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"
20 #include "low-can-apidef.h"
27 #include <json-c/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/can-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(const can_message_t& cm)
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(cm);
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;
86 if ((revents & EPOLLIN) != 0)
89 utils::socketcan_bcm_t& s = can_subscription->get_socket();
92 // Sure we got a valid CAN message ?
93 if(! cm.get_id() == 0 && ! cm.get_length() == 0)
97 // check if error or hangup
98 if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
100 sd_event_source_unref(event_source);
101 can_subscription->get_socket().close();
106 ///******************************************************************************
108 /// Subscription and unsubscription
110 ///*******************************************************************************/
112 static int make_subscription_unsubscription(afb_req_t request,
113 std::shared_ptr<low_can_subscription_t>& can_subscription,
114 std::map<int, std::shared_ptr<low_can_subscription_t> >& s,
117 /* Make the subscription or unsubscription to the event (if request is not null) */
119 ((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[can_subscription->get_index()]->get_event())) < 0)
121 AFB_ERROR("Operation goes wrong for signal: %s", can_subscription->get_name().c_str());
127 static int create_event_handle(std::shared_ptr<low_can_subscription_t>& can_subscription,
128 std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
130 int sub_index = can_subscription->get_index();
131 can_subscription->set_event(afb_daemon_make_event(can_subscription->get_name().c_str()));
132 s[sub_index] = can_subscription;
133 if (!afb_event_is_valid(s[sub_index]->get_event()))
135 AFB_ERROR("Can't create an event for %s, something goes wrong.", can_subscription->get_name().c_str());
141 /// @brief This will determine if an event handle needs to be created and checks if
142 /// we got a valid afb_event to get subscribe or unsubscribe. After that launch the subscription or unsubscription
143 /// against the application framework using that event handle.
144 static int subscribe_unsubscribe_signal(afb_req_t request,
146 std::shared_ptr<low_can_subscription_t>& can_subscription,
147 std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
150 int sub_index = can_subscription->get_index();
152 if (can_subscription && s.find(sub_index) != s.end())
154 if (!afb_event_is_valid(s[sub_index]->get_event()) && !subscribe)
156 AFB_NOTICE("Event isn't valid, no need to unsubscribed.");
163 /* Event doesn't exist , so let's create it */
164 s[sub_index] = can_subscription;
165 ret = create_event_handle(can_subscription, s);
168 // Checks if the event handler is correctly created, if it is, it
169 // performs the subscription or unsubscription operations.
172 return make_subscription_unsubscription(request, can_subscription, s, subscribe);
175 static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription)
177 struct sd_event_source* event_source = nullptr;
178 return ( sd_event_add_io(afb_daemon_get_event_loop(),
180 can_subscription->get_socket().socket(),
183 can_subscription.get()));
186 static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request,
188 std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages,
189 struct event_filter_t& event_filter,
190 std::map<int, std::shared_ptr<low_can_subscription_t> >& s,
191 bool perm_rec_diag_req)
194 application_t& app = application_t::instance();
195 diagnostic_manager_t& diag_m = app.get_diagnostic_manager();
197 for(const auto& sig : diagnostic_messages)
199 DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request());
200 event_filter.frequency = event_filter.frequency == 0 ? sig->get_frequency() : event_filter.frequency;
201 std::shared_ptr<low_can_subscription_t> can_subscription;
203 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());});
204 can_subscription = it != s.end() ?
206 std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
207 // If the requested diagnostic message is not supported by the car then unsubcribe it
208 // no matter what we want, worst case will be a failed unsubscription but at least we won't
209 // poll a PID for nothing.
