2 * Copyright (C) 2015, 2016 "IoT.bzh"
3 * Author "Romain Forlot" <romain.forlot@iot.bzh>
4 * Author "Loic Collignon" <loic.collignon@iot.bzh>
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
10 * http://www.apache.org/licenses/LICENSE-2.0
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.
19 #include "low-can-binding.hpp"
26 #include <linux/can.h>
27 #include <json-c/json.h>
28 #include <systemd/sd-event.h>
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 "obd2/obd2-signals.hpp"
38 #include "utils/openxc-utils.hpp"
42 #include <afb/afb-service-itf.h>
47 // Interface between the daemon and the binding
48 const struct afb_binding_interface *binder_interface;
50 /********************************************************************************
52 * Subscription and unsubscription
54 *********************************************************************************/
56 static int make_subscription_unsubscription(struct afb_req request, const std::string& sig_name, std::map<std::string, struct afb_event>& s, bool subscribe)
58 /* Make the subscription or unsubscription to the event */
59 if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[sig_name.c_str()])) < 0)
61 ERROR(binder_interface, "Operation goes wrong for signal: %s", sig_name);
68 static int create_event_handle(const std::string& sig_name, std::map<std::string, struct afb_event>& s)
70 s[sig_name] = afb_daemon_make_event(binder_interface->daemon, sig_name.c_str());
71 if (!afb_event_is_valid(s[sig_name]))
73 ERROR(binder_interface, "Can't create an event, something goes wrong.");
79 static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, const std::string& sig)
83 std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
84 std::map<std::string, struct afb_event>& s = get_subscribed_signals();
85 if (s.find(sig) != s.end() && !afb_event_is_valid(s[sig]))
89 NOTICE(binder_interface, "Event isn't valid, it can't be unsubscribed.");
94 /* Event it isn't valid annymore, recreate it */
95 ret = create_event_handle(sig, s);
100 /* Event doesn't exist , so let's create it */
101 struct afb_event empty_event = {nullptr, nullptr};
102 subscribed_signals[sig] = empty_event;
103 ret = create_event_handle(sig, s);
106 /* Check whether or not the event handler has been correctly created and
107 * make the subscription/unsubscription operation is so.
111 return make_subscription_unsubscription(request, sig, s, subscribe);
115 * @fn static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const std::vector<can_signal_t>& signals)
116 * @brief subscribe to all signals in the vector signals
118 * @param[in] afb_req request : contain original request use to subscribe or unsubscribe
119 * @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription
120 * @param[in] can_signal_t vector with can_signal_t to subscribe
122 * @return Number of correctly subscribed signal
124 static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const std::vector<std::string>& signals)
127 sd_event_source *source;
129 //TODO: Implement way to dynamically call the right function no matter
130 // how much signals types we have.
131 /// const std::string& can_prefix = configuration_t::instance().get_can_signals().front().get_prefix();
132 const std::string& obd2_prefix = configuration_t::instance().get_obd2_signals().front().get_prefix();
134 for(const std::string& sig : signals)
137 if (sig.find_first_of(obd2_prefix.c_str(), 0, obd2_prefix.size()))
139 std::vector<obd2_signal_t*> found;
140 configuration_t::instance().find_obd2_signals(build_DynamicField(sig), found);
141 int frequency = found.front()->get_frequency();
142 DiagnosticRequest* diag_req = new DiagnosticRequest(found.front()->build_diagnostic_request());
143 configuration_t::instance().get_diagnostic_manager().add_recurring_request(
144 diag_req, sig.c_str(), false, obd2_signal_t::decode_obd2_response, nullptr, (float)frequency);
145 //TODO: Adding callback requesting ignition status: diag_req, sig.c_str(), false, obd2_signal_t::decode_obd2_response, obd2_signal_t::check_ignition_status, frequency);
146 sd_event_add_time(afb_daemon_get_event_loop(binder_interface->daemon), &source, CLOCK_MONOTONIC, frequency*MICRO, 0,
147 configuration_t::instance().get_diagnostic_manager().send_request, diag_req);
150 ret = subscribe_unsubscribe_signal(request, subscribe, sig);
155 DEBUG(binder_interface, "Signal: %s subscribed", sig.c_str());
160 static int subscribe_unsubscribe_name(struct afb_req request, bool subscribe, const char *name)
162 std::vector<std::string> signals;
165 openxc_DynamicField search_key = build_DynamicField(std::string(name));
166 signals = find_signals(search_key);
170 ret = subscribe_unsubscribe_signals(request, subscribe, signals);
171 NOTICE(binder_interface, "Subscribed correctly to %d/%d signal(s).", ret, (int)signals.size());
176 static void subscribe_unsubscribe(struct afb_req request, bool subscribe)
179 struct json_object *args, *a, *x;
181 /* makes the subscription/unsubscription */
182 args = afb_req_json(request);
183 if (args == NULL || !json_object_object_get_ex(args, "event", &a)) {
184 ok = subscribe_unsubscribe_name(request, subscribe, "*");
185 } else if (json_object_get_type(a) != json_type_array) {
186 ok = subscribe_unsubscribe_name(request, subscribe, json_object_get_string(a));
188 n = json_object_array_length(a);
190 for (i = 0 ; i < n ; i++) {
191 x = json_object_array_get_idx(a, i);
192 if (subscribe_unsubscribe_name(request, subscribe, json_object_get_string(x)))
198 /* send the report */
200 afb_req_success(request, NULL, NULL);
202 afb_req_fail(request, "error", NULL);
207 static void subscribe(struct afb_req request)
209 subscribe_unsubscribe(request, true);
212 static void unsubscribe(struct afb_req request)
214 subscribe_unsubscribe(request, false);
217 static const struct afb_verb_desc_v1 verbs[]=
219 { .name= "subscribe", .session= AFB_SESSION_NONE, .callback= subscribe, .info= "subscribe to notification of CAN bus messages." },
220 { .name= "unsubscribe", .session= AFB_SESSION_NONE, .callback= unsubscribe, .info= "unsubscribe a previous subscription." }
223 static const struct afb_binding binding_desc {
224 AFB_BINDING_VERSION_1,
226 "Low level CAN bus service",
232 const struct afb_binding *afbBindingV1Register (const struct afb_binding_interface *itf)
234 binder_interface = itf;
236 return &binding_desc;
240 * @brief Initialize the binding.
242 * @param[in] service Structure which represent the Application Framework Binder.
244 * @return Exit code, zero if success.
246 int afbBindingV1ServiceInit(struct afb_service service)
248 can_bus_t& can_bus_manager = configuration_t::instance().get_can_bus_manager();
250 /// Initialize CAN socket
251 if(can_bus_manager.init_can_dev() == 0)
253 can_bus_manager.start_threads();
257 /// Initialize Diagnostic manager that will handle obd2 requests
258 diagnostic_manager_t& diag_manager = configuration_t::instance().get_diagnostic_manager();
259 diag_manager.initialize(can_bus_manager.get_can_devices().front());
261 ERROR(binder_interface, "There was something wrong with CAN device Initialization. Check your config file maybe");