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/signals.hpp"
35 #include "../diagnostic/diagnostic-message.hpp"
36 #include "../utils/openxc-utils.hpp"
39 ///******************************************************************************
41 /// SystemD event loop Callbacks
43 ///*******************************************************************************/
45 void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
47 if( ! can_subscription->get_diagnostic_message().empty() && can_subscription->get_diagnostic_message(pid) != nullptr)
49 DiagnosticRequest diag_req = can_subscription->get_diagnostic_message(pid)->build_diagnostic_request();
50 active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
52 application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
55 on_no_clients(can_subscription, s);
58 void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
60 auto it = s.find(can_subscription->get_index());
64 static void push_n_notify(const can_message_t& cm)
66 can_bus_t& cbm = application_t::instance().get_can_bus_manager();
68 std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
69 cbm.push_new_can_message(cm);
71 cbm.get_new_can_message_cv().notify_one();
74 int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata)
76 low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata;
77 if ((revents & EPOLLIN) != 0)
80 utils::socketcan_bcm_t& s = can_subscription->get_socket();
83 // Sure we got a valid CAN message ?
84 if(! cm.get_id() == 0 && ! cm.get_length() == 0)
88 // check if error or hangup
89 if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
91 sd_event_source_unref(event_source);
92 can_subscription->get_socket().close();
97 ///******************************************************************************
99 /// Subscription and unsubscription
101 ///*******************************************************************************/
103 static int make_subscription_unsubscription(struct afb_req request, std::shared_ptr<low_can_subscription_t>& can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s, bool subscribe)
105 /* Make the subscription or unsubscription to the event */
106 if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[can_subscription->get_index()]->get_event())) < 0)
108 ERROR("Operation goes wrong for signal: %s", can_subscription->get_name().c_str());
114 static int create_event_handle(std::shared_ptr<low_can_subscription_t>& can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
116 int sub_index = can_subscription->get_index();
117 can_subscription->set_event(afb_daemon_make_event(can_subscription->get_name().c_str()));
118 s[sub_index] = can_subscription;
119 if (!afb_event_is_valid(s[sub_index]->get_event()))
121 ERROR("Can't create an event for %s, something goes wrong.", can_subscription->get_name().c_str());
127 /// @brief Will determine if it is needed or not to create the event handle and checks it to be sure that
128 /// we got a valid afb_event to get subscribe or unsubscribe. Then launch the subscription or unsubscription
129 /// against the application framework using that event handle.
130 static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, std::shared_ptr<low_can_subscription_t>& can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
133 int sub_index = can_subscription->get_index();
135 if (can_subscription && s.find(sub_index) != s.end())
137 if (!afb_event_is_valid(s[sub_index]->get_event()) && !subscribe)
139 NOTICE("Event isn't valid, no need to unsubscribed.");
146 /* Event doesn't exist , so let's create it */
147 can_subscription->set_event({nullptr, nullptr});
148 s[sub_index] = can_subscription;
149 ret = create_event_handle(can_subscription, s);
152 // Check whether or not the event handler has been correctly created and
153 // make the subscription/unsubscription operation is so.
156 return make_subscription_unsubscription(request, can_subscription, s, subscribe);
159 static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription)
161 struct sd_event_source* event_source = nullptr;
162 return ( sd_event_add_io(afb_daemon_get_event_loop(),
164 can_subscription->get_socket().socket(),
167 can_subscription.get()));
170 static int subscribe_unsubscribe_diagnostic_messages(struct afb_req request, bool subscribe, std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages, struct event_filter_t& event_filter, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
173 application_t& app = application_t::instance();
174 diagnostic_manager_t& diag_m = app.get_diagnostic_manager();
176 for(const auto& sig : diagnostic_messages)
178 DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request());
179 event_filter.frequency = std::isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency;
180 std::shared_ptr<low_can_subscription_t> can_subscription;
182 auto it = std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub){ return (! sub.second->get_diagnostic_message().empty());});
183 can_subscription = it != s.end() ?