210 if(sig->get_supported() && subscribe)
212 if (!app.isEngineOn())
213 AFB_WARNING("signal: Engine is off, %s won't received responses until it's on", sig->get_name().c_str());
215 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);
216 if(can_subscription->create_rx_filter(sig) < 0)
218 AFB_DEBUG("Signal: %s subscribed", sig->get_name().c_str());
219 if(it == s.end() && add_to_event_loop(can_subscription) < 0)
221 diag_m.cleanup_request(
222 diag_m.find_recurring_request(*diag_req), true);
223 AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
229 if(sig->get_supported())
230 {AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());}
233 AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
237 int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s);
247 static int subscribe_unsubscribe_can_signals(afb_req_t request,
249 std::vector<std::shared_ptr<can_signal_t> > can_signals,
250 struct event_filter_t& event_filter,
251 std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
254 for(const auto& sig: can_signals)
256 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) ; });
257 std::shared_ptr<low_can_subscription_t> can_subscription;
260 can_subscription = it->second;
264 can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
265 if(can_subscription->create_rx_filter(sig) < 0)
267 if(add_to_event_loop(can_subscription) < 0)
271 if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
275 AFB_DEBUG("signal: %s subscribed", sig->get_name().c_str());
281 /// @brief subscribe to all signals in the vector signals
283 /// @param[in] afb_req request : contains original request use to subscribe or unsubscribe
284 /// @param[in] subscribe boolean value, which chooses between a subscription operation or an unsubscription
285 /// @param[in] signals - struct containing vectors with can_signal_t and diagnostic_messages to subscribe
287 /// @return Number of correctly subscribed signal
289 static int subscribe_unsubscribe_signals(afb_req_t request,
291 const struct utils::signals_found& signals,
292 struct event_filter_t& event_filter)
295 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
297 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
298 std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
300 rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s, false);
301 rets += subscribe_unsubscribe_can_signals(request, subscribe, signals.can_signals, event_filter, s);
306 static int one_subscribe_unsubscribe(afb_req_t request,
308 const std::string& tag,
312 struct event_filter_t event_filter;
313 struct json_object *filter, *obj;
314 struct utils::signals_found sf;
316 // computes the filter
317 if (json_object_object_get_ex(args, "filter", &filter))
319 if (json_object_object_get_ex(filter, "frequency", &obj)
320 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
321 {event_filter.frequency = (float)json_object_get_double(obj);}
322 if (json_object_object_get_ex(filter, "min", &obj)
323 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
324 {event_filter.min = (float)json_object_get_double(obj);}
325 if (json_object_object_get_ex(filter, "max", &obj)
326 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
327 {event_filter.max = (float)json_object_get_double(obj);}
330 // subscribe or unsubscribe
331 openxc_DynamicField search_key = build_DynamicField(tag);
332 sf = utils::signals_manager_t::instance().find_signals(search_key);
333 if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
335 AFB_NOTICE("No signal(s) found for %s.", tag.c_str());
339 {ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);}
343 static int process_one_subscribe_args(afb_req_t request, bool subscribe, json_object *args)
346 json_object *x = nullptr, *event = nullptr;
348 !json_object_object_get_ex(args, "event", &event))
350 rc = one_subscribe_unsubscribe(request, subscribe, "*", args);
352 else if (json_object_get_type(event) != json_type_array)
354 rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), args);
358 for (int i = 0 ; i < json_object_array_length(event); i++)
