low-can-binding/binding/low-can-hat.cpp

   1 #include <mutex>
   2 #include <systemd/sd-event.h>
   3
   4 #include "application.hpp"
   5 #include "../utils/signals.hpp"
   6 #include "low-can-hat.hpp"
   7 #include "../can/message/message.hpp"
   8 #include "../can/can-bus.hpp"
   9
  10
  11
  12 ///******************************************************************************
  13 ///
  14 ///             SystemD event loop Callbacks
  15 ///
  16 ///*******************************************************************************/
  17
  18 static void push_n_notify(std::shared_ptr<message_t> m)
  19 {
  20         can_bus_t& cbm = application_t::instance().get_can_bus_manager();
  21         {
  22                 std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
  23                 cbm.push_new_can_message(m);
  24         }
  25         cbm.get_new_can_message_cv().notify_one();
  26 }
  27
  28 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)
  29 {
  30         bool is_permanent_recurring_request = false;
  31
  32         if( ! can_subscription->get_diagnostic_message().empty() && can_subscription->get_diagnostic_message(pid) != nullptr)
  33         {
  34                 DiagnosticRequest diag_req = can_subscription->get_diagnostic_message(pid)->build_diagnostic_request();
  35                 active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
  36                 if( adr != nullptr)
  37                 {
  38                         is_permanent_recurring_request = adr->get_permanent();
  39
  40                         if(! is_permanent_recurring_request)
  41                                 application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
  42                 }
  43         }
  44
  45         if(! is_permanent_recurring_request)
  46                 on_no_clients(can_subscription, s);
  47 }
  48
  49
  50 void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
  51 {
  52         auto it = s.find(can_subscription->get_index());
  53         s.erase(it);
  54 }
  55
  56 int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata)
  57 {
  58
  59         low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata;
  60
  61
  62         if ((revents & EPOLLIN) != 0)
  63         {
  64                 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
  65                 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
  66                 if(can_subscription->get_index() != -1)
  67                 {
  68                         std::shared_ptr<utils::socketcan_t> s = can_subscription->get_socket();
  69                         if(s->socket() > 0)
  70                         {
  71                                 std::shared_ptr<message_t> message = s->read_message();
  72
  73                                 // Sure we got a valid CAN message ?
  74                                 if (message->get_id() &&
  75                                     message->get_length() &&
  76                                     ! (message->get_flags() & INVALID_FLAG) )
  77                                 {
  78                                         if(can_subscription->get_signal() != nullptr && can_subscription->get_signal()->get_message()->get_flags() & BYTE_FRAME_IS_BIG_ENDIAN)
  79                                                 message->frame_swap();
  80                                         push_n_notify(message);
  81                                 }
  82                         }
  83                 }
  84         }
  85
  86         // check if error or hangup
  87         if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
  88         {
  89                 sd_event_source_unref(event_source);
  90                 can_subscription->get_socket()->close();
  91         }
  92
  93         return 0;
  94 }