#include <systemd/sd-event.h>
#include "openxc.pb.h"
-#include "configuration.hpp"
+#include "application.hpp"
#include "../can/can-bus.hpp"
#include "../can/can-signals.hpp"
#include "../can/can-message.hpp"
#include "../utils/signals.hpp"
#include "../diagnostic/diagnostic-message.hpp"
#include "../utils/openxc-utils.hpp"
+#include "canutil/write.h"
extern "C"
{
#include <afb/afb-service-itf.h>
};
-void on_no_clients(std::string message)
+///******************************************************************************
+///
+/// low_can_subscription_t object
+///
+///*******************************************************************************/
+
+low_can_subscription_t::low_can_subscription_t()
+ : index_{-1},
+ sig_name_{},
+ bus_name_{""},
+ can_id_{0},
+ bit_position_{0},
+ bit_size_{0},
+ factor_{-1.0},
+ offset_{-1},
+ socket_{}
+{}
+
+low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter)
+ : event_filter_{event_filter}
+{}
+
+low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
+ : index_{s.index_},
+ sig_name_{s.sig_name_},
+ bus_name_{s.bus_name_},
+ can_id_{s.can_id_},
+ bit_position_{s.bit_position_},
+ bit_size_{s.bit_size_},
+ factor_{s.factor_},
+ offset_{s.offset_},
+ event_filter_{s.event_filter_},
+ socket_{std::move(s.socket_)}
+{}
+
+ low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s)
+{
+ socket_ = std::move(s.socket_);
+ return *this;
+}
+
+low_can_subscription_t::operator bool() const
+{
+ return socket_.socket() != INVALID_SOCKET;
+}
+
+int low_can_subscription_t::get_index() const
+{
+ return index_;
+}
+
+const std::string low_can_subscription_t::get_sig_name() const
{
- DiagnosticRequest* diag_req = configuration_t::instance().get_request_from_diagnostic_message(message);
+ return sig_name_;
+}
+
+float low_can_subscription_t::get_frequency() const
+{
+ return event_filter_.frequency;
+}
+
+float low_can_subscription_t::get_min() const
+{
+ return event_filter_.min;
+}
+
+float low_can_subscription_t::get_max() const
+{
+ return event_filter_.max;
+}
+
+utils::socketcan_bcm_t& low_can_subscription_t::get_socket()
+{
+ return socket_;
+}
+
+void low_can_subscription_t::set_frequency(float freq)
+{
+ event_filter_.frequency = freq;
+}
+
+void low_can_subscription_t::set_min(float min)
+{
+ event_filter_.min = min;
+}
+
+void low_can_subscription_t::set_max(float max)
+{
+ event_filter_.max = max;
+}
+
+/// @brief Create a RX_SETUP receive job used by the BCM socket.
+///
+/// @return 0 if ok else -1
+int low_can_subscription_t::create_rx_filter(const std::string& bus_name, const std::string& sig_name, uint32_t can_id, uint8_t bit_position, uint8_t bit_size, float factor, float offset)
+{
+ // Make sure that socket has been opened.
+ if(! socket_)
+ {
+ socket_.open(bus_name);
+ index_ = (int)socket_.socket();
+ }
+
+ sig_name_ = sig_name;
+ bus_name_ = bus_name;
+ can_id_ = can_id;
+ bit_position_ = bit_position;
+ bit_size_ = bit_size;
+ factor_ = factor;
+ offset_ = offset;
+
+ struct utils::simple_bcm_msg bcm_msg;
+ struct can_frame cfd;
+
+ memset(&cfd, 0, sizeof(cfd));
+ memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
+ float val = (float)(1 << bit_size_) - 1;
+
+ struct timeval freq;
+ frequency_clock_t f(event_filter_.frequency);
+ freq = f.get_timeval_from_period();
+
+ bcm_msg.msg_head.opcode = RX_SETUP;
+ bcm_msg.msg_head.can_id = can_id_;
+ bcm_msg.msg_head.flags = SETTIMER|RX_NO_AUTOTIMER;
+ bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec ;
+ bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
+ bcm_msg.msg_head.nframes = 1;
+ bitfield_encode_float(val,
+ bit_position_,
+ bit_size_,
+ factor_,
+ offset_,
+ cfd.data,
+ CAN_MAX_DLEN);
+
+ bcm_msg.frames = cfd;
+
+ if(socket_ << bcm_msg)
+ return 0;
+ return -1;
+}
+
+/// @brief Create a RX_SETUP receive job used by the BCM socket.
+///
+/// @return 0 if ok else -1
+int low_can_subscription_t::create_rx_filter()
+{
+ // Make sure that socket has been opened.