360 x = json_object_array_get_idx(event, i);
361 rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), args);
363 rc = rc2 >= 0 ? rc + rc2 : rc2;
369 static void do_subscribe_unsubscribe(afb_req_t request, bool subscribe)
372 struct json_object *args, *x;
374 args = afb_req_json(request);
375 if (json_object_get_type(args) == json_type_array)
377 for(int i = 0; i < json_object_array_length(args); i++)
379 x = json_object_array_get_idx(args, i);
380 rc += process_one_subscribe_args(request, subscribe, x);
385 rc += process_one_subscribe_args(request, subscribe, args);
389 afb_req_success(request, NULL, NULL);
391 afb_req_fail(request, "error", NULL);
394 void auth(afb_req_t request)
396 afb_req_session_set_LOA(request, 1);
397 afb_req_success(request, NULL, NULL);
400 void subscribe(afb_req_t request)
402 do_subscribe_unsubscribe(request, true);
405 void unsubscribe(afb_req_t request)
407 do_subscribe_unsubscribe(request, false);
410 static int send_frame(const std::string& bus_name, const struct can_frame& cf)
412 std::map<std::string, std::shared_ptr<low_can_socket_t> >& cd = application_t::instance().get_can_devices();
414 if( cd.count(bus_name) == 0)
415 {cd[bus_name] = std::make_shared<low_can_socket_t>(low_can_socket_t());}
417 return cd[bus_name]->tx_send(cf, bus_name);
420 static int write_raw_frame(const std::string& bus_name, uint32_t can_id, uint8_t can_dlc, struct json_object* can_data)
425 ::memset(&cf, 0, sizeof(cf));
428 cf.can_dlc = can_dlc;
430 struct json_object *x;
431 size_t n = json_object_array_length(can_data);
434 for (int i = 0 ; i < n ; i++)
436 x = json_object_array_get_idx(can_data, i);
437 cf.data[i] = json_object_get_type(x) == json_type_int ? (uint8_t)json_object_get_int(x) : 0;
441 const std::string found_device = application_t::instance().get_can_bus_manager().get_can_device_name(bus_name);
442 if( ! found_device.empty())
444 rc = send_frame(found_device, cf);
449 static int write_signal(const std::string& name, uint64_t value)
453 struct utils::signals_found sf;
455 ::memset(&cf, 0, sizeof(cf));
457 openxc_DynamicField search_key = build_DynamicField(name);
458 sf = utils::signals_manager_t::instance().find_signals(search_key);
460 if (sf.can_signals.empty())
462 AFB_WARNING("No signal(s) found for %s. Message not sent.", name.c_str());
467 for(const auto& sig: sf.can_signals)
469 if(sig->get_writable())
471 cf = encoder_t::build_frame(sig, value);
472 const std::string bus_name = sig->get_message()->get_bus_device_name();
473 rc = send_frame(bus_name, cf);
477 AFB_WARNING("%s isn't writable. Message not sent.", sig->get_name().c_str());
486 void write(afb_req_t request)
489 struct json_object* args = nullptr,
490 *json_name = nullptr,
491 *json_value = nullptr;
493 args = afb_req_json(request);
495 // Process about Raw CAN message on CAN bus directly
497 (json_object_object_get_ex(args, "bus_name", &json_name) && json_object_is_type(json_name, json_type_string) ) &&
498 (json_object_object_get_ex(args, "frame", &json_value) && json_object_is_type(json_value, json_type_object) ))
500 struct json_object* json_can_id = nullptr,
501 *json_can_dlc = nullptr,
502 *json_can_data = nullptr;
504 if( (json_object_object_get_ex(json_value, "can_id", &json_can_id) && (json_object_is_type(json_can_id, json_type_double) || json_object_is_type(json_can_id, json_type_int))) &&
505 (json_object_object_get_ex(json_value, "can_dlc", &json_can_dlc) && (json_object_is_type(json_can_dlc, json_type_double) || json_object_is_type(json_can_dlc, json_type_int))) &&
506 (json_object_object_get_ex(json_value, "can_data", &json_can_data) && json_object_is_type(json_can_data, json_type_array) ))
508 rc = write_raw_frame(json_object_get_string(json_name),
509 json_object_get_int(json_can_id),
510 (uint8_t)json_object_get_int(json_can_dlc),
515 AFB_ERROR("Frame object malformed (must be \n \"frame\": {\"can_id\": int, \"can_dlc\": int, \"can_data\": [ int, int , int, int ,int , int ,int ,int]}");
519 // Search signal then encode value.
