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
  39 extern "C"
  40 {
  41         #include <afb/afb-service-itf.h>
  42 };
  43
  44 void on_no_clients(std::string message)
  45 {
  46         DiagnosticRequest* diag_req = configuration_t::instance().get_request_from_diagnostic_message(message);
  47         if(diag_req != nullptr)
  48         {
  49                 active_diagnostic_request_t* adr = configuration_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
  50                 if( adr != nullptr)
  51                         configuration_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
  52         }
  53         delete diag_req;
  54         diag_req = nullptr;
  55 }
  56
  57 static void push_n_notify(const can_message_t& cm)
  58 {
  59         can_bus_t& cbm = configuration_t::instance().get_can_bus_manager();
  60         std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
  61         { cbm.push_new_can_message(cm); }
  62         cbm.get_new_can_message_cv().notify_one();
  63 }
  64
  65 int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata)
  66 {
  67         can_message_t cm;
  68         can_signal_t* sig;
  69         diagnostic_manager_t& diag_m = configuration_t::instance().get_diagnostic_manager();
  70
  71         if(userdata != nullptr)
  72         {
  73                 sig = (can_signal_t*)userdata;
  74                 utils::socketcan_bcm_t s = sig->get_socket();
  75                 s >> cm;
  76         }
  77         else
  78         {
  79                 utils::socketcan_bcm_t s = diag_m.get_socket();
  80                 s >> cm;
  81         }
  82
  83         push_n_notify(cm);
  84
  85         /* check if error or hangup */
  86         if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
  87         {
  88                 sd_event_source_unref(s);
  89                 if(userdata != nullptr)
  90                 {
  91                         sig->get_socket().close();
  92                         sig->create_rx_filter();
  93                         NOTICE(binder_interface, "%s: Recreated RX_SETUP BCM job for signal: %s", __FUNCTION__, sig->get_name().c_str());
  94                 }
  95                 else
  96                 {
  97                         diag_m.get_socket().close();
  98                         diag_m.cleanup_active_requests(true);
  99                         ERROR(binder_interface, "%s: Error on diagnostic manager socket, cancelling active requests.", __FUNCTION__);
 100                 }
 101                 return -1;
 102         }
 103
 104         return 0;
 105 }
 106
 107
 108 ///******************************************************************************
 109 ///
 110 ///             Subscription and unsubscription
 111 ///
 112 ///*******************************************************************************/
 113
 114 static int make_subscription_unsubscription(struct afb_req request, const std::string& sig_name, std::map<std::string, struct afb_event>& s, bool subscribe)
 115 {
 116         /* Make the subscription or unsubscription to the event */
 117         if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[sig_name])) < 0)
 118         {
 119                 ERROR(binder_interface, "%s: Operation goes wrong for signal: %s", __FUNCTION__, sig_name.c_str());
 120                 return 0;
 121         }
 122         return 1;
 123 }
 124
 125 static int create_event_handle(const std::string& sig_name, std::map<std::string, struct afb_event>& s)
 126 {
 127         s[sig_name] = afb_daemon_make_event(binder_interface->daemon, sig_name.c_str());
 128         if (!afb_event_is_valid(s[sig_name]))
 129         {
 130                 ERROR(binder_interface, "%s: Can't create an event for %s, something goes wrong.", __FUNCTION__, sig_name.c_str());
 131                 return 0;
 132         }
 133         return 1;
 134 }
 135
 136 /// @brief Will determine if it is needed or not to create the event handle and checks it to be sure that
 137 /// we got a valid afb_event to get subscribe or unsubscribe. Then launch the subscription or unsubscription
 138 /// against the application framework using that event handle.
 139 static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, const std::string& sig)
 140 {
 141         int ret;
 142
 143         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 144
 145         std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 146         std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals();
 147         if (s.find(sig) != s.end())
 148         {
 149                 if (!afb_event_is_valid(s[sig]) && !subscribe)
 150                 {
 151                         NOTICE(binder_interface, "%s: Event isn't valid, no need to unsubscribed.", __FUNCTION__);
 152                         ret = -1;
 153                 }
 154                 else
 155                 {
 156                         // Event it isn't valid annymore, recreate it
 157                         ret = create_event_handle(sig, s);
 158                 }
 159         }
 160         else
 161         {
 162                 /* Event doesn't exist , so let's create it */
 163                 struct afb_event empty_event = {nullptr, nullptr};
 164                 s[sig] = empty_event;
 165                 ret = create_event_handle(sig, s);
 166         }
 167
 168         // Check whether or not the event handler has been correctly created and
 169         // make the subscription/unsubscription operation is so.
 170         if (ret <= 0)
 171                 return ret;
 172         return make_subscription_unsubscription(request, sig, s, subscribe);
 173 }
 174
 175 ///
 176 /// @brief subscribe to all signals in the vector signals
 177 ///
 178 /// @param[in] afb_req request : contain original request use to subscribe or unsubscribe
 179 /// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription
 180 /// @param[in] signals -  struct containing vectors with can_signal_t and diagnostic_messages to subscribe
 181 ///
 182 /// @return Number of correctly subscribed signal
 183 ///
 184 static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals)
 185 {
 186         int rets = 0;
 187
 188         //TODO: Implement way to dynamically call the right function no matter
 189         // how much signals types we have.
 190         application_t& conf = application_t::instance();
 191
 192         for(const auto& sig : signals.diagnostic_messages)
 193         {
 194                 int ret = 0;
 195                 diagnostic_manager_t& diag_m = conf.get_diagnostic_manager();
 196                 DiagnosticRequest* diag_req = conf.get_request_from_diagnostic_message(sig->get_name());
 197
 198                 // If the requested diagnostic message isn't supported by the car then unsubcribe it
 199                 // no matter what we want, worse case will be a fail unsubscription but at least we don't
 200                 // poll a PID for nothing.
