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