#include "low-can-hat.hpp"
#include <map>
-#include <memory>
#include <queue>
#include <mutex>
#include <vector>
#include "../can/can-bus.hpp"
#include "../can/can-signals.hpp"
#include "../can/can-message.hpp"
-#include "../utils/timer.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>
};
-///******************************************************************************
-///
-/// low_can_subscription_t object
-///
-///*******************************************************************************/
-
-low_can_subscription_t::low_can_subscription_t()
- : index_{-1},
- event_filter_{event_filter_t()},
- 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(struct event_filter_t event_filter, std::shared_ptr<diagnostic_message_t> diagnostic_message)
- : diagnostic_message_{diagnostic_message}, event_filter_{event_filter}
-{
- index_ = diagnostic_message->get_pid();
-}
-
-low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
- : index_{s.index_},
- 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;
-}
-
-struct afb_event& low_can_subscription_t::get_event()
-{
- return event_;
-}
-
-int low_can_subscription_t::get_index() const
-{
- return index_;
-}
-
-const std::shared_ptr<can_signal_t> low_can_subscription_t::get_can_signal() const
-{
- return can_signal_;
-}
-
-const std::string low_can_subscription_t::get_name() const
-{
- if (can_signal_ != nullptr)
- return can_signal_->get_name();
- if (diagnostic_message_ != nullptr)
- return diagnostic_message_->get_name() ;
-
- return "";
-}
-
-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_event(struct afb_event event)
-{
- event_ = event;
-}
-
-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(std::shared_ptr<can_signal_t> sig)
-{
- can_signal_= sig;
- return create_rx_filter();
-}
-
-/// @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()
-{
- if (can_signal_ == nullptr)
- {return -1;}
-
- // Make sure that socket has been opened.
- if(! socket_)
- {
- socket_.open(can_signal_->get_message()->get_bus_device_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 << can_signal_->get_bit_size()) - 1;
-
- struct timeval freq;
- frequency_clock_t f = std::isnan(event_filter_.frequency) ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency);
- freq = f.get_timeval_from_period();
-
- bcm_msg.msg_head.opcode = RX_SETUP;
- bcm_msg.msg_head.can_id = can_signal_->get_message()->get_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,
- can_signal_->get_bit_position(),
- can_signal_->get_bit_size(),
- can_signal_->get_factor(),
- can_signal_->get_offset(),
- cfd.data,
- CAN_MAX_DLEN);
-
- bcm_msg.frames = cfd;
-
- if(socket_ << bcm_msg)
- return 0;
- return -1;
-}
///******************************************************************************
///
///
///*******************************************************************************/
-void on_no_clients(const std::string& message)
+void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid)
{
- DiagnosticRequest* diag_req = application_t::instance().get_request_from_diagnostic_message(message);
- if(diag_req != nullptr)
+ if( ! can_subscription->get_diagnostic_message().empty() && can_subscription->get_diagnostic_message(pid) != nullptr)
{
+ DiagnosticRequest diag_req = can_subscription->get_diagnostic_message(pid)->build_diagnostic_request();
active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
if( adr != nullptr)
application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
}
- delete diag_req;
- diag_req = nullptr;
+
+ on_no_clients(can_subscription);
+}
+
+void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription)
+{
+ 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<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
+ auto it = s.find(can_subscription->get_index());
+ s.erase(it);
}
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); }
+ {
+ 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_message(sd_event_source *s, int fd, uint32_t revents, void *userdata)
+int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata)
{
- can_message_t cm;
- low_can_subscription_t* can_subscription;
- diagnostic_manager_t& diag_m = application_t::instance().get_diagnostic_manager();
-
- if(userdata != nullptr)
+ low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata;
+ if ((revents & EPOLLIN) != 0)
{
- can_subscription = (low_can_subscription_t*)userdata;
+ can_message_t cm;
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);
+ push_n_notify(cm);
+ }
/* check if error or hangup */
if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
{
- sd_event_source_unref(s);
- 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_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;
+ sd_event_source_unref(event_source);
+ can_subscription->get_socket().close();
}
-
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, std::shared_ptr<low_can_subscription_t>& can_subscription)
+static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, std::shared_ptr<low_can_subscription_t>& can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
{
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<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
if (can_subscription && s.find(sub_index) != s.end())
{
if (!afb_event_is_valid(s[sub_index]->get_event()) && !subscribe)
NOTICE(binder_interface, "%s: Event isn't valid, no need to unsubscribed.", __FUNCTION__);
ret = -1;
}
- else
- {
- // Event it isn't valid anymore, recreate it
