Integrate the J1939 features : address claiming and write.

[apps/agl-service-can-low-level.git] / low-can-binding / binding / low-can-cb.cpp

diff --git a/low-can-binding/binding/low-can-cb.cpp b/low-can-binding/binding/low-can-cb.cpp
index 9c21b67..5fdd961 100644 (file)
--- a/low-can-binding/binding/low-can-cb.cpp
+++ b/low-can-binding/binding/low-can-cb.cpp
@@ -26,7 +26,6 @@
 #include <thread>
 #include <wrap-json.h>
 #include <systemd/sd-event.h>
-
 #include "openxc.pb.h"
 #include "application.hpp"
 #include "../can/can-encoder.hpp"
@@ -37,6 +36,10 @@
 #include "../diagnostic/diagnostic-message.hpp"
 #include "../utils/openxc-utils.hpp"
 
+#ifdef USE_FEATURE_J1939
+       #include "../can/message/j1939-message.hpp"
+       #include <linux/can/j1939.h>
+#endif
 ///******************************************************************************
 ///
 ///            SystemD event loop Callbacks
@@ -82,18 +85,27 @@ static void push_n_notify(std::shared_ptr<message_t> m)
 
 int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata)
 {
+
        low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata;
 
 
        if ((revents & EPOLLIN) != 0)
        {
-               std::shared_ptr<utils::socketcan_t> s = can_subscription->get_socket();
-               std::shared_ptr<message_t> message = s->read_message();
-
-               // Sure we got a valid CAN message ?
-               if (! message->get_id() == 0 && ! message->get_length() == 0)
+               utils::signals_manager_t& sm = utils::signals_manager_t::instance();
+               std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
+               if(can_subscription->get_index() != -1)
                {
-                       push_n_notify(message);
+                       std::shared_ptr<utils::socketcan_t> s = can_subscription->get_socket();
+                       if(s->socket() && s->socket() != -1)
+                       {
+                               std::shared_ptr<message_t> message = s->read_message();
+
+                               // Sure we got a valid CAN message ?
+                               if (! message->get_id() == 0 && ! message->get_length() == 0 && message->get_msg_format() != message_format_t::INVALID)
+                               {
+                                       push_n_notify(message);
+                               }
+                       }
                }
        }
 
@@ -164,8 +176,8 @@ static int subscribe_unsubscribe_signal(afb_req_t request,
 
        if( (ret = s[sub_index]->unsubscribe(request)) < 0)
                return ret;
+       s.find(sub_index)->second->set_index(-1);
        s.erase(sub_index);
-
        return ret;
 }
 
@@ -227,7 +239,9 @@ static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request,
                else
                {
                        if(sig->get_supported())
-                       {AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());}
+                       {
+                               AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());
+                       }
                        else
                        {
                                AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
@@ -240,7 +254,6 @@ static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request,
 
                rets++;
        }
-
        return rets;
 }
 
@@ -493,6 +506,10 @@ static int send_frame(struct canfd_frame& cfd, const std::string& bus_name, sock
        {
                return low_can_subscription_t::tx_send(*cd[bus_name], cfd, bus_name);
        }
+       else if(type == socket_type::J1939)
+       {
+               return low_can_subscription_t::j1939_send(*cd[bus_name], cfd, bus_name);
+       }
        else{
                return -1;
        }
@@ -517,6 +534,12 @@ static int send_message(message_t *message, const std::string& bus_name, socket_
        {
                return low_can_subscription_t::tx_send(*cd[bus_name], message, bus_name);
        }
+#ifdef USE_FEATURE_J1939
+       else if(type == socket_type::J1939)
+       {
+               return low_can_subscription_t::j1939_send(*cd[bus_name], message, bus_name);
+       }
+#endif
        else
        {
                return -1;
@@ -548,6 +571,10 @@ static void write_raw_frame(afb_req_t request, const std::string& bus_name, mess
                {
                        afb_req_fail(request, "Invalid", "Data array must hold 1 to 8 values.");
                }
+               else if(type == socket_type::J1939)
+               {
+                       afb_req_fail(request, "Invalid", "Data array too large");
+               }
                else
                {
                        afb_req_fail(request, "Invalid", "Invalid socket type");
@@ -583,6 +610,16 @@ static void write_frame(afb_req_t request, const std::string& bus_name, json_obj
                message = new can_message_t(CANFD_MAX_DLEN,(uint32_t)id,(uint32_t)length,message_format_t::STANDARD,false,0,data,0);
                write_raw_frame(request,bus_name,message,can_data,socket_type::BCM);
        }
+#ifdef USE_FEATURE_J1939
+       else if(!wrap_json_unpack(json_value, "{si, si, so !}",
+                             "pgn", &id,
+                             "length", &length,
+                             "data", &can_data))
+       {
+               message = new j1939_message_t(J1939_MAX_DLEN,(uint32_t)length,message_format_t::J1939,data,0,J1939_NO_NAME,(pgn_t)id,J1939_NO_ADDR);
+               write_raw_frame(request,bus_name,message,can_data,socket_type::J1939);
+       }
+#endif
        else
        {
                afb_req_fail(request, "Invalid", "Frame object malformed");
@@ -800,8 +837,9 @@ void list(afb_req_t request)
 /// @return Exit code, zero if success.
 int init_binding(afb_api_t api)
 {
-       uint32_t ret = 1;
-       can_bus_t& can_bus_manager = application_t::instance().get_can_bus_manager();
+       int ret = 1;
+       application_t& application = application_t::instance();
+       can_bus_t& can_bus_manager = application.get_can_bus_manager();
 
        can_bus_manager.set_can_devices();
        can_bus_manager.start_threads();
@@ -829,8 +867,38 @@ int init_binding(afb_api_t api)
                subscribe_unsubscribe_diagnostic_messages(request, true, sf.diagnostic_messages, event_filter, s, true);
        }
 
+
+#ifdef USE_FEATURE_J1939
+       std::vector<std::shared_ptr<message_definition_t>> current_messages_definition = application.get_messages_definition();
+       for(std::shared_ptr<message_definition_t> message_definition: current_messages_definition)
+       {
+               if(message_definition->is_j1939())
+               {
+                       std::shared_ptr<low_can_subscription_t> low_can_j1939 = std::make_shared<low_can_subscription_t>();
+
+                       application.set_subscription_address_claiming(low_can_j1939);
+
+                       ret = low_can_subscription_t::open_socket(*low_can_j1939,
+                                                                                                       message_definition->get_bus_device_name(),
+                                                                                                       socket_type::J1939_ADDR_CLAIM);
+                       if(ret < 0)
+                       {
+                               AFB_ERROR("Error open socket address claiming for j1939 protocol");
+                               return -1;
+                       }
+
+//                     std::shared_ptr<low_can_subscription_t> saddrclaim = application.get_subscription_address_claiming();
+
+                       add_to_event_loop(low_can_j1939);
+                       break;
+               }
+       }
+#endif
+
        if(ret)
+       {
                AFB_ERROR("There was something wrong with CAN device Initialization.");
+       }
 
        return ret;
 }