+ if(! socket_)
+ {
+ socket_.open(bus_name_);
+ index_ = (int)socket_.socket();
+ }
+
+ struct utils::simple_bcm_msg bcm_msg;
+ struct can_frame cfd;
+
+ memset(&cfd, 0, sizeof(cfd));
+ memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
+ float val = (float)(1 << bit_size_) - 1;
+
+ struct timeval freq;
+ frequency_clock_t f(event_filter_.frequency);
+ freq = f.get_timeval_from_period();
+
+ bcm_msg.msg_head.opcode = RX_SETUP;
+ bcm_msg.msg_head.can_id = can_id_;
+ bcm_msg.msg_head.flags = SETTIMER|RX_NO_AUTOTIMER;
+ bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec ;
+ bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
+ bcm_msg.msg_head.nframes = 1;
+ bitfield_encode_float(val,
+ bit_position_,
+ bit_size_,
+ factor_,
+ offset_,
+ cfd.data,
+ CAN_MAX_DLEN);
+
+ bcm_msg.frames = cfd;
+
+ if(socket_ << bcm_msg)
+ return 0;
+ return -1;
+}
+
+///******************************************************************************
+///
+/// SystemD event loop Callbacks
+///
+///*******************************************************************************/
+
+void on_no_clients(const std::string& message)
+{
+ DiagnosticRequest* diag_req = application_t::instance().get_request_from_diagnostic_message(message);
if(diag_req != nullptr)
{
- active_diagnostic_request_t* adr = configuration_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
+ active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
if( adr != nullptr)
- configuration_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
+ application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
}
+ delete diag_req;
+ diag_req = nullptr;
+}
+
+static void push_n_notify(const can_message_t& cm)
+{
+ can_bus_t& cbm = application_t::instance().get_can_bus_manager();
+ std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
+ { cbm.push_new_can_message(cm); }
+ cbm.get_new_can_message_cv().notify_one();
}
-int read(sd_event_source *s, int fd, uint32_t revents, void *userdata)
+int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata)
{
- can_signal_t* sig= (can_signal_t*)userdata;
- sig->read_socket();
+ can_message_t cm;
+ low_can_subscription_t* can_subscription;
+ diagnostic_manager_t& diag_m = application_t::instance().get_diagnostic_manager();
+
+ if(userdata != nullptr)
+ {
+ can_subscription = (low_can_subscription_t*)userdata;
+ utils::socketcan_bcm_t& s = can_subscription->get_socket();
+ s >> cm;
+ }
+ else
+ {
+ utils::socketcan_bcm_t& s = diag_m.get_socket();
+ s >> cm;
+ }
+
+ push_n_notify(cm);
/* check if error or hangup */
if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
{
sd_event_source_unref(s);
- sig->get_socket().close();
- sig->create_rx_filter();
+ if(userdata != nullptr)
+ {
+ can_subscription->get_socket().close();
+ can_subscription->create_rx_filter();
+ NOTICE(binder_interface, "%s: Recreated RX_SETUP BCM job for can_subscription: %s", __FUNCTION__, can_subscription->get_sig_name().c_str());
+ }
+ else
+ {
+ diag_m.get_socket().close();
+ diag_m.cleanup_active_requests(true);
+ ERROR(binder_interface, "%s: Error on diagnostic manager socket, cancelling active requests.", __FUNCTION__);
+ }
+ return -1;
}
+
return 0;
}
///
///*******************************************************************************/
-static int make_subscription_unsubscription(struct afb_req request, const std::string& sig_name, std::map<std::string, struct afb_event>& s, bool subscribe)
+static int make_subscription_unsubscription(struct afb_req request, std::shared_ptr<low_can_subscription_t>& can_subscription, std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s, bool subscribe)
{
/* Make the subscription or unsubscription to the event */
- if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[sig_name])) < 0)
+ if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[can_subscription->get_index()].second)) < 0)
{
- ERROR(binder_interface, "%s: Operation goes wrong for signal: %s", __FUNCTION__, sig_name.c_str());
- return 0;
+ ERROR(binder_interface, "%s: Operation goes wrong for signal: %s", __FUNCTION__, can_subscription->get_sig_name().c_str());
+ return -1;
}
- return 1;
+ return 0;
}
-static int create_event_handle(const std::string& sig_name, std::map<std::string, struct afb_event>& s)
+static int create_event_handle(std::shared_ptr<low_can_subscription_t>& can_subscription, std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s)
{
- s[sig_name] = afb_daemon_make_event(binder_interface->daemon, sig_name.c_str());
- if (!afb_event_is_valid(s[sig_name]))
+ int sub_index = can_subscription->get_index();
+ struct afb_event event = afb_daemon_make_event(binder_interface->daemon, can_subscription->get_sig_name().c_str());
+ s[sub_index] = std::make_pair(can_subscription, event);
+ if (!afb_event_is_valid(s[sub_index].second))
{
- ERROR(binder_interface, "%s: Can't create an event for %s, something goes wrong.", __FUNCTION__, sig_name.c_str());
- return 0;
+ ERROR(binder_interface, "%s: Can't create an event for %s, something goes wrong.", __FUNCTION__, can_subscription->get_sig_name().c_str());
+ return -1;
}
- return 1;
+ return 0;
}
/// @brief Will determine if it is needed or not to create the event handle and checks it to be sure that
/// we got a valid afb_event to get subscribe or unsubscribe. Then launch the subscription or unsubscription
/// against the application framework using that event handle.
