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         event_filter_{event_filter_t()},
  54         socket_{}
  55 {}
  56
  57 low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter)
  58         : event_filter_{event_filter}
  59 {}
  60
  61 low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
  62         : index_{s.index_},
  63         event_filter_{s.event_filter_},
  64         socket_{std::move(s.socket_)}
  65 {}
  66
  67         low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s)
  68 {
  69         socket_ = std::move(s.socket_);
  70         return *this;
  71 }
  72
  73 low_can_subscription_t::operator bool() const
  74 {
  75         return socket_.socket() != INVALID_SOCKET;
  76 }
  77
  78 int low_can_subscription_t::get_index() const
  79 {
  80         return index_;
  81 }
  82
  83 const std::shared_ptr<can_signal_t> low_can_subscription_t::get_can_signal() const
  84 {
  85         return can_signal_;
  86 }
  87
  88 const std::string low_can_subscription_t::get_sig_name() const
  89 {
  90         return can_signal_->get_name();
  91 }
  92
  93 float low_can_subscription_t::get_frequency() const
  94 {
  95         return event_filter_.frequency;
  96 }
  97
  98 float low_can_subscription_t::get_min() const
  99 {
 100         return event_filter_.min;
 101 }
 102
 103 float low_can_subscription_t::get_max() const
 104 {
 105         return event_filter_.max;
 106 }
 107
 108 utils::socketcan_bcm_t& low_can_subscription_t::get_socket()
 109 {
 110         return socket_;
 111 }
 112
 113 void low_can_subscription_t::set_frequency(float freq)
 114 {
 115         event_filter_.frequency = freq;
 116 }
 117
 118 void low_can_subscription_t::set_min(float min)
 119 {
 120         event_filter_.min = min;
 121 }
 122
 123 void low_can_subscription_t::set_max(float max)
 124 {
 125         event_filter_.max = max;
 126 }
 127
 128 /// @brief Create a RX_SETUP receive job used by the BCM socket.
 129 ///
 130 /// @return 0 if ok else -1
 131 int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
 132 {
 133         can_signal_= sig;
 134         return create_rx_filter();
 135 }
 136
 137 /// @brief Create a RX_SETUP receive job used by the BCM socket.
 138 ///
 139 /// @return 0 if ok else -1
 140 int low_can_subscription_t::create_rx_filter()
 141 {
 142         // Make sure that socket has been opened.
 143         if(! socket_)
 144         {
 145                 socket_.open(can_signal_->get_message()->get_bus_device_name());
 146                 index_ = (int)socket_.socket();
 147         }
 148
 149         struct utils::simple_bcm_msg bcm_msg;
 150         struct can_frame cfd;
 151
 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;
 155
 156         struct timeval freq;
 157         frequency_clock_t f(event_filter_.frequency);
 158         freq = f.get_timeval_from_period();
 159
 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(),
 171                                                         cfd.data,
 172                                                         CAN_MAX_DLEN);
 173
 174         bcm_msg.frames = cfd;
 175
 176         if(socket_ << bcm_msg)
 177                 return 0;
 178         return -1;
 179 }
 180
 181 ///******************************************************************************
 182 ///
 183 ///             SystemD event loop Callbacks
 184 ///
 185 ///*******************************************************************************/
 186
 187 void on_no_clients(const std::string& message)
 188 {
 189         DiagnosticRequest* diag_req = application_t::instance().get_request_from_diagnostic_message(message);
 190         if(diag_req != nullptr)
 191         {
 192                 active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
 193                 if( adr != nullptr)
 194                         application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
 195         }
 196         delete diag_req;
 197         diag_req = nullptr;
 198 }
 199
 200 static void push_n_notify(const can_message_t& cm)
 201 {
 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();
 206 }
 207
 208 int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata)
 209 {
 210         can_message_t cm;
 211         low_can_subscription_t* can_subscription;
 212         diagnostic_manager_t& diag_m = application_t::instance().get_diagnostic_manager();
 213
 214         if(userdata != nullptr)
 215         {
 216                 can_subscription = (low_can_subscription_t*)userdata;
 217                 utils::socketcan_bcm_t& s = can_subscription->get_socket();
 218                 s >> cm;
 219         }
 220         else
 221         {
 222                 utils::socketcan_bcm_t& s = diag_m.get_socket();
 223                 s >> cm;
 224         }
 225
 226         push_n_notify(cm);
 227
 228         /* check if error or hangup */
 229         if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
 230         {
 231                 sd_event_source_unref(s);
 232                 if(userdata != nullptr)
 233                 {
 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());
 237                 }
 238                 else
 239                 {
 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__);
 243                 }
 244                 return -1;
 245         }
 246
 247         return 0;
 248 }
 249
 250 ///******************************************************************************
 251 ///
 252 ///             Subscription and unsubscription
 253 ///
 254 ///*******************************************************************************/
 255
 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)
 257 {
 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)
 260         {
 261                 ERROR(binder_interface, "%s: Operation goes wrong for signal: %s", __FUNCTION__, can_subscription->get_sig_name().c_str());
 262                 return -1;
 263         }
 264         return 0;
 265 }
 266
 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)
 268 {
 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))
 273         {
 274                 ERROR(binder_interface, "%s: Can't create an event for %s, something goes wrong.", __FUNCTION__, can_subscription->get_sig_name().c_str());
 275                 return -1;
 276         }
 277         return 0;
 278 }
 279
 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)
 284 {
 285         int ret;
 286         int sub_index = can_subscription->get_index();
 287         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 288
 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())
 292         {
 293                 if (!afb_event_is_valid(s[sub_index].second) && !subscribe)
 294                 {
 295                         NOTICE(binder_interface, "%s: Event isn't valid, no need to unsubscribed.", __FUNCTION__);
 296                         ret = -1;
 297                 }
 298                 else
 299                 {
 300                         // Event it isn't valid anymore, recreate it
 301                         ret = create_event_handle(can_subscription, s);
 302                 }
 303         }
 304         else
 305         {
 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);
 310         }
 311
 312         // Check whether or not the event handler has been correctly created and
 313         // make the subscription/unsubscription operation is so.
