get_id();
162 bcm_msg.msg_head.flags = SETTIMER|RX_NO_AUTOTIMER;
163 bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec ;
164 bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
165 bcm_msg.msg_head.nframes = 1;
166 bitfield_encode_float(val,
167 can_signal_->get_bit_position(),
168 can_signal_->get_bit_size(),
169 can_signal_->get_factor(),
170 can_signal_->get_offset(),
174 bcm_msg.frames = cfd;
176 if(socket_ << bcm_msg)
181 ///******************************************************************************
183 /// SystemD event loop Callbacks
185 ///*******************************************************************************/
187 void on_no_clients(const std::string& message)
189 DiagnosticRequest* diag_req = application_t::instance().get_request_from_diagnostic_message(message);
190 if(diag_req != nullptr)
192 active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
194 application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
200 static void push_n_notify(const can_message_t& cm)
202 can_bus_t& cbm = application_t::instance().get_can_bus_manager();
203 std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
204 { cbm.push_new_can_message(cm); }
205 cbm.get_new_can_message_cv().notify_one();
208 int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata)
211 low_can_subscription_t* can_subscription;
212 diagnostic_manager_t& diag_m = application_t::instance().get_diagnostic_manager();
214 if(userdata != nullptr)
216 can_subscription = (low_can_subscription_t*)userdata;
217 utils::socketcan_bcm_t& s = can_subscription->get_socket();
222 utils::socketcan_bcm_t& s = diag_m.get_socket();
228 /* check if error or hangup */
229 if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
231 sd_event_source_unref(s);
232 if(userdata != nullptr)
234 can_subscription->get_socket().close();
235 can_subscription->create_rx_filter();
236 NOTICE(binder_interface, "%s: Recreated RX_SETUP BCM job for can_subscription: %s", __FUNCTION__, can_subscription->get_sig_name().c_str());
240 diag_m.get_socket().close();
241 diag_m.cleanup_active_requests(true);
242 ERROR(binder_interface, "%s: Error on diagnostic manager socket, cancelling active requests.", __FUNCTION__);
250 ///******************************************************************************
252 /// Subscription and unsubscription
254 ///*******************************************************************************/
256 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)
258 /* Make the subscription or unsubscription to the event */
259 if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[can_subscription->get_index()].second)) < 0)
261 ERROR(binder_interface, "%s: Operation goes wrong for signal: %s", __FUNCTION__, can_subscription->get_sig_name().c_str());
267 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)
269 int sub_index = can_subscription->get_index();
270 struct afb_event event = afb_daemon_make_event(binder_interface->daemon, can_subscription->get_sig_name().c_str());
271 s[sub_index] = std::make_pair(can_subscription, event);
272 if (!afb_event_is_valid(s[sub_index].second))
274 ERROR(binder_interface, "%s: Can't create an event for %s, something goes wrong.", __FUNCTION__, can_subscription->get_sig_name().c_str());
280 /// @brief Will determine if it is needed or not to create the event handle and checks it to be sure that
281 /// we got a valid afb_event to get subscribe or unsubscribe. Then launch the subscription or unsubscription
282 /// against the application framework using that event handle.
283 static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, std::shared_ptr<low_can_subscription_t>& can_subscription)
286 int sub_index = can_subscription->get_index();
287 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
289 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
290 std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s = sm.get_subscribed_signals();
291 if (can_subscription && s.find(sub_index) != s.end())
293 if (!afb_event_is_valid(s[sub_index].second) && !subscribe)
295 NOTICE(binder_interface, "%s: Event isn't valid, no need to unsubscribed.", __FUNCTION__);
300 // Event it isn't valid anymore, recreate it
301 ret = create_event_handle(can_subscription, s);
306 /* Event doesn't exist , so let's create it */
307 struct afb_event empty_event = {nullptr, nullptr};
308 s[sub_index] = std::make_pair(can_subscription, empty_event);
309 ret = create_event_handle(can_subscription, s);
312 // Check whether or not the event handler has been correctly created and
313 // make the subscription/unsubscription operation is so.
