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-binding.hpp"
27 #include <linux/can.h>
28 #include <json-c/json.h>
30 #include "openxc.pb.h"
31 #include "configuration.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"
42 #include <afb/afb-service-itf.h>
45 // Interface between the daemon and the binding
46 const struct afb_binding_interface *binder_interface;
48 void on_no_clients(std::string message)
50 DiagnosticRequest* diag_req = configuration_t::instance().get_request_from_diagnostic_message(message);
51 if(diag_req != nullptr)
53 active_diagnostic_request_t* adr = configuration_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
55 configuration_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
59 ///******************************************************************************
61 /// Subscription and unsubscription
63 ///*******************************************************************************/
65 static int make_subscription_unsubscription(struct afb_req request, const std::string& sig_name, std::map<std::string, struct afb_event>& s, bool subscribe)
67 /* Make the subscription or unsubscription to the event */
68 if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[sig_name])) < 0)
70 ERROR(binder_interface, "%s: Operation goes wrong for signal: %s", __FUNCTION__, sig_name.c_str());
76 static int create_event_handle(const std::string& sig_name, std::map<std::string, struct afb_event>& s)
78 s[sig_name] = afb_daemon_make_event(binder_interface->daemon, sig_name.c_str());
79 if (!afb_event_is_valid(s[sig_name]))
81 ERROR(binder_interface, "%s: Can't create an event for %s, something goes wrong.", __FUNCTION__, sig_name.c_str());
87 /// @brief Will determine if it is needed or not to create the event handle and checks it to be sure that
88 /// we got a valid afb_event to get subscribe or unsubscribe. Then launch the subscription or unsubscription
89 /// against the application framework using that event handle.
90 static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, const std::string& sig)
94 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
96 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
97 std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals();
98 if (s.find(sig) != s.end())
100 if (!afb_event_is_valid(s[sig]) && !subscribe)
102 NOTICE(binder_interface, "%s: Event isn't valid, no need to unsubscribed.", __FUNCTION__);
107 // Event it isn't valid annymore, recreate it
108 ret = create_event_handle(sig, s);
113 /* Event doesn't exist , so let's create it */
114 struct afb_event empty_event = {nullptr, nullptr};
115 s[sig] = empty_event;
116 ret = create_event_handle(sig, s);
119 // Check whether or not the event handler has been correctly created and
120 // make the subscription/unsubscription operation is so.
123 return make_subscription_unsubscription(request, sig, s, subscribe);
127 /// @brief subscribe to all signals in the vector signals
129 /// @param[in] afb_req request : contain original request use to subscribe or unsubscribe
130 /// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription
131 /// @param[in] signals - struct containing vectors with can_signal_t and diagnostic_messages to subscribe
133 /// @return Number of correctly subscribed signal
135 static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals)
139 //TODO: Implement way to dynamically call the right function no matter
140 // how much signals types we have.
141 configuration_t& conf = configuration_t::instance();
143 for(const auto& sig : signals.diagnostic_messages)
145 diagnostic_manager_t& diag_m = conf.get_diagnostic_manager();
146 DiagnosticRequest* diag_req = conf.get_request_from_diagnostic_message(sig->get_name());
148 // If the requested diagnostic message isn't supported by the car then unsubcribe it
149 // no matter what we want, worse case will be a fail unsubscription but at least we don't
150 // poll a PID for nothing.
151 if(sig->get_supported() && subscribe)
153 float frequency = sig->get_frequency();
154 subscribe = diag_m.add_recurring_request(
155 diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), (float)frequency);
156 //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);
160 diag_m.cleanup_request(
161 diag_m.find_recurring_request(diag_req), true);
162 WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, sig->get_name().c_str());
166 ret = subscribe_unsubscribe_signal(request, subscribe, sig->get_name());
170 DEBUG(binder_interface, "%s: Signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
173 for(const auto& sig: signals.can_signals)
175 if(conf.get_can_bus_manager().create_rx_filter(*sig) <= 0 &&
176 subscribe_unsubscribe_signal(request, subscribe, sig->get_name()) <=0 )
181 DEBUG(binder_interface, "%s: signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
186 static const std::vector<std::string> parse_args_from_request(struct afb_req request, bool subscribe)
189 std::vector<std::string> ret;
190 struct json_object *args, *a, *x;
192 /* retrieve signals to subscribe */
193 args = afb_req_json(request);
194 if (args == NULL || !json_object_object_get_ex(args, "event", &a))
198 else if (json_object_get_type(a) != json_type_array)
200 ret.push_back(json_object_get_string(a));
204 n = json_object_array_length(a);
205 for (i = 0 ; i < n ; i++)
207 x = json_object_array_get_idx(a, i);
208 ret.push_back(json_object_get_string(x));
217 static void subscribe(struct afb_req request)
219 std::vector<std::string> args;
220 struct utils::signals_found sf;
221 int ok = 0, total = 0;
222 bool subscribe = true;
224 args = parse_args_from_request(request, subscribe);
226 for(const auto& sig: args)
228 openxc_DynamicField search_key = build_DynamicField(sig);
229 sf = utils::signals_manager_t::instance().find_signals(search_key);
230 total = (int)sf.can_signals.size() + (int)sf.diagnostic_messages.size();
232 if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
233 NOTICE(binder_interface, "%s: No signal(s) found for %s.", __FUNCTION__, sig.c_str());
235 ok = subscribe_unsubscribe_signals(request, subscribe, sf);
238 NOTICE(binder_interface, "%s: Subscribed/unsubscribe correctly to %d/%d signal(s).", __FUNCTION__, ok, total);
240 afb_req_success(request, NULL, NULL);
242 afb_req_fail(request, "error", NULL);
245 static void unsubscribe(struct afb_req request)
247 parse_args_from_request(request, false);
250 static const struct afb_verb_desc_v1 verbs[]=
252 { .name= "subscribe", .session= AFB_SESSION_NONE, .callback= subscribe, .info= "subscribe to notification of CAN bus messages." },
253 { .name= "unsubscribe", .session= AFB_SESSION_NONE, .callback= unsubscribe, .info= "unsubscribe a previous subscription." }
256 static const struct afb_binding binding_desc {
257 AFB_BINDING_VERSION_1,
259 "Low level CAN bus service",
265 const struct afb_binding *afbBindingV1Register (const struct afb_binding_interface *itf)
267 binder_interface = itf;
269 return &binding_desc;
272 /// @brief Initialize the binding.
274 /// @param[in] service Structure which represent the Application Framework Binder.
276 /// @return Exit code, zero if success.
277 int afbBindingV1ServiceInit(struct afb_service service)
279 can_bus_t& can_bus_manager = configuration_t::instance().get_can_bus_manager();
281 /// Initialize CAN socket
282 if(can_bus_manager.init_can_dev() == 0)
284 can_bus_manager.start_threads();
286 /// Initialize Diagnostic manager that will handle obd2 requests.
287 /// We pass by default the first CAN bus device to its Initialization.
288 /// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus.
289 if(configuration_t::instance().get_diagnostic_manager().initialize())
293 ERROR(binder_interface, "%s: There was something wrong with CAN device Initialization. Check your config file maybe", __FUNCTION__);