-static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, const std::string& sig)
+static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, std::shared_ptr<low_can_subscription_t>& can_subscription)
{
int ret;
-
+ int sub_index = can_subscription->get_index();
utils::signals_manager_t& sm = utils::signals_manager_t::instance();
std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
- std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals();
- if (s.find(sig) != s.end())
+ std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s = sm.get_subscribed_signals();
+ if (can_subscription && s.find(sub_index) != s.end())
{
- if (!afb_event_is_valid(s[sig]) && !subscribe)
+ if (!afb_event_is_valid(s[sub_index].second) && !subscribe)
{
NOTICE(binder_interface, "%s: Event isn't valid, no need to unsubscribed.", __FUNCTION__);
ret = -1;
}
else
{
- // Event it isn't valid annymore, recreate it
- ret = create_event_handle(sig, s);
+ // Event it isn't valid anymore, recreate it
+ ret = create_event_handle(can_subscription, s);
}
}
else
{
/* Event doesn't exist , so let's create it */
struct afb_event empty_event = {nullptr, nullptr};
- s[sig] = empty_event;
- ret = create_event_handle(sig, s);
+ s[sub_index] = std::make_pair(can_subscription, empty_event);
+ ret = create_event_handle(can_subscription, s);
}
// Check whether or not the event handler has been correctly created and
// make the subscription/unsubscription operation is so.
- if (ret <= 0)
+ if (ret < 0)
return ret;
- return make_subscription_unsubscription(request, sig, s, subscribe);
+ return make_subscription_unsubscription(request, can_subscription, s, subscribe);
}
///
///
/// @return Number of correctly subscribed signal
///
-static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals)
+static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals, struct event_filter_t& event_filter)
{
- int ret, rets = 0;
+ int rets = 0;
//TODO: Implement way to dynamically call the right function no matter
// how much signals types we have.
- configuration_t& conf = configuration_t::instance();
+ application_t& conf = application_t::instance();
for(const auto& sig : signals.diagnostic_messages)
{
+ int ret = 0;
diagnostic_manager_t& diag_m = conf.get_diagnostic_manager();
DiagnosticRequest* diag_req = conf.get_request_from_diagnostic_message(sig->get_name());
// poll a PID for nothing.
if(sig->get_supported() && subscribe)
{
- float frequency = sig->get_frequency();
- subscribe = diag_m.add_recurring_request(
- diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), (float)frequency);
- //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);
+ float frequency;
+
+ if(event_filter.frequency >= 0)
+ { frequency = event_filter.frequency; }
+ else
+ { frequency = sig->get_frequency(); }
+
+ diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), frequency);
+ //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);
}
else
{
diag_m.cleanup_request(
diag_m.find_recurring_request(diag_req), true);
WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, sig->get_name().c_str());
+ delete diag_req;
+ diag_req = nullptr;
return -1;
}
- ret = subscribe_unsubscribe_signal(request, subscribe, sig->get_name());
- if(ret <= 0)
+ std::shared_ptr<low_can_subscription_t> can_subscription(new low_can_subscription_t(event_filter));
+ ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription);
+ if(ret < 0)
return ret;
rets++;
DEBUG(binder_interface, "%s: Signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
for(const auto& sig: signals.can_signals)
{
- if(sig->create_rx_filter() <= 0 &&
- subscribe_unsubscribe_signal(request, subscribe, sig->get_name()) <=0)
- {
- return -1;
- }
+ std::shared_ptr<low_can_subscription_t> can_subscription(new low_can_subscription_t(event_filter));
+ if(can_subscription->create_rx_filter(sig->get_message()->get_bus_device_name(),
+ sig->get_name(),
+ sig->get_message()->get_id(),
+ sig->get_bit_position(),
+ sig->get_bit_size(),
+ sig->get_factor(),
+ sig->get_offset()) < 0)
+ {return -1;}
+ else if(subscribe_unsubscribe_signal(request, subscribe, can_subscription) < 0)
+ {return -1;}
+
struct sd_event_source* e_source;
- sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &e_source, sig->get_socket().socket(), EPOLLIN, read, sig);
+ sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &e_source, can_subscription->get_socket().socket(), EPOLLIN, read_message, sig.get());
rets++;
DEBUG(binder_interface, "%s: signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
}
return rets;
}
-static const std::vector<std::string> parse_args_from_request(struct afb_req request, bool subscribe)
+static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const char *tag, struct json_object *event)
{
- int i, n;
- std::vector<std::string> ret;
- struct json_object *args, *a, *x;
+ int ret = 0;
+ struct event_filter_t event_filter;
+ struct json_object *filter, *obj;
+ struct utils::signals_found sf;
- /* retrieve signals to subscribe */
- args = afb_req_json(request);
- if (args == NULL || !json_object_object_get_ex(args, "event", &a))
+ // computes the filter
+ if (json_object_object_get_ex(event, "filter", &filter))
{
- ret.push_back("*");
- }
- else if (json_object_get_type(a) != json_type_array)
- {
- ret.push_back(json_object_get_string(a));
- }
- else
- {
- n = json_object_array_length(a);
- for (i = 0 ; i < n ; i++)
+ if (json_object_object_get_ex(filter, "frequency", &obj)
+ && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
{
- x = json_object_array_get_idx(a, i);
- ret.push_back(json_object_get_string(x));
+ event_filter.frequency = (float)json_object_get_double(obj);
+ ret += 1;
+ }
+ if (json_object_object_get_ex(filter, "min", &obj)
+ && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
+ {
+ event_filter.min = (float)json_object_get_double(obj);
+ ret += 2;
+ }
+ if (json_object_object_get_ex(filter, "max", &obj)
+ && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
+ {
+ event_filter.max = (float)json_object_get_double(obj);
+ ret += 4;
}
}
+ // subscribe or unsubscribe
+ openxc_DynamicField search_key = build_DynamicField(tag);
+ sf = utils::signals_manager_t::instance().find_signals(search_key);
+ if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
+ NOTICE(binder_interface, "%s: No signal(s) found for %s.", __FUNCTION__, tag.c_str());
+ else
+ ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
+
return ret;
}
-void subscribe(struct afb_req request)
+static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe)
{
- std::vector<std::string> args;
- struct utils::signals_found sf;
- int ok = 0, total = 0;
- bool subscribe = true;
-
- args = parse_args_from_request(request, subscribe);
+ int rc, rc2;
+ struct json_object *args, *event, *x;
- for(const auto& sig: args)
+ args = afb_req_json(request);
+ if (args == NULL || !json_object_object_get_ex(args, "event", &event))
{
- openxc_DynamicField search_key = build_DynamicField(sig);
- sf = utils::signals_manager_t::instance().find_signals(search_key);
- total = (int)sf.can_signals.size() + (int)sf.diagnostic_messages.size();
-
- if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
- NOTICE(binder_interface, "%s: No signal(s) found for %s.", __FUNCTION__, sig.c_str());
- else
- ok = subscribe_unsubscribe_signals(request, subscribe, sf);
+ rc = one_subscribe_unsubscribe(request, subscribe, "*", NULL);
+ }
+ else if (json_object_get_type(event) != json_type_array)
+ {
+ rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), event);
+ }
+ else
+ {
+ rc = 0;
+ n = json_object_array_length(event);
+ for (i = 0 ; i < n ; i++)
+ {
+ x = json_object_array_get_idx(event, i);
+ rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), x);
+ if (rc >= 0)
+ rc = rc2 >= 0 ? rc + rc2 : rc2;
+ }
}
- NOTICE(binder_interface, "%s: Subscribed/unsubscribe correctly to %d/%d signal(s).", __FUNCTION__, ok, total);
- if (ok > 0)
+ if (rc >= 0)
afb_req_success(request, NULL, NULL);
else
afb_req_fail(request, "error", NULL);
}
- void unsubscribe(struct afb_req request)
+void subscribe(struct afb_req request)
+{
+ do_subscribe_unsubscribe(request, true);
+}
+
+void unsubscribe(struct afb_req request)
{
- parse_args_from_request(request, false);
-}
\ No newline at end of file
+ do_subscribe_unsubscribe(request, false);
+}
Code Review / apps / low-level-can-service.git / blobdiff