 201                 if(sig->get_supported() && subscribe)
 202                 {
 203                         float frequency = sig->get_frequency();
 204                         diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), (float)frequency);
 205                                 //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);
 206                 }
 207                 else
 208                 {
 209                         diag_m.cleanup_request(
 210                                 diag_m.find_recurring_request(diag_req), true);
 211                         WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, sig->get_name().c_str());
 212                         delete diag_req;
 213                         diag_req = nullptr;
 214                         return -1;
 215                 }
 216
 217                 ret = subscribe_unsubscribe_signal(request, subscribe, sig->get_name());
 218                 if(ret <= 0)
 219                         return ret;
 220                 rets++;
 221                 DEBUG(binder_interface, "%s: Signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
 222         }
 223
 224         for(const auto& sig: signals.can_signals)
 225         {
 226                 if(sig->create_rx_filter() <= 0 &&
 227                         subscribe_unsubscribe_signal(request, subscribe, sig->get_name()) <=0)
 228                 {
 229                         return -1;
 230                 }
 231                 struct sd_event_source* e_source;
 232                 sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &e_source, sig->get_socket().socket(), EPOLLIN, read_message, sig.get());
 233                 rets++;
 234                 DEBUG(binder_interface, "%s: signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
 235         }
 236         return rets;
 237 }
 238
 239 static int process_args(struct afb_req request, const std::map<std::string, struct event_filter_t>& args, bool subscribe)
 240 {
 241         struct utils::signals_found sf;
 242         int ok = 0, total = 0;
 243
 244         for(const auto& sig: args)
 245         {
 246                 openxc_DynamicField search_key = build_DynamicField(sig.first);
 247                 sf = utils::signals_manager_t::instance().find_signals(search_key);
 248                 total = (int)sf.can_signals.size() + (int)sf.diagnostic_messages.size();
 249
 250                 if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
 251                         NOTICE(binder_interface, "%s: No signal(s) found for %s.", __FUNCTION__, sig.first.c_str());
 252                 else
 253                         ok = subscribe_unsubscribe_signals(request, subscribe, sf);
 254         }
 255         NOTICE(binder_interface, "%s: Subscribed/unsubscribe correctly to %d/%d signal(s).", __FUNCTION__, ok, total);
 256         return ok;
 257 }
 258
 259 static int parse_filter(json_object* event, struct event_filter_t* event_filter)
 260 {
 261         struct json_object  *filter, *obj;
 262         int ret = 0;
 263
 264         if (json_object_object_get_ex(event, "filter", &filter))
 265         {
 266                 event_filter->frequency = -1.0;
 267                 event_filter->min = -1.0;
 268                 event_filter->max = -1.0;
 269                 if (json_object_object_get_ex(filter, "frequency", &obj)
 270                 && json_object_get_type(obj) == json_type_double)
 271                 {
 272                         event_filter->frequency = json_object_get_double(obj);
 273                         ret += 1;
 274                 }
 275                 if (json_object_object_get_ex(filter, "min", &obj)
 276                 && json_object_get_type(obj) == json_type_double)
 277                 {
 278                         event_filter->min = json_object_get_double(obj);
 279                         ret += 2;
 280                 }
 281                 if (json_object_object_get_ex(filter, "max", &obj)
 282                 && json_object_get_type(obj) == json_type_double)
 283                 {
 284                         event_filter->max = json_object_get_double(obj);
 285                         ret += 4;
 286                 }
 287         }
 288
 289         return ret;
 290 }
 291
 292 static const std::map<std::string, struct event_filter_t> parse_args_from_request(struct afb_req request)
 293 {
 294         int i, n;
 295         std::map<std::string, struct event_filter_t> ret;
 296         struct json_object *args, *event, *x;
 297         struct event_filter_t event_filter;
 298
 299         /* retrieve signals to subscribe */
 300         args = afb_req_json(request);
 301         if (args == NULL || !json_object_object_get_ex(args, "event", &event))
 302         {
 303                 event = json_object_new_string("*");
 304                 parse_filter(event, &event_filter);
 305                 ret["*"] = event_filter;
 306         }
 307         else if (json_object_get_type(event) != json_type_array)
 308         {
 309                 const std::string event_pattern = std::string(json_object_get_string(event));
 310                 parse_filter(event, &event_filter);
 311                 ret[event_pattern] = event_filter;
 312         }
 313         else
 314         {
 315                 n = json_object_array_length(event);
 316                 for (i = 0 ; i < n ; i++)
 317                 {
 318                         x = json_object_array_get_idx(event, i);
 319                         const std::string event_pattern = std::string(json_object_get_string(x));
 320                         parse_filter(x, &event_filter);
 321                         ret[event_pattern] = event_filter;
 322                 }
 323         }
 324
 325         return ret;
 326 }
 327
 328 void subscribe(struct afb_req request)
 329 {
 330         bool subscribe = true;
 331
 332         const std::map<std::string, struct event_filter_t> args = parse_args_from_request(request);
 333
 334         if (process_args(request, args, subscribe) > 0)
 335                 afb_req_success(request, NULL, NULL);
 336         else
 337                 afb_req_fail(request, "error", NULL);
 338 }
 339
 340 void unsubscribe(struct afb_req request)
 341 {
 342         bool subscribe = false;
 343
 344         const std::map<std::string, struct event_filter_t> args = parse_args_from_request(request);
 345
 346         if (process_args(request, args, subscribe) > 0)
 347                 afb_req_success(request, NULL, NULL);
 348         else
 349                 afb_req_fail(request, "error", NULL);
 350 }