2 * Copyright (C) 2015, 2018 "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"
20 #include "low-can-apidef.h"
27 #include <wrap-json.h>
28 #include <systemd/sd-event.h>
30 #include "openxc.pb.h"
31 #include "application.hpp"
32 #include "../can/can-encoder.hpp"
33 #include "../can/can-bus.hpp"
34 #include "../can/can-signals.hpp"
35 #include "../can/message/message.hpp"
36 #include "../utils/signals.hpp"
37 #include "../diagnostic/diagnostic-message.hpp"
38 #include "../utils/openxc-utils.hpp"
40 ///******************************************************************************
42 /// SystemD event loop Callbacks
44 ///*******************************************************************************/
46 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)
48 bool is_permanent_recurring_request = false;
50 if( ! can_subscription->get_diagnostic_message().empty() && can_subscription->get_diagnostic_message(pid) != nullptr)
52 DiagnosticRequest diag_req = can_subscription->get_diagnostic_message(pid)->build_diagnostic_request();
53 active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
56 is_permanent_recurring_request = adr->get_permanent();
58 if(! is_permanent_recurring_request)
59 application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
63 if(! is_permanent_recurring_request)
64 on_no_clients(can_subscription, s);
67 void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
69 auto it = s.find(can_subscription->get_index());
73 static void push_n_notify(std::shared_ptr<message_t> m)
75 can_bus_t& cbm = application_t::instance().get_can_bus_manager();
77 std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
78 cbm.push_new_can_message(m);
80 cbm.get_new_can_message_cv().notify_one();
83 int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata)
85 low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata;
88 if ((revents & EPOLLIN) != 0)
90 std::shared_ptr<utils::socketcan_t> s = can_subscription->get_socket();
91 std::shared_ptr<message_t> message = s->read_message();
93 // Sure we got a valid CAN message ?
94 if (! message->get_id() == 0 && ! message->get_length() == 0)
96 push_n_notify(message);
100 // check if error or hangup
101 if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
103 sd_event_source_unref(event_source);
104 can_subscription->get_socket()->close();
110 ///******************************************************************************
112 /// Subscription and unsubscription
114 ///*******************************************************************************/
116 /// @brief This will determine if an event handle needs to be created and checks if
117 /// we got a valid afb_event to get subscribe or unsubscribe. After that launch the subscription or unsubscription
118 /// against the application framework using that event handle.
119 static int subscribe_unsubscribe_signal(afb_req_t request,
121 std::shared_ptr<low_can_subscription_t>& can_subscription,
122 std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
125 int sub_index = can_subscription->get_index();
126 bool subscription_exists = s.count(sub_index);
131 /* There is no valid request to subscribe so this must be an
132 * internal permanent diagnostic request. Skip the subscription
133 * part and don't register it into the current "low-can"
141 // Event doesn't exist , so let's create it
142 if (! subscription_exists &&
143 (ret = can_subscription->subscribe(request)) < 0)
146 if(! subscription_exists)
147 s[sub_index] = can_subscription;
152 // Unsubscrition part
153 if(! subscription_exists)
155 AFB_NOTICE("There isn't any valid subscriptions for that request.");
158 else if (subscription_exists &&
159 ! afb_event_is_valid(s[sub_index]->get_event()) )
161 AFB_NOTICE("Event isn't valid, no need to unsubscribed.");
165 if( (ret = s[sub_index]->unsubscribe(request)) < 0)
172 static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription)
174 struct sd_event_source* event_source = nullptr;
175 return ( sd_event_add_io(afb_daemon_get_event_loop(),
177 can_subscription->get_socket()->socket(),
180 can_subscription.get()));
183 static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request,
185 std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages,
186 struct event_filter_t& event_filter,
187 std::map<int, std::shared_ptr<low_can_subscription_t> >& s,
188 bool perm_rec_diag_req)
191 application_t& app = application_t::instance();
192 diagnostic_manager_t& diag_m = app.get_diagnostic_manager();
194 for(const auto& sig : diagnostic_messages)
196 DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request());
197 event_filter.frequency = event_filter.frequency == 0 ? sig->get_frequency() : event_filter.frequency;
198 std::shared_ptr<low_can_subscription_t> can_subscription;
200 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());});
201 can_subscription = it != s.end() ?