185 std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
186 // If the requested diagnostic message isn't supported by the car then unsubcribe it
187 // no matter what we want, worse case will be a fail unsubscription but at least we don't
188 // poll a PID for nothing.
189 //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);
190 if(sig->get_supported() && subscribe)
192 diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), event_filter.frequency);
193 if(can_subscription->create_rx_filter(sig) < 0)
195 DEBUG("Signal: %s subscribed", sig->get_name().c_str());
196 if(it == s.end() && add_to_event_loop(can_subscription) < 0)
198 diag_m.cleanup_request(
199 diag_m.find_recurring_request(*diag_req), true);
200 WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
206 if(sig->get_supported())
207 {DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());}
210 WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
214 int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s);
224 // TODO: Create separate subscrition object if event_filter isn't the same.
225 static int subscribe_unsubscribe_can_signals(struct afb_req request, bool subscribe, std::vector<std::shared_ptr<can_signal_t> > can_signals, struct event_filter_t& event_filter, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
228 for(const auto& sig: can_signals)
230 auto it = std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub){ return sub.second->get_can_signal() == sig; });
231 std::shared_ptr<low_can_subscription_t> can_subscription;
234 can_subscription = it->second;
238 can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
239 if(can_subscription->create_rx_filter(sig) < 0)
241 if(add_to_event_loop(can_subscription) < 0)
245 if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
249 DEBUG("signal: %s subscribed", sig->get_name().c_str());
255 /// @brief subscribe to all signals in the vector signals
257 /// @param[in] afb_req request : contain original request use to subscribe or unsubscribe
258 /// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription
259 /// @param[in] signals - struct containing vectors with can_signal_t and diagnostic_messages to subscribe
261 /// @return Number of correctly subscribed signal
263 static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals, struct event_filter_t& event_filter)
266 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
268 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
269 std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
271 rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s);
272 rets += subscribe_unsubscribe_can_signals(request, subscribe, signals.can_signals, event_filter, s);
277 static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const std::string& tag, json_object* args)
280 struct event_filter_t event_filter;
281 struct json_object *filter, *obj;
282 struct utils::signals_found sf;
284 // computes the filter
285 if (json_object_object_get_ex(args, "filter", &filter))
287 if (json_object_object_get_ex(filter, "frequency", &obj)
288 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
290 event_filter.frequency = (float)json_object_get_double(obj);
293 if (json_object_object_get_ex(filter, "min", &obj)
294 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
296 event_filter.min = (float)json_object_get_double(obj);
299 if (json_object_object_get_ex(filter, "max", &obj)
300 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
302 event_filter.max = (float)json_object_get_double(obj);
307 // subscribe or unsubscribe
308 openxc_DynamicField search_key = build_DynamicField(tag);
309 sf = utils::signals_manager_t::instance().find_signals(search_key);
310 if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
311 NOTICE("No signal(s) found for %s.", tag.c_str());
313 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
318 static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe)
321 struct json_object *args, *event, *x;
323 args = afb_req_json(request);
324 if (args == NULL || !json_object_object_get_ex(args, "event", &event))
326 rc = one_subscribe_unsubscribe(request, subscribe, "*", args);
328 else if (json_object_get_type(event) != json_type_array)
330 rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), args);
335 n = json_object_array_length(event);
336 for (i = 0 ; i < n ; i++)
338 x = json_object_array_get_idx(event, i);
339 rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), args);
341 rc = rc2 >= 0 ? rc + rc2 : rc2;
346 afb_req_success(request, NULL, NULL);
348 afb_req_fail(request, "error", NULL);
351 void subscribe(struct afb_req request)
353 do_subscribe_unsubscribe(request, true);
356 void unsubscribe(struct afb_req request)
358 do_subscribe_unsubscribe(request, false);