/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Copyright (C) 2015, 2018 "IoT.bzh"
* Author "Romain Forlot" <romain.forlot@iot.bzh>
* Author "Loic Collignon" <loic.collignon@iot.bzh>
*
*/
#include "low-can-hat.hpp"
+#include "low-can-apidef.h"
#include <map>
#include <queue>
#include <mutex>
#include <vector>
#include <thread>
-#include <json-c/json.h>
+#include <wrap-json.h>
#include <systemd/sd-event.h>
-
+#include <ctl-config.h>
#include "openxc.pb.h"
#include "application.hpp"
+#include "../can/can-encoder.hpp"
#include "../can/can-bus.hpp"
-#include "../can/can-signals.hpp"
-#include "../can/can-message.hpp"
+#include "../can/signals.hpp"
+#include "../can/message/message.hpp"
#include "../utils/signals.hpp"
#include "../diagnostic/diagnostic-message.hpp"
#include "../utils/openxc-utils.hpp"
+#include "../utils/signals.hpp"
+#ifdef USE_FEATURE_J1939
+ #include "../can/message/j1939-message.hpp"
+ #include <linux/can/j1939.h>
+#endif
-///******************************************************************************
+///*****************************************************************************
///
-/// SystemD event loop Callbacks
+/// Controller Definitions and Callbacks
///
-///*******************************************************************************/
+///****************************************************************************/
-void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+int config_low_can(afb_api_t apiHandle, CtlSectionT *section, json_object *json_obj)
{
- 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);
- }
+ AFB_DEBUG("Config %s", json_object_to_json_string(json_obj));
+ CtlConfigT *ctrlConfig;
- on_no_clients(can_subscription, s);
-}
+ ctrlConfig = (CtlConfigT *) afb_api_get_userdata(apiHandle);
+ if(! ctrlConfig)
+ return -1;
-void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
-{
- auto it = s.find(can_subscription->get_index());
- s.erase(it);
-}
+ if(! ctrlConfig->external)
+ return -1;
-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();
-}
+ application_t *application = (application_t*) ctrlConfig->external;
-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)
- {
- can_message_t cm;
- utils::socketcan_bcm_t& s = can_subscription->get_socket();
- s >> cm;
+ int active_message_set;
+ const char *diagnotic_bus = nullptr;
- // Sure we got a valid CAN message ?
- if(! cm.get_id() == 0 && ! cm.get_length() == 0)
- {push_n_notify(cm);}
- }
+ if(wrap_json_unpack(json_obj, "{si, ss}",
+ "active_message_set", &active_message_set,
+ "diagnostic_bus", &diagnotic_bus))
+ return -1;
+
+ application->set_active_message_set((uint8_t)active_message_set);
- // check if error or hangup
- if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
+ /// Initialize Diagnostic manager that will handle obd2 requests.
+ /// We pass by default the first CAN bus device to its Initialization.
+ if(! application_t::instance().get_diagnostic_manager().initialize(diagnotic_bus))
{
- sd_event_source_unref(event_source);
- can_subscription->get_socket().close();
+ AFB_ERROR("Diagnostic Manager: error at initialization");
+ return -1;
}
+
return 0;
}
-///******************************************************************************
+CtlSectionT ctlSections_[] = {
+ [0]={.key="config" , .uid="config", .info=nullptr,
+ .loadCB=config_low_can,
+ .handle=nullptr,
+ .actions=nullptr},
+ [1]={.key="plugins" , .uid="plugins", .info=nullptr,
+ .loadCB=PluginConfig,
+ .handle=nullptr,
+ .actions=nullptr},
+};
+
+///*****************************************************************************
///
/// Subscription and unsubscription
///
-///*******************************************************************************/
-
-static int make_subscription_unsubscription(struct afb_req request, std::shared_ptr<low_can_subscription_t>& can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s, bool subscribe)
-{
- /* Make the subscription or unsubscription to the event */
- if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[can_subscription->get_index()]->get_event())) < 0)
- {
- AFB_ERROR("Operation goes wrong for signal: %s", can_subscription->get_name().c_str());
- return -1;
- }
- return 0;
-}
+///****************************************************************************/
-static int create_event_handle(std::shared_ptr<low_can_subscription_t>& can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
-{
- int sub_index = can_subscription->get_index();
- can_subscription->set_event(afb_daemon_make_event(can_subscription->get_name().c_str()));
- s[sub_index] = can_subscription;
- if (!afb_event_is_valid(s[sub_index]->get_event()))
- {
- AFB_ERROR("Can't create an event for %s, something goes wrong.", can_subscription->get_name().c_str());
- 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
+/// @brief This will determine if an event handle needs to be created and checks if
+/// we got a valid afb_event to get subscribe or unsubscribe. After that 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, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+static int subscribe_unsubscribe_signal(afb_req_t request,
+ bool subscribe,
+ std::shared_ptr<low_can_subscription_t>& can_subscription,
+ map_subscription& s)
{
- int ret = -1;
+ int ret = 0;
int sub_index = can_subscription->get_index();
+ bool subscription_exists = s.count(sub_index);
- if (can_subscription && s.find(sub_index) != s.end())
+ // Susbcription part
+ if(subscribe)
{
- if (!afb_event_is_valid(s[sub_index]->get_event()) && !subscribe)
+ /* There is no valid request to subscribe so this must be an
+ * internal permanent diagnostic request. Skip the subscription
+ * part and don't register it into the current "low-can"
+ * subsciptions.