203 std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
204 // If the requested diagnostic message is not supported by the car then unsubcribe it
205 // no matter what we want, worst case will be a failed unsubscription but at least we won't
206 // poll a PID for nothing.
207 if(sig->get_supported() && subscribe)
209 if (!app.isEngineOn())
210 AFB_WARNING("signal: Engine is off, %s won't received responses until it's on", sig->get_name().c_str());
212 diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), event_filter.frequency, perm_rec_diag_req);
213 if(can_subscription->create_rx_filter(sig) < 0)
215 AFB_DEBUG("Signal: %s subscribed", sig->get_name().c_str());
216 if(it == s.end() && add_to_event_loop(can_subscription) < 0)
218 diag_m.cleanup_request(
219 diag_m.find_recurring_request(*diag_req), true);
220 AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
226 if(sig->get_supported())
227 {AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());}
230 AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
234 int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s);
244 static int subscribe_unsubscribe_can_signals(afb_req_t request,
246 std::vector<std::shared_ptr<can_signal_t> > can_signals,
247 struct event_filter_t& event_filter,
248 std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
251 for(const auto& sig: can_signals)
253 auto it = std::find_if(s.begin(), s.end(), [&sig, &event_filter](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub){ return sub.second->is_signal_subscription_corresponding(sig, event_filter) ; });
254 std::shared_ptr<low_can_subscription_t> can_subscription;
256 {can_subscription = it->second;}
259 can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
260 if(can_subscription->create_rx_filter(sig) < 0)
262 if(add_to_event_loop(can_subscription) < 0)
266 if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
270 AFB_DEBUG("%s Signal: %s %ssubscribed", sig->get_message()->is_fd() ? "FD": "", sig->get_name().c_str(), subscribe ? "":"un");
276 /// @brief subscribe to all signals in the vector signals
278 /// @param[in] afb_req request : contains original request use to subscribe or unsubscribe
279 /// @param[in] subscribe boolean value, which chooses between a subscription operation or an unsubscription
280 /// @param[in] signals - struct containing vectors with can_signal_t and diagnostic_messages to subscribe
282 /// @return Number of correctly subscribed signal
284 static int subscribe_unsubscribe_signals(afb_req_t request,
286 const struct utils::signals_found& signals,
287 struct event_filter_t& event_filter)
290 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
292 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
293 std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
295 rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s, false);
296 rets += subscribe_unsubscribe_can_signals(request, subscribe, signals.can_signals, event_filter, s);
301 static int one_subscribe_unsubscribe(afb_req_t request,
303 const std::string& tag,
307 struct event_filter_t event_filter;
308 struct json_object *filter, *obj;
309 struct utils::signals_found sf;
311 // computes the filter
312 if (json_object_object_get_ex(args, "filter", &filter))
314 if (json_object_object_get_ex(filter, "frequency", &obj)
315 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
316 {event_filter.frequency = (float)json_object_get_double(obj);}
317 if (json_object_object_get_ex(filter, "min", &obj)
318 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
319 {event_filter.min = (float)json_object_get_double(obj);}
320 if (json_object_object_get_ex(filter, "max", &obj)
321 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
322 {event_filter.max = (float)json_object_get_double(obj);}
325 // subscribe or unsubscribe
326 openxc_DynamicField search_key = build_DynamicField(tag);
327 sf = utils::signals_manager_t::instance().find_signals(search_key);
328 if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
330 AFB_NOTICE("No signal(s) found for %s.", tag.c_str());
334 {ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);}
338 static int process_one_subscribe_args(afb_req_t request, bool subscribe, json_object *args)