- ret = create_event_handle(can_subscription, s);
- }
}
else
{
return make_subscription_unsubscription(request, can_subscription, s, subscribe);
}
-int subscribe_unsubscribe_diagnostic_messages(struct afb_req request, bool subscribe, std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages, struct event_filter_t& event_filter)
+static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription)
+{
+ struct sd_event_source* event_source = nullptr;
+ return ( sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon),
+ &event_source,
+ can_subscription->get_socket().socket(),
+ EPOLLIN,
+ read_message,
+ can_subscription.get()));
+}
+
+static int subscribe_unsubscribe_diagnostic_messages(struct afb_req request, bool subscribe, std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages, struct event_filter_t& event_filter, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
{
int rets = 0;
- application_t& conf = application_t::instance();
- diagnostic_manager_t& diag_m = conf.get_diagnostic_manager();
+ application_t& app = application_t::instance();
+ diagnostic_manager_t& diag_m = app.get_diagnostic_manager();
for(const auto& sig : diagnostic_messages)
{
- DiagnosticRequest* diag_req = conf.get_request_from_diagnostic_message(sig->get_name());
- float frequency = std::isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency;
-
+ DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request());
+ event_filter.frequency = std::isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency;
+ std::shared_ptr<low_can_subscription_t> can_subscription;
+
+ auto it = std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub){ return (! sub.second->get_diagnostic_message().empty());});
+ can_subscription = it != s.end() ?
+ it->second :
+ std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
// If the requested diagnostic message isn't supported by the car then unsubcribe it
// no matter what we want, worse case will be a fail unsubscription but at least we don't
// poll a PID for nothing.
//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);
- if(sig->get_supported() && subscribe &&
- diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), frequency) != nullptr)
+ if(sig->get_supported() && subscribe)
{
- std::shared_ptr<low_can_subscription_t> can_subscription(new low_can_subscription_t(event_filter, sig));
- int 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());
+ diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), event_filter.frequency);
+ if(can_subscription->create_rx_filter(sig) < 0)
+ {return -1;}
+ DEBUG(binder_interface, "%s: Signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
+ if(it == s.end() && add_to_event_loop(can_subscription) < 0)
+ {
+ 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());
+ return -1;
+ }
}
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;
+ diag_m.find_recurring_request(*diag_req), true);
+ if(sig->get_supported())
+ {DEBUG(binder_interface, "%s: %s cancelled due to unsubscribe", __FUNCTION__, sig->get_name().c_str());}
+ else
+ {
+ WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, sig->get_name().c_str());
+ return -1;
+ }
}
+ int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s);
+ if(ret < 0)
+ return ret;
+
+ rets++;
}
return rets;
}
-int subscribe_unsubscribe_can_signals(struct afb_req request, bool subscribe, std::vector<std::shared_ptr<can_signal_t> > can_signals, struct event_filter_t& event_filter)
+static int subscribe_unsubscribe_can_signals(struct afb_req request, bool subscribe, std::vector<std::shared_ptr<can_signal_t> > can_signals, struct event_filter_t& event_filter, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
{
int rets = 0;
for(const auto& sig: can_signals)
{
- std::shared_ptr<low_can_subscription_t> can_subscription(new low_can_subscription_t(event_filter));
- if(can_subscription->create_rx_filter(sig) < 0)
- {return -1;}
- else if(subscribe_unsubscribe_signal(request, subscribe, can_subscription) < 0)
+ auto it = std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub){ return sub.second->get_can_signal() == sig; });
+ std::shared_ptr<low_can_subscription_t> can_subscription;
+ if(it != s.end())
+ {
+ can_subscription = it->second;
+ }
+ else
+ {
+ can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
+ if(can_subscription->create_rx_filter(sig) < 0)
+ {return -1;}
+ }
+
+ if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
{return -1;}
- struct sd_event_source* e_source;
- sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &e_source, can_subscription->get_socket().socket(), EPOLLIN, read_message, can_subscription.get());
+ if(add_to_event_loop(can_subscription) < 0)
+ {return -1;}
rets++;
DEBUG(binder_interface, "%s: signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
}
static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals, struct event_filter_t& event_filter)
{
int rets = 0;
+ 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<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
- rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter);
- rets += subscribe_unsubscribe_can_signals(request, subscribe, signals.can_signals, event_filter);
+ rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s);
+ rets += subscribe_unsubscribe_can_signals(request, subscribe, signals.can_signals, event_filter, s);
return rets;
}
Code Review / apps / agl-service-can-low-level.git / blobdiff