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-encoder.hpp"
  32 #include "../can/can-bus.hpp"
  33 #include "../can/can-signals.hpp"
  34 #include "../can/can-message.hpp"
  35 #include "../utils/signals.hpp"
  36 #include "../diagnostic/diagnostic-message.hpp"
  37 #include "../utils/openxc-utils.hpp"
  38
  39
  40 ///******************************************************************************
  41 ///
  42 ///             SystemD event loop Callbacks
  43 ///
  44 ///*******************************************************************************/
  45
  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)
  47 {
  48         if( ! can_subscription->get_diagnostic_message().empty() && can_subscription->get_diagnostic_message(pid) != nullptr)
  49         {
  50                 DiagnosticRequest diag_req = can_subscription->get_diagnostic_message(pid)->build_diagnostic_request();
  51                 active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
  52                 if( adr != nullptr)
  53                         application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
  54         }
  55
  56         on_no_clients(can_subscription, s);
  57 }
  58
  59 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 {
  61         auto it = s.find(can_subscription->get_index());
  62         s.erase(it);
  63 }
  64
  65 static void push_n_notify(const can_message_t& cm)
  66 {
  67         can_bus_t& cbm = application_t::instance().get_can_bus_manager();
  68         {
  69                 std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
  70                 cbm.push_new_can_message(cm);
  71         }
  72         cbm.get_new_can_message_cv().notify_one();
  73 }
  74
  75 int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata)
  76 {
  77         low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata;
  78         if ((revents & EPOLLIN) != 0)
  79         {
  80                 can_message_t cm;
  81                 utils::socketcan_bcm_t& s = can_subscription->get_socket();
  82                 s >> cm;
  83
  84                 // Sure we got a valid CAN message ?
  85                 if(! cm.get_id() == 0 && ! cm.get_length() == 0)
  86                         {push_n_notify(cm);}
  87         }
  88
  89         // check if error or hangup
  90         if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
  91         {
  92                 sd_event_source_unref(event_source);
  93                 can_subscription->get_socket().close();
  94         }
  95         return 0;
  96 }
  97
  98 ///******************************************************************************
  99 ///
 100 ///             Subscription and unsubscription
 101 ///
 102 ///*******************************************************************************/
 103
 104 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 {
 106         /* Make the subscription or unsubscription to the event */
 107         if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[can_subscription->get_index()]->get_event())) < 0)
 108         {
 109                 AFB_ERROR("Operation goes wrong for signal: %s", can_subscription->get_name().c_str());
 110                 return -1;
 111         }
 112         return 0;
 113 }
 114
 115 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 {
 117         int sub_index = can_subscription->get_index();
 118         can_subscription->set_event(afb_daemon_make_event(can_subscription->get_name().c_str()));
 119         s[sub_index] = can_subscription;
 120         if (!afb_event_is_valid(s[sub_index]->get_event()))
 121         {
 122                 AFB_ERROR("Can't create an event for %s, something goes wrong.", can_subscription->get_name().c_str());
 123                 return -1;
 124         }
 125         return 0;
 126 }
 127
 128 /// @brief Will determine if it is needed or not to create the event handle and checks it to be sure that
 129 /// we got a valid afb_event to get subscribe or unsubscribe. Then launch the subscription or unsubscription
 130 /// against the application framework using that event handle.
 131 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)
 132 {
 133         int ret = -1;
 134         int sub_index = can_subscription->get_index();
 135
 136         if (can_subscription && s.find(sub_index) != s.end())
 137         {
 138                 if (!afb_event_is_valid(s[sub_index]->get_event()) && !subscribe)
 139                 {
 140                         AFB_NOTICE("Event isn't valid, no need to unsubscribed.");
 141                         ret = -1;
 142                 }
 143                 ret = 0;
 144         }
 145         else
 146         {
 147                 /* Event doesn't exist , so let's create it */
 148                 can_subscription->set_event({nullptr, nullptr});
 149                 s[sub_index] = can_subscription;
 150                 ret = create_event_handle(can_subscription, s);
 151         }
 152
 153         // Check whether or not the event handler has been correctly created and
 154         // make the subscription/unsubscription operation is so.
 155         if (ret < 0)
 156                 return ret;
 157         return make_subscription_unsubscription(request, can_subscription, s, subscribe);
 158 }
 159
 160 static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription)
 161 {
 162                 struct sd_event_source* event_source = nullptr;
 163                 return ( sd_event_add_io(afb_daemon_get_event_loop(),
 164                         &event_source,
 165                         can_subscription->get_socket().socket(),
 166                         EPOLLIN,
 167                         read_message,
 168                         can_subscription.get()));
 169 }
 170
 171 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)
 172 {
 173         int rets = 0;
 174         application_t& app = application_t::instance();
 175         diagnostic_manager_t& diag_m = app.get_diagnostic_manager();
 176
 177         for(const auto& sig : diagnostic_messages)
 178         {
 179                 DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request());
 180                 event_filter.frequency = std::isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency;
 181                 std::shared_ptr<low_can_subscription_t> can_subscription;
 182
 183                 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());});
 184                 can_subscription = it != s.end() ?