+ */
+ if(! request)
{
- AFB_NOTICE("Event isn't valid, no need to unsubscribed.");
- ret = -1;
+ return 0;
}
- ret = 0;
+
+ // Event doesn't exist , so let's create it
+ if ((ret = can_subscription->subscribe(request)) < 0)
+ return ret;
+
+ if(! subscription_exists)
+ s[sub_index] = can_subscription;
+
+ return ret;
}
- else
+
+ // Unsubscrition part
+ if(! subscription_exists)
+ {
+ AFB_NOTICE("There isn't any valid subscriptions for that request.");
+ return ret;
+ }
+ else if (subscription_exists &&
+ ! afb_event_is_valid(s[sub_index]->get_event()) )
{
- /* Event doesn't exist , so let's create it */
- can_subscription->set_event({nullptr, nullptr});
- s[sub_index] = can_subscription;
- ret = create_event_handle(can_subscription, s);
+ AFB_NOTICE("Event isn't valid, no need to unsubscribed.");
+ return ret;
}
- // Check whether or not the event handler has been correctly created and
- // make the subscription/unsubscription operation is so.
- if (ret < 0)
+ if( (ret = s[sub_index]->unsubscribe(request)) < 0)
return ret;
- return make_subscription_unsubscription(request, can_subscription, s, subscribe);
+ s.find(sub_index)->second->set_index(-1);
+ s.erase(sub_index);
+ return ret;
}
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(),
&event_source,
- can_subscription->get_socket().socket(),
+ 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)
+static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request,
+ bool subscribe,
+ list_ptr_diag_msg_t diagnostic_messages,
+ struct event_filter_t& event_filter,
+ map_subscription& s,
+ bool perm_rec_diag_req)
{
int rets = 0;
application_t& app = application_t::instance();
for(const auto& sig : diagnostic_messages)
{
DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request());
- event_filter.frequency = std::isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency;
+ event_filter.frequency = event_filter.frequency == 0 ? 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());});
+ 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 :
+ 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
+ // If the requested diagnostic message is not supported by the car then unsubcribe it
+ // no matter what we want, worst case will be a failed unsubscription but at least we won'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(), event_filter.frequency);
+ if (!app.is_engine_on())
+ AFB_WARNING("signal: Engine is off, %s won't received responses until it's on", 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, perm_rec_diag_req);
if(can_subscription->create_rx_filter(sig) < 0)
- {return -1;}
+ return -1;
AFB_DEBUG("Signal: %s subscribed", sig->get_name().c_str());
if(it == s.end() && add_to_event_loop(can_subscription) < 0)
{
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());
rets++;
}
-
return rets;
}
-// TODO: Create separate subscrition object if event_filter isn't the same.