341 json_object *x = nullptr, *event = nullptr;
343 !json_object_object_get_ex(args, "event", &event))
345 rc = one_subscribe_unsubscribe(request, subscribe, "*", args);
347 else if (json_object_get_type(event) != json_type_array)
349 rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), args);
353 for (int i = 0 ; i < json_object_array_length(event); i++)
355 x = json_object_array_get_idx(event, i);
356 rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), args);
358 rc = rc2 >= 0 ? rc + rc2 : rc2;
364 static void do_subscribe_unsubscribe(afb_req_t request, bool subscribe)
367 struct json_object *args, *x;
369 args = afb_req_json(request);
370 if (json_object_get_type(args) == json_type_array)
372 for(int i = 0; i < json_object_array_length(args); i++)
374 x = json_object_array_get_idx(args, i);
375 rc += process_one_subscribe_args(request, subscribe, x);
380 rc += process_one_subscribe_args(request, subscribe, args);
384 afb_req_success(request, NULL, NULL);
386 afb_req_fail(request, "error", NULL);
389 void auth(afb_req_t request)
391 afb_req_session_set_LOA(request, 1);
392 afb_req_success(request, NULL, NULL);
395 void subscribe(afb_req_t request)
397 do_subscribe_unsubscribe(request, true);
400 void unsubscribe(afb_req_t request)
402 do_subscribe_unsubscribe(request, false);
405 static int send_frame(struct canfd_frame& cfd, const std::string& bus_name)
407 if(bus_name.empty()) {
411 std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
413 if( cd.count(bus_name) == 0)
414 {cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t());}
416 return cd[bus_name]->tx_send(*cd[bus_name], cfd, bus_name);
419 static void write_raw_frame(afb_req_t request, const std::string& bus_name, json_object *json_value)
421 struct canfd_frame cfd;
422 struct json_object *can_data = nullptr;
424 ::memset(&cfd, 0, sizeof(cfd));
426 if(wrap_json_unpack(json_value, "{si, si, so !}",
427 "can_id", &cfd.can_id,
429 "can_data", &can_data))
431 afb_req_fail(request, "Invalid", "Frame object malformed");
435 if(cfd.len <= 8 && cfd.len > 0)
437 for (int i = 0 ; i < cfd.len ; i++)
439 struct json_object *one_can_data = json_object_array_get_idx(can_data, i);
440 cfd.data[i] = (json_object_is_type(one_can_data, json_type_int)) ?
441 (uint8_t)json_object_get_int(one_can_data) : 0;
446 afb_req_fail(request, "Invalid", "Data array must hold 1 to 8 values.");
450 if(! send_frame(cfd, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name)))
451 afb_req_success(request, nullptr, "Message correctly sent");
453 afb_req_fail(request, "Error", "sending the message. See the log for more details.");
456 static void write_signal(afb_req_t request, const std::string& name, json_object *json_value)
458 struct canfd_frame cfd;
459 struct utils::signals_found sf;
460 signal_encoder encoder = nullptr;
463 ::memset(&cfd, 0, sizeof(cfd));
465 openxc_DynamicField search_key = build_DynamicField(name);
466 sf = utils::signals_manager_t::instance().find_signals(search_key);
467 openxc_DynamicField dynafield_value = build_DynamicField(json_value);
469 if (sf.can_signals.empty())
471 afb_req_fail_f(request, "No signal(s) found for %s. Message not sent.", name.c_str());
475 std::shared_ptr<can_signal_t>& sig = sf.can_signals[0];
476 if(! sig->get_writable())
478 afb_req_fail_f(request, "%s isn't writable. Message not sent.", sig->get_name().c_str());
482 uint64_t value = (encoder = sig->get_encoder()) ?
483 encoder(*sig, dynafield_value, &send) :
484 encoder_t::encode_DynamicField(*sig, dynafield_value, &send);
486 cfd = encoder_t::build_frame(sig, value);
487 if(! send_frame(cfd, sig->get_message()->get_bus_device_name()) && send)
488 afb_req_success(request, nullptr, "Message correctly sent");
490 afb_req_fail(request, "Error", "Sending the message. See the log for more details.");
493 void write(afb_req_t request)
495 struct json_object* args = nullptr, *json_value = nullptr;
496 const char *name = nullptr;
498 args = afb_req_json(request);
500 // Process about Raw CAN message on CAN bus directly
501 if (args != NULL && ! wrap_json_unpack(args, "{ss, so !}",
503 "frame", &json_value))
504 write_raw_frame(request, name, json_value);
506 // Search signal then encode value.