 185                         it->second :
 186                         std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 187                 // If the requested diagnostic message isn't supported by the car then unsubcribe it
 188                 // no matter what we want, worse case will be a fail unsubscription but at least we don't
 189                 // poll a PID for nothing.
 190                 //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);
 191                 if(sig->get_supported() && subscribe)
 192                 {
 193                         diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), event_filter.frequency);
 194                         if(can_subscription->create_rx_filter(sig) < 0)
 195                                 {return -1;}
 196                         AFB_DEBUG("Signal: %s subscribed", sig->get_name().c_str());
 197                         if(it == s.end() && add_to_event_loop(can_subscription) < 0)
 198                         {
 199                                 diag_m.cleanup_request(
 200                                         diag_m.find_recurring_request(*diag_req), true);
 201                                 AFB_WARNING("signal: %s isn't supported. Canceling operation.",  sig->get_name().c_str());
 202                                 return -1;
 203                         }
 204                 }
 205                 else
 206                 {
 207                         if(sig->get_supported())
 208                         {AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());}
 209                         else
 210                         {
 211                                 AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
 212                                 return -1;
 213                         }
 214                 }
 215                 int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s);
 216                 if(ret < 0)
 217                         return ret;
 218
 219                 rets++;
 220         }
 221
 222         return rets;
 223 }
 224
 225 // TODO: Create separate subscrition object if event_filter isn't the same.
 226 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)
 227 {
 228         int rets = 0;
 229         for(const auto& sig: can_signals)
 230         {
 231                 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; });
 232                 std::shared_ptr<low_can_subscription_t> can_subscription;
 233                 if(it != s.end())
 234                 {
 235                          can_subscription = it->second;
 236                 }
 237                 else
 238                 {
 239                          can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 240                         if(can_subscription->create_rx_filter(sig) < 0)
 241                                 {return -1;}
 242                         if(add_to_event_loop(can_subscription) < 0)
 243                                 {return -1;}
 244                 }
 245
 246                 if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
 247                         {return -1;}
 248
 249                 rets++;
 250                 AFB_DEBUG("signal: %s subscribed", sig->get_name().c_str());
 251         }
 252         return rets;
 253 }
 254
 255 ///
 256 /// @brief subscribe to all signals in the vector signals
 257 ///
 258 /// @param[in] afb_req request : contain original request use to subscribe or unsubscribe
 259 /// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription
 260 /// @param[in] signals -  struct containing vectors with can_signal_t and diagnostic_messages to subscribe
 261 ///
 262 /// @return Number of correctly subscribed signal
 263 ///
 264 static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals, struct event_filter_t& event_filter)
 265 {
 266         int rets = 0;
 267         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 268
 269         std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 270         std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
 271
 272         rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s);
 273         rets += subscribe_unsubscribe_can_signals(request, subscribe, signals.can_signals, event_filter, s);
 274
 275         return rets;
 276 }
 277
 278 static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const std::string& tag, json_object* args)
 279 {
 280         int ret = 0;
 281         struct event_filter_t event_filter;
 282         struct json_object  *filter, *obj;
 283         struct utils::signals_found sf;
 284
 285         // computes the filter
 286         if (json_object_object_get_ex(args, "filter", &filter))
 287         {
 288                 if (json_object_object_get_ex(filter, "frequency", &obj)
 289                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 290                 {
 291                         event_filter.frequency = (float)json_object_get_double(obj);
 292                         ret += 1;
 293                 }
 294                 if (json_object_object_get_ex(filter, "min", &obj)
 295                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 296                 {
 297                         event_filter.min = (float)json_object_get_double(obj);
 298                         ret += 2;
 299                 }
 300                 if (json_object_object_get_ex(filter, "max", &obj)
 301                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 302                 {
 303                         event_filter.max = (float)json_object_get_double(obj);
 304                         ret += 4;
 305                 }
 306         }
 307
 308         // subscribe or unsubscribe
 309         openxc_DynamicField search_key = build_DynamicField(tag);
 310         sf = utils::signals_manager_t::instance().find_signals(search_key);
 311         if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
 312         {
 313                 AFB_NOTICE("No signal(s) found for %s.", tag.c_str());
 314                 ret = -1;
 315         }
 316         else
 317                 {ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);}
 318
 319         return ret;
 320 }
 321
 322 static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe)
 323 {
 324         int i, n, rc, rc2;
