low-can-binding/low-can-binding.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-binding.hpp"
  20
  21 #include <map>
  22 #include <queue>
  23 #include <mutex>
  24 #include <vector>
  25 #include <thread>
  26 #include <time.h>
  27 #include <linux/can.h>
  28 #include <json-c/json.h>
  29
  30 #include "openxc.pb.h"
  31 #include "configuration.hpp"
  32 #include "can/can-bus.hpp"
  33 #include "can/can-signals.hpp"
  34 #include "can/can-message.hpp"
  35 #include "utils/timer.hpp"
  36 #include "utils/signals.hpp"
  37 #include "diagnostic/diagnostic-message.hpp"
  38 #include "utils/openxc-utils.hpp"
  39
  40 extern "C"
  41 {
  42         #include <afb/afb-service-itf.h>
  43 };
  44
  45 // Interface between the daemon and the binding
  46 const struct afb_binding_interface *binder_interface;
  47
  48 void on_no_clients(std::string message)
  49 {
  50         DiagnosticRequest* diag_req = configuration_t::instance().get_request_from_diagnostic_message(message);
  51         if(diag_req != nullptr)
  52         {
  53                 active_diagnostic_request_t* adr = configuration_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
  54                 if( adr != nullptr)
  55                         configuration_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
  56         }
  57 }
  58
  59 ///******************************************************************************
  60 ///
  61 ///             Subscription and unsubscription
  62 ///
  63 ///*******************************************************************************/
  64
  65 static int make_subscription_unsubscription(struct afb_req request, const std::string& sig_name, std::map<std::string, struct afb_event>& s, bool subscribe)
  66 {
  67         /* Make the subscription or unsubscription to the event */
  68         if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[sig_name])) < 0)
  69         {
  70                 ERROR(binder_interface, "make_subscription_unsubscription: Operation goes wrong for signal: %s", sig_name.c_str());
  71                 return 0;
  72         }
  73         return 1;
  74 }
  75
  76 static int create_event_handle(const std::string& sig_name, std::map<std::string, struct afb_event>& s)
  77 {
  78         s[sig_name] = afb_daemon_make_event(binder_interface->daemon, sig_name.c_str());
  79         if (!afb_event_is_valid(s[sig_name]))
  80         {
  81                 ERROR(binder_interface, "create_event_handle: Can't create an event for %s, something goes wrong.", sig_name.c_str());
  82                 return 0;
  83         }
  84         return 1;
  85 }
  86
  87 static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, const std::string& sig)
  88 {
  89         int ret;
  90
  91         std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
  92         std::map<std::string, struct afb_event>& s = get_subscribed_signals();
  93         if (s.find(sig) != s.end())
  94         {
  95                 if (!afb_event_is_valid(s[sig]) && !subscribe)
  96                 {
  97                         NOTICE(binder_interface, "subscribe_unsubscribe_signal: Event isn't valid, it can't be unsubscribed.");
  98                         ret = -1;
  99                 }
 100                 /*else
 101                 {
 102                         // Event it isn't valid annymore, recreate it
 103                         ret = create_event_handle(sig, s);
 104                 }*/
 105         }
 106         else
 107         {
 108                 /* Event doesn't exist , so let's create it */
 109                 struct afb_event empty_event = {nullptr, nullptr};
 110                 subscribed_signals[sig] = empty_event;
 111                 ret = create_event_handle(sig, s);
 112         }
 113
 114         /* Check whether or not the event handler has been correctly created and
 115          * make the subscription/unsubscription operation is so.
 116          */
 117         if (ret <= 0)
 118                 return ret;
 119         return make_subscription_unsubscription(request, sig, s, subscribe);
 120 }
 121
 122 ///
 123 /// @fn static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const std::vector<can_signal_t>& signals)
 124 /// @brief subscribe to all signals in the vector signals
 125 ///
 126 /// @param[in] afb_req request : contain original request use to subscribe or unsubscribe
 127 /// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription
 128 /// @param[in] can_signal_t  vector with can_signal_t to subscribe
 129 ///
 130 /// @return Number of correctly subscribed signal
 131 ///
 132 static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const std::vector<std::string>& signals)
 133 {
 134         int rets = 0;
 135
 136         //TODO: Implement way to dynamically call the right function no matter
 137         // how much signals types we have.
 138
 139         for(const std::string& sig : signals)
 140         {
 141                 int ret;
 142                 if (active_diagnostic_request_t::is_diagnostic_signal(sig))
 143                 {
 144                         diagnostic_message_t* diag_msg = configuration_t::instance().get_diagnostic_message(sig);
 145                         DiagnosticRequest* diag_req = configuration_t::instance().get_request_from_diagnostic_message(diag_msg);
 146
 147                         // If the requested diagnostic message isn't supported by the car then unssubcribe.
 148                         // no matter what we want, worse case will be a fail unsubscription but at least we don't
 149                         // poll a PID for nothing.