 314         if (ret < 0)
 315                 return ret;
 316         return make_subscription_unsubscription(request, can_subscription, s, subscribe);
 317 }
 318
 319 ///
 320 /// @brief subscribe to all signals in the vector signals
 321 ///
 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
 325 ///
 326 /// @return Number of correctly subscribed signal
 327 ///
 328 static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals, struct event_filter_t& event_filter)
 329 {
 330         int rets = 0;
 331
 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();
 335
 336         for(const auto& sig : signals.diagnostic_messages)
 337         {
 338                 int ret = 0;
 339                 diagnostic_manager_t& diag_m = conf.get_diagnostic_manager();
 340                 DiagnosticRequest* diag_req = conf.get_request_from_diagnostic_message(sig->get_name());
 341
 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)
 346                 {
 347                         float frequency = std::isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency;
 348
 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);
 351                 }
 352                 else
 353                 {
 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());
 357                         delete diag_req;
 358                         diag_req = nullptr;
 359                         return -1;
 360                 }
 361
 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);
 364                 if(ret < 0)
 365                         return ret;
 366                 rets++;
 367                 DEBUG(binder_interface, "%s: Signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
 368         }
 369
 370         for(const auto& sig: signals.can_signals)
 371         {
 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)
 374                         {return -1;}
 375                 else if(subscribe_unsubscribe_signal(request, subscribe, can_subscription) < 0)
 376                         {return -1;}
 377
 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());
 380                 rets++;
 381                 DEBUG(binder_interface, "%s: signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
 382         }
 383         return rets;
 384 }
 385
 386 static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const std::string& tag, json_object* args)
 387 {
 388         int ret = 0;
 389         struct event_filter_t event_filter;
 390         struct json_object  *filter, *obj;
 391         struct utils::signals_found sf;
 392
 393         // computes the filter
 394         if (json_object_object_get_ex(args, "filter", &filter))
 395         {
 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)))
 398                 {
 399                         event_filter.frequency = (float)json_object_get_double(obj);
 400                         ret += 1;
 401                 }
 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)))
 404                 {
 405                         event_filter.min = (float)json_object_get_double(obj);
 406                         ret += 2;
 407                 }
 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)))
 410                 {
 411                         event_filter.max = (float)json_object_get_double(obj);
 412                         ret += 4;
 413                 }
 414         }
 415
 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());
 421         else
 422                 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
 423
 424         return ret;
 425 }
 426
 427 static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe)
 428 {
 429         int i, n, rc, rc2;
 430         struct json_object *args, *event, *x;
 431
 432         args = afb_req_json(request);
 433         if (args == NULL || !json_object_object_get_ex(args, "event", &event))
 434         {
 435                 rc = one_subscribe_unsubscribe(request, subscribe, "*", args);
 436         }
 437         else if (json_object_get_type(event) != json_type_array)
 438         {
 439                 rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), args);
 440         }
 441         else
 442         {
 443                 rc = 0;
 444                 n = json_object_array_length(event);
 445                 for (i = 0 ; i < n ; i++)
 446                 {
 447                         x = json_object_array_get_idx(event, i);
 448                         rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), args);
 449                         if (rc >= 0)
 450                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 451                 }
 452         }
 453
 454         if (rc >= 0)
 455                 afb_req_success(request, NULL, NULL);
 456         else
 457                 afb_req_fail(request, "error", NULL);
 458 }
 459
 460 void subscribe(struct afb_req request)
 461 {
 462         do_subscribe_unsubscribe(request, true);
 463 }
 464
 465 void unsubscribe(struct afb_req request)
 466 {
 467         do_subscribe_unsubscribe(request, false);
 468 }