520 else if(args != NULL &&
521 (json_object_object_get_ex(args, "signal_name", &json_name) && json_object_is_type(json_name, json_type_string)) &&
522 (json_object_object_get_ex(args, "signal_value", &json_value) && (json_object_is_type(json_value, json_type_double) || json_object_is_type(json_value, json_type_int))))
524 rc = write_signal(json_object_get_string(json_name),
525 (uint64_t)json_object_get_double(json_value));
529 AFB_ERROR("Request argument malformed. Please use the following syntax:");
534 afb_req_success(request, NULL, NULL);
536 afb_req_fail(request, "error", NULL);
539 static struct json_object *get_signals_value(const std::string& name)
541 struct utils::signals_found sf;
542 struct json_object *ans = nullptr;
544 openxc_DynamicField search_key = build_DynamicField(name);
545 sf = utils::signals_manager_t::instance().find_signals(search_key);
547 if (sf.can_signals.empty())
549 AFB_WARNING("No signal(s) found for %s.", name.c_str());
552 ans = json_object_new_array();
553 for(const auto& sig: sf.can_signals)
555 struct json_object *jobj = json_object_new_object();
556 json_object_object_add(jobj, "event", json_object_new_string(sig->get_name().c_str()));
557 json_object_object_add(jobj, "value", json_object_new_double(sig->get_last_value()));
558 json_object_array_add(ans, jobj);
563 void get(afb_req_t request)
566 struct json_object* args = nullptr,
567 *json_name = nullptr;
568 json_object *ans = nullptr;
570 args = afb_req_json(request);
572 // Process about Raw CAN message on CAN bus directly
573 if (args != nullptr &&
574 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string) ))
576 ans = get_signals_value(json_object_get_string(json_name));
582 AFB_ERROR("Request argument malformed. Please use the following syntax:");
587 afb_req_success(request, ans, NULL);
589 afb_req_fail(request, "error", NULL);
593 static struct json_object *list_can_message(const std::string& name)
595 struct utils::signals_found sf;
596 struct json_object *ans = nullptr;
598 openxc_DynamicField search_key = build_DynamicField(name);
599 sf = utils::signals_manager_t::instance().find_signals(search_key);
601 if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
603 AFB_WARNING("No signal(s) found for %s.", name.c_str());
606 ans = json_object_new_array();
607 for(const auto& sig: sf.can_signals)
609 json_object_array_add(ans,
610 json_object_new_string(sig->get_name().c_str()));
612 for(const auto& sig: sf.diagnostic_messages)
614 json_object_array_add(ans,
615 json_object_new_string(sig->get_name().c_str()));
621 void list(afb_req_t request)
624 json_object *ans = nullptr;
625 struct json_object* args = nullptr,
626 *json_name = nullptr;
627 args = afb_req_json(request);
629 if ((args != nullptr) &&
630 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string)))
632 name = json_object_get_string(json_name);
639 ans = list_can_message(name);
644 afb_req_success(request, ans, NULL);
646 afb_req_fail(request, "error", NULL);
649 /// @brief Initialize the binding.
651 /// @param[in] service Structure which represent the Application Framework Binder.
653 /// @return Exit code, zero if success.
654 int init_binding(afb_api_t api)
657 can_bus_t& can_bus_manager = application_t::instance().get_can_bus_manager();
659 can_bus_manager.set_can_devices();
660 can_bus_manager.start_threads();
662 /// Initialize Diagnostic manager that will handle obd2 requests.
663 /// We pass by default the first CAN bus device to its Initialization.
664 /// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus.
665 if(application_t::instance().get_diagnostic_manager().initialize())
668 // Add a recurring dignostic message request to get engine speed at all times.
669 openxc_DynamicField search_key = build_DynamicField("diagnostic_messages.engine.speed");
670 struct utils::signals_found sf = utils::signals_manager_t::instance().find_signals(search_key);
672 if(sf.can_signals.empty() && sf.diagnostic_messages.size() == 1)
674 afb_req_t request = nullptr;
676 struct event_filter_t event_filter;
677 event_filter.frequency = sf.diagnostic_messages.front()->get_frequency();
679 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
680 std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
682 subscribe_unsubscribe_diagnostic_messages(request, true, sf.diagnostic_messages, event_filter, s, true);
686 AFB_ERROR("There was something wrong with CAN device Initialization.");