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