 150                         if(diag_msg->get_supported() && subscribe)
 151                         {
 152                                         float frequency = diag_msg->get_frequency();
 153                                         subscribe = configuration_t::instance().get_diagnostic_manager().add_recurring_request(
 154                                                 diag_req, sig.c_str(), false, diag_msg->get_decoder(), diag_msg->get_callback(), (float)frequency);
 155                                                 //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);
 156                         }
 157                         else
 158                         {
 159                                 configuration_t::instance().get_diagnostic_manager().cleanup_request(
 160                                         configuration_t::instance().get_diagnostic_manager().find_recurring_request(diag_req), true);
 161                                 WARNING(binder_interface, "Signal: %s isn't supported. Canceling operation.", sig.c_str());
 162                                 return -1;
 163                         }
 164                 }
 165
 166                 ret = subscribe_unsubscribe_signal(request, subscribe, sig);
 167                 if(ret <= 0)
 168                         return ret;
 169                 rets++;
 170
 171                 DEBUG(binder_interface, "Signal: %s subscribed", sig.c_str());
 172         }
 173         return rets;
 174 }
 175
 176 static int subscribe_unsubscribe_name(struct afb_req request, bool subscribe, const char *name)
 177 {
 178         std::vector<std::string> signals;
 179         int ret = 0;
 180
 181         openxc_DynamicField search_key = build_DynamicField(std::string(name));
 182         signals = find_signals(search_key);
 183         if (signals.empty())
 184                 ret = 0;
 185
 186         ret = subscribe_unsubscribe_signals(request, subscribe, signals);
 187         NOTICE(binder_interface, "Subscribed/unsubscribe correctly to %d/%d signal(s).", ret, (int)signals.size());
 188
 189         return ret;
 190 }
 191
 192 static void subscribe_unsubscribe(struct afb_req request, bool subscribe)
 193 {
 194         int ok, i, n;
 195         struct json_object *args, *a, *x;
 196
 197         /* makes the subscription/unsubscription */
 198         args = afb_req_json(request);
 199         if (args == NULL || !json_object_object_get_ex(args, "event", &a)) {
 200                 ok = subscribe_unsubscribe_name(request, subscribe, "*");
 201         } else if (json_object_get_type(a) != json_type_array) {
 202                 ok = subscribe_unsubscribe_name(request, subscribe, json_object_get_string(a));
 203         } else {
 204                 n = json_object_array_length(a);
 205                 ok = 0;
 206                 for (i = 0 ; i < n ; i++) {
 207                         x = json_object_array_get_idx(a, i);
 208                         if (subscribe_unsubscribe_name(request, subscribe, json_object_get_string(x)))
 209                                 ok++;
 210                 }
 211                 ok = (ok == n);
 212         }
 213
 214         /* send the report */
 215         if (ok)
 216                 afb_req_success(request, NULL, NULL);
 217         else
 218                 afb_req_fail(request, "error", NULL);
 219 }
 220
 221 extern "C"
 222 {
 223         static void subscribe(struct afb_req request)
 224         {
 225                 subscribe_unsubscribe(request, true);
 226         }
 227
 228         static void unsubscribe(struct afb_req request)
 229         {
 230                 subscribe_unsubscribe(request, false);
 231         }
 232
 233         static const struct afb_verb_desc_v1 verbs[]=
 234         {
 235                 { .name= "subscribe",   .session= AFB_SESSION_NONE, .callback= subscribe,       .info= "subscribe to notification of CAN bus messages." },
 236                 { .name= "unsubscribe", .session= AFB_SESSION_NONE, .callback= unsubscribe,     .info= "unsubscribe a previous subscription." }
 237         };
 238
 239         static const struct afb_binding binding_desc {
 240                 AFB_BINDING_VERSION_1,
 241                 {
 242                         "Low level CAN bus service",
 243                         "low-can",
 244                         verbs
 245                 }
 246         };
 247
 248         const struct afb_binding *afbBindingV1Register (const struct afb_binding_interface *itf)
 249         {
 250                 binder_interface = itf;
 251
 252                 return &binding_desc;
 253         }
 254
 255         /// @brief Initialize the binding.
 256         ///
 257         /// @param[in] service Structure which represent the Application Framework Binder.
 258         ///
 259         /// @return Exit code, zero if success.
 260         int afbBindingV1ServiceInit(struct afb_service service)
 261         {
 262                 can_bus_t& can_bus_manager = configuration_t::instance().get_can_bus_manager();
 263
 264                 /// Initialize CAN socket
 265                 if(can_bus_manager.init_can_dev() == 0)
 266                 {
 267                         can_bus_manager.start_threads();
 268
 269                         /// Initialize Diagnostic manager that will handle obd2 requests.
 270                         /// We pass by default the first CAN bus device to its Initialization.
 271                         /// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus.
 272                         if(configuration_t::instance().get_diagnostic_manager().initialize())
 273                                 return 0;
 274                 }
 275
 276                 ERROR(binder_interface, "There was something wrong with CAN device Initialization. Check your config file maybe");
 277                 return 1;
 278         }
 279 };