 325         struct json_object *args, *event, *x;
 326
 327         args = afb_req_json(request);
 328         if (args == NULL || !json_object_object_get_ex(args, "event", &event))
 329         {
 330                 rc = one_subscribe_unsubscribe(request, subscribe, "*", args);
 331         }
 332         else if (json_object_get_type(event) != json_type_array)
 333         {
 334                 rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), args);
 335         }
 336         else
 337         {
 338                 rc = 0;
 339                 n = json_object_array_length(event);
 340                 for (i = 0 ; i < n ; i++)
 341                 {
 342                         x = json_object_array_get_idx(event, i);
 343                         rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), args);
 344                         if (rc >= 0)
 345                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 346                 }
 347         }
 348
 349         if (rc >= 0)
 350                 afb_req_success(request, NULL, NULL);
 351         else
 352                 afb_req_fail(request, "error", NULL);
 353 }
 354
 355 void auth(struct afb_req request)
 356 {
 357         afb_req_session_set_LOA(request, 1);
 358         afb_req_success(request, NULL, NULL);
 359 }
 360
 361 void subscribe(struct afb_req request)
 362 {
 363         do_subscribe_unsubscribe(request, true);
 364 }
 365
 366 void unsubscribe(struct afb_req request)
 367 {
 368         do_subscribe_unsubscribe(request, false);
 369 }
 370
 371 void swrite(struct afb_req request)
 372 {
 373         int rc = 0;
 374         struct can_frame cf;
 375         struct utils::signals_found sf;
 376         struct json_object* args = nullptr,
 377                 *json_name = nullptr,
 378                 *json_value = nullptr;
 379         std::map<std::string, std::shared_ptr<low_can_socket_t> >& cd = application_t::instance().get_can_devices();
 380
 381         ::memset(&cf, 0, sizeof(cf));
 382
 383         args = afb_req_json(request);
 384
 385         // Process about Raw CAN message on CAN bus directly
 386         if (args != NULL &&
 387                 (json_object_object_get_ex(args, "bus_name", &json_name) && json_object_is_type(json_name, json_type_string) ) &&
 388                 (json_object_object_get_ex(args, "frame", &json_value) && json_object_is_type(json_value, json_type_object) ))
 389         {
 390                 struct json_object* json_can_id = nullptr,
 391                         *json_can_dlc = nullptr,
 392                         *json_can_data = nullptr;
 393
 394                 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))) &&
 395                         (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))) &&
 396                         (json_object_object_get_ex(json_value, "can_data", &json_can_data) && json_object_is_type(json_can_data, json_type_array) ))
 397                 {
 398                         cf.can_id = json_object_get_int(json_can_id);
 399                         cf.can_dlc = (uint8_t)json_object_get_int(json_can_dlc);
 400
 401                         struct json_object *x;
 402                         int n = json_object_array_length(json_can_data);
 403                         if(n <= 8)
 404                         {
 405                                 for (int i = 0 ; i < n ; i++)
 406                                 {
 407                                         x = json_object_array_get_idx(json_can_data, i);
 408                                         cf.data[i] = json_object_get_type(x) == json_type_int ? (uint8_t)json_object_get_int(x) : 0;
 409                                 }
 410                         }
 411
 412                         const std::string bus_name = json_object_get_string(json_name);
 413                         const std::string found_device = application_t::instance().get_can_bus_manager().get_can_device_name(bus_name);
 414                         if( ! found_device.empty())
 415                         {
 416                                 if( cd.count(bus_name) == 0)
 417                                         {cd[bus_name] = std::make_shared<low_can_socket_t>(low_can_socket_t());}
 418                                 rc = cd[bus_name]->tx_send(cf, found_device);
 419                         }
 420                 }
 421                 else
 422                 {
 423                         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]}");
 424                         rc = -1;
 425                 }
 426         }
 427         // Search signal then encode value.
 428         else if(args != NULL &&
 429                 (json_object_object_get_ex(args, "signal_name", &json_name) && json_object_is_type(json_name, json_type_string)) &&
 430                 (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))))
 431         {
 432                 openxc_DynamicField search_key = build_DynamicField(json_object_get_string(json_name));
 433                 sf = utils::signals_manager_t::instance().find_signals(search_key);
 434
 435                 if (sf.can_signals.empty())
 436                 {
 437                         AFB_WARNING("No signal(s) found for id %d. Message not sent.", cf.can_id);
 438                         rc = -1;
 439                 }
 440                 else
 441                 {
 442                         for(const auto& sig: sf.can_signals)
 443                         {
 444                                 cf = encoder_t::build_frame(sig, (uint64_t)json_object_get_double(json_value));
 445                                 const std::string bus_name = sig->get_message()->get_bus_name();
 446                                 if( cd.count(bus_name) == 0)
 447                                         {cd[bus_name] = std::make_shared<low_can_socket_t>(low_can_socket_t());}
 448                                 rc = cd[bus_name]->tx_send(cf, sig);
 449                         }
 450                 }
 451         }
 452         else
 453         {
 454                 AFB_ERROR("Request argument malformed. Please use the following syntax:");
 455                 rc = -1;
 456         }
 457
 458         if (rc >= 0)
 459                 afb_req_success(request, NULL, NULL);
 460         else
 461                 afb_req_fail(request, "error", NULL);
 462 }