316 return make_subscription_unsubscription(request, can_subscription, s, subscribe);
320 /// @brief subscribe to all signals in the vector signals
322 /// @param[in] afb_req request : contain original request use to subscribe or unsubscribe
323 /// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription
324 /// @param[in] signals - struct containing vectors with can_signal_t and diagnostic_messages to subscribe
326 /// @return Number of correctly subscribed signal
328 static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals, struct event_filter_t& event_filter)
332 //TODO: Implement way to dynamically call the right function no matter
333 // how much signals types we have.
334 application_t& conf = application_t::instance();
336 for(const auto& sig : signals.diagnostic_messages)
339 diagnostic_manager_t& diag_m = conf.get_diagnostic_manager();
340 DiagnosticRequest* diag_req = conf.get_request_from_diagnostic_message(sig->get_name());
342 // If the requested diagnostic message isn't supported by the car then unsubcribe it
343 // no matter what we want, worse case will be a fail unsubscription but at least we don't
344 // poll a PID for nothing.
345 if(sig->get_supported() && subscribe)
347 float frequency = std::isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency;
349 diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), frequency);
350 //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);
354 diag_m.cleanup_request(
355 diag_m.find_recurring_request(diag_req), true);
356 WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, sig->get_name().c_str());
362 std::shared_ptr<low_can_subscription_t> can_subscription(new low_can_subscription_t(event_filter));
363 ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription);
367 DEBUG(binder_interface, "%s: Signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
370 for(const auto& sig: signals.can_signals)
372 std::shared_ptr<low_can_subscription_t> can_subscription(new low_can_subscription_t(event_filter));
373 if(can_subscription->create_rx_filter(sig) < 0)
375 else if(subscribe_unsubscribe_signal(request, subscribe, can_subscription) < 0)
378 struct sd_event_source* e_source;
379 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());
381 DEBUG(binder_interface, "%s: signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
386 static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const std::string& tag, struct json_object *event)
389 struct event_filter_t event_filter;
390 struct json_object *filter, *obj;
391 struct utils::signals_found sf;
393 // computes the filter
394 if (json_object_object_get_ex(event, "filter", &filter))
396 if (json_object_object_get_ex(filter, "frequency", &obj)
397 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
399 event_filter.frequency = (float)json_object_get_double(obj);
402 if (json_object_object_get_ex(filter, "min", &obj)
403 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
405 event_filter.min = (float)json_object_get_double(obj);
408 if (json_object_object_get_ex(filter, "max", &obj)
409 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
411 event_filter.max = (float)json_object_get_double(obj);
416 // subscribe or unsubscribe
417 openxc_DynamicField search_key = build_DynamicField(tag);
418 sf = utils::signals_manager_t::instance().find_signals(search_key);
419 if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
420 NOTICE(binder_interface, "%s: No signal(s) found for %s.", __FUNCTION__, tag.c_str());
422 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
427 static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe)
430 struct json_object *args, *event, *x;
432 args = afb_req_json(request);
433 if (args == NULL || !json_object_object_get_ex(args, "event", &event))
435 rc = one_subscribe_unsubscribe(request, subscribe, "*", NULL);
437 else if (json_object_get_type(event) != json_type_array)
439 rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), event);
444 n = json_object_array_length(event);
445 for (i = 0 ; i < n ; i++)
447 x = json_object_array_get_idx(event, i);
448 rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), x);
450 rc = rc2 >= 0 ? rc + rc2 : rc2;
455 afb_req_success(request, NULL, NULL);
457 afb_req_fail(request, "error", NULL);
460 void subscribe(struct afb_req request)
462 do_subscribe_unsubscribe(request, true);
465 void unsubscribe(struct afb_req request)
467 do_subscribe_unsubscribe(request, false);