507 else if(args != NULL &&
508 ! wrap_json_unpack(args, "{ss, so !}",
509 "signal_name", &name,
510 "signal_value", &json_value))
511 write_signal(request, std::string(name), json_value);
513 afb_req_fail(request, "Error", "Request argument malformed");
516 static struct json_object *get_signals_value(const std::string& name)
518 struct utils::signals_found sf;
519 struct json_object *ans = nullptr;
521 openxc_DynamicField search_key = build_DynamicField(name);
522 sf = utils::signals_manager_t::instance().find_signals(search_key);
524 if (sf.can_signals.empty())
526 AFB_WARNING("No signal(s) found for %s.", name.c_str());
529 ans = json_object_new_array();
530 for(const auto& sig: sf.can_signals)
532 struct json_object *jobj = json_object_new_object();
533 json_object_object_add(jobj, "event", json_object_new_string(sig->get_name().c_str()));
534 json_object_object_add(jobj, "value", json_object_new_double(sig->get_last_value()));
535 json_object_array_add(ans, jobj);
540 void get(afb_req_t request)
543 struct json_object* args = nullptr,
544 *json_name = nullptr;
545 json_object *ans = nullptr;
547 args = afb_req_json(request);
549 // Process about Raw CAN message on CAN bus directly
550 if (args != nullptr &&
551 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string) ))
553 ans = get_signals_value(json_object_get_string(json_name));
559 AFB_ERROR("Request argument malformed. Please use the following syntax:");
564 afb_req_success(request, ans, NULL);
566 afb_req_fail(request, "error", NULL);
570 static struct json_object *list_can_message(const std::string& name)
572 struct utils::signals_found sf;
573 struct json_object *ans = nullptr;
575 openxc_DynamicField search_key = build_DynamicField(name);
576 sf = utils::signals_manager_t::instance().find_signals(search_key);
578 if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
580 AFB_WARNING("No signal(s) found for %s.", name.c_str());
583 ans = json_object_new_array();
584 for(const auto& sig: sf.can_signals)
586 json_object_array_add(ans,
587 json_object_new_string(sig->get_name().c_str()));
589 for(const auto& sig: sf.diagnostic_messages)
591 json_object_array_add(ans,
592 json_object_new_string(sig->get_name().c_str()));
598 void list(afb_req_t request)
601 json_object *ans = nullptr;
602 struct json_object* args = nullptr,
603 *json_name = nullptr;
604 args = afb_req_json(request);
606 if ((args != nullptr) &&
607 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string)))
609 name = json_object_get_string(json_name);
616 ans = list_can_message(name);
621 afb_req_success(request, ans, NULL);
623 afb_req_fail(request, "error", NULL);
626 /// @brief Initialize the binding.
628 /// @param[in] service Structure which represent the Application Framework Binder.
630 /// @return Exit code, zero if success.
631 int init_binding(afb_api_t api)
634 can_bus_t& can_bus_manager = application_t::instance().get_can_bus_manager();
636 can_bus_manager.set_can_devices();
637 can_bus_manager.start_threads();
639 /// Initialize Diagnostic manager that will handle obd2 requests.
640 /// We pass by default the first CAN bus device to its Initialization.
641 /// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus.
642 if(application_t::instance().get_diagnostic_manager().initialize())
645 // Add a recurring dignostic message request to get engine speed at all times.
646 openxc_DynamicField search_key = build_DynamicField("diagnostic_messages.engine.speed");
647 struct utils::signals_found sf = utils::signals_manager_t::instance().find_signals(search_key);
649 if(sf.can_signals.empty() && sf.diagnostic_messages.size() == 1)
651 afb_req_t request = nullptr;
653 struct event_filter_t event_filter;
654 event_filter.frequency = sf.diagnostic_messages.front()->get_frequency();
656 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
657 std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
659 subscribe_unsubscribe_diagnostic_messages(request, true, sf.diagnostic_messages, event_filter, s, true);
663 AFB_ERROR("There was something wrong with CAN device Initialization.");