-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)
+static int subscribe_unsubscribe_signals(afb_req_t request,
+ bool subscribe,
+ list_ptr_signal_t signals,
+ struct event_filter_t& event_filter,
+ map_subscription& s)
{
int rets = 0;
- for(const auto& sig: can_signals)
+ for(const auto& sig: signals)
{
- 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; });
+ auto it = std::find_if(s.begin(), s.end(), [&sig, &event_filter](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
+ {
+ return sub.second->is_signal_subscription_corresponding(sig, event_filter) ;
+ });
std::shared_ptr<low_can_subscription_t> can_subscription;
if(it != s.end())
- {
- can_subscription = it->second;
- }
+ can_subscription = it->second;
else
{
- can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
+ 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;}
+ return -1;
if(add_to_event_loop(can_subscription) < 0)
- {return -1;}
+ return -1;
}
if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
- {return -1;}
+ return -1;
rets++;
- AFB_DEBUG("signal: %s subscribed", sig->get_name().c_str());
+ AFB_DEBUG("%s Signal: %s %ssubscribed", sig->get_message()->is_fd() ? "FD": "", sig->get_name().c_str(), subscribe ? "":"un");
}
return rets;
}
///
/// @brief subscribe to all signals in the vector signals
///
-/// @param[in] afb_req request : contain original request use to subscribe or unsubscribe
-/// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription
-/// @param[in] signals - struct containing vectors with can_signal_t and diagnostic_messages to subscribe
+/// @param[in] afb_req request : contains original request use to subscribe or unsubscribe
+/// @param[in] subscribe boolean value, which chooses between a subscription operation or an unsubscription
+/// @param[in] signals - struct containing vectors with signal_t and diagnostic_messages to subscribe
+/// @param[in] event_filter - stuct containing filter on the signal
///
/// @return Number of correctly subscribed signal
///
-static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals, struct event_filter_t& event_filter)
+static int subscribe_unsubscribe_signals(afb_req_t 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();
+ map_subscription& s = sm.get_subscribed_signals();
- 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);
+ rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s, false);
+ rets += subscribe_unsubscribe_signals(request, subscribe, signals.signals, event_filter, s);
return rets;
}
-static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const std::string& tag, json_object* args)
+static event_filter_t generate_filter(json_object* args)
{
- int ret = 0;
- struct event_filter_t event_filter;
+ event_filter_t event_filter;
struct json_object *filter, *obj;
- struct utils::signals_found sf;
- // computes the filter
+ // computes the filter
if (json_object_object_get_ex(args, "filter", &filter))
{
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)))
- {
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;
- }
+ if (json_object_object_get_ex(filter, "rx_id", &obj)
+ && (json_object_is_type(obj, json_type_int)))
+ event_filter.rx_id = (canid_t) json_object_get_int(obj);
+ if (json_object_object_get_ex(filter, "tx_id", &obj)
+ && (json_object_is_type(obj, json_type_int)))
+ event_filter.tx_id = (canid_t) json_object_get_int(obj);
}
+ return event_filter;
+}
+
+
+static int one_subscribe_unsubscribe_events(afb_req_t request, bool subscribe, const std::string& tag, json_object* args)
+{
+ int ret = 0;
+ struct utils::signals_found sf;
// 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())
+
+
+#ifdef USE_FEATURE_ISOTP
+ if(sf.signals.size() > 1)
+ {
+ sf.signals.remove_if([](std::shared_ptr<signal_t> x){
+ bool isotp = x->get_message()->is_isotp();
+ if(isotp)
+ AFB_NOTICE("ISO TP messages need to be subscribed one by one (rx, tx)");
+
+ return isotp;
+ });
+ }
+#endif
+
+ if (sf.signals.empty() && sf.diagnostic_messages.empty())
{
AFB_NOTICE("No signal(s) found for %s.", tag.c_str());
ret = -1;
}
else
- {ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);}
-
+ {
+ event_filter_t event_filter = generate_filter(args);
+ ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
+ }
return ret;
}
-static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe)
+static int one_subscribe_unsubscribe_id(afb_req_t request, bool subscribe, const uint32_t& id, json_object *args)
{
- int i, n, rc, rc2;
- struct json_object *args, *event, *x;
+ int ret = 0;
+ std::shared_ptr<message_definition_t> message_definition = application_t::instance().get_message_definition(id);
+ struct utils::signals_found sf;
- args = afb_req_json(request);
- if (args == NULL || !json_object_object_get_ex(args, "event", &event))
+ if(message_definition)
+ sf.signals = list_ptr_signal_t(message_definition->get_signals().begin(), message_definition->get_signals().end());
+
+ if(sf.signals.empty())
{
- rc = one_subscribe_unsubscribe(request, subscribe, "*", args);
+ AFB_NOTICE("No signal(s) found for %d.", id);
+ ret = -1;
}
- else if (json_object_get_type(event) != json_type_array)
+ else
{
- rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), args);
+ event_filter_t event_filter = generate_filter(args);
+ ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
+ }
+
+ return ret;
+}
+
+
+static int process_one_subscribe_args(afb_req_t request, bool subscribe, json_object *args)
+{
+ int rc = 0, rc2=0;
+ json_object *x = nullptr, *event = nullptr, *id = nullptr;
+
+
+ // 2 cases : ID(PGN) and event
+
+ json_object_object_get_ex(args,"event",&event);
+ json_bool test_id = json_object_object_get_ex(args,"id",&id);
+ if(!test_id)
+ test_id = json_object_object_get_ex(args,"pgn",&id);
+
+ if( args == NULL || (id && ((std::string)json_object_get_string(id)).compare("*") == 0))
+ {
+ rc = one_subscribe_unsubscribe_events(request, subscribe, "*", args);
}
else
{
- rc = 0;
- n = json_object_array_length(event);
- for (i = 0 ; i < n ; i++)
+ if(event)
+ {
+ if (json_object_get_type(event) != json_type_array) // event is set before and check if it's an array
+ {
+ rc = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(event), args);
+ }
+ else // event is set and it's not an array
+ {
+ for (int i = 0 ; i < json_object_array_length(event); i++)
+ {
+ x = json_object_array_get_idx(event, i);
+ rc2 = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(x), args);
+ if (rc >= 0)
+ rc = rc2 >= 0 ? rc + rc2 : rc2;
+ }
+ }
+ }
+
+ if(id)
+ {
+ if (json_object_get_type(id) != json_type_array) // id is set before and check if it's an array
+ {
+ rc = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(id), args);
+ }
+ else // event is set and it's not an array
+ {
+ for (int i = 0 ; i < json_object_array_length(id); i++)
+ {
+ x = json_object_array_get_idx(id, i);
+ rc2 = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(x), args);
+ if (rc >= 0)
+ rc = rc2 >= 0 ? rc + rc2 : rc2;
+ }
+ }
+ }
+ }
+ return rc;
+}
+
+static void do_subscribe_unsubscribe(afb_req_t request, bool subscribe)
+{
+ int rc = 0;
+ struct json_object *args, *x;
+
+ args = afb_req_json(request);
+ if (json_object_get_type(args) == json_type_array)
+ {
+ for(int i = 0; i < json_object_array_length(args); i++)
{
- x = json_object_array_get_idx(event, i);
- rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), args);
- if (rc >= 0)
- rc = rc2 >= 0 ? rc + rc2 : rc2;
+ x = json_object_array_get_idx(args, i);
+ rc += process_one_subscribe_args(request, subscribe, x);
}
}
+ else
+ {
+ rc += process_one_subscribe_args(request, subscribe, args);
+ }
if (rc >= 0)
afb_req_success(request, NULL, NULL);
afb_req_fail(request, "error", NULL);
}
-void subscribe(struct afb_req request)
+void auth(afb_req_t request)
+{
+ afb_req_session_set_LOA(request, 1);
+ afb_req_success(request, NULL, NULL);
+}
+
+void subscribe(afb_req_t request)
{
do_subscribe_unsubscribe(request, true);
}
-void unsubscribe(struct afb_req request)
+void unsubscribe(afb_req_t request)
{
do_subscribe_unsubscribe(request, false);
}
-void swrite(struct afb_req request)
+/*
+static int send_frame(struct canfd_frame& cfd, const std::string& bus_name, socket_type type)
{
- int rc = 0;
- struct can_frame cf;
- struct utils::signals_found sf;
- struct json_object *args, *json_can_socket, *json_can_id, *json_can_dlc, *json_can_data;
+ if(bus_name.empty())
+ {
+ return -1;
+ }
- ::memset(&cf, 0, sizeof(cf));
+ std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
- args = afb_req_json(request);
- if (args == NULL || (
- ((!json_object_object_get_ex(args, "canbus_name", &json_can_socket)) && json_object_get_type(json_can_socket) == json_type_string) &&
- ((!json_object_object_get_ex(args, "can_id", &json_can_id)) && json_object_get_type(json_can_id) == json_type_int) &&
- ((!json_object_object_get_ex(args, "can_dlc", &json_can_dlc)) && json_object_get_type(json_can_dlc) == json_type_int)))
+ if( cd.count(bus_name) == 0)
{
- cf.can_id = json_object_get_int(json_can_id);
- cf.can_dlc = (uint8_t)json_object_get_int(json_can_dlc);
- openxc_DynamicField search_key = build_DynamicField((double)cf.can_id);
- sf = utils::signals_manager_t::instance().find_signals(search_key);
+ cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t());
}
- if((args == NULL || !json_object_object_get_ex(args, "can_data", &json_can_data)) && json_object_get_type(json_can_data) == json_type_array)
+
+ if(type == socket_type::BCM)
{
- struct json_object *x;
+ 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;
+ }
+}
+*/
+static int send_message(message_t *message, const std::string& bus_name, uint32_t flags, event_filter_t &event_filter, std::shared_ptr<signal_t> signal)
+{
+ if(bus_name.empty())
+ return -1;
+
+ std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
+
+ if( cd.count(bus_name) == 0)
+ cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
+
+ cd[bus_name]->set_signal(signal);
+
+
+ if(flags&BCM_PROTOCOL)
+ return low_can_subscription_t::tx_send(*cd[bus_name], message, bus_name);
+#ifdef USE_FEATURE_ISOTP
+ else if(flags&ISOTP_PROTOCOL)
+ return low_can_subscription_t::isotp_send(*cd[bus_name], message, bus_name);
+#endif
+#ifdef USE_FEATURE_J1939
+ else if(flags&J1939_PROTOCOL)
+ return low_can_subscription_t::j1939_send(*cd[bus_name], message, bus_name);
+#endif
+ else
+ return -1;
+}
+
+
+static void write_raw_frame(afb_req_t request, const std::string& bus_name, message_t *message,
+ struct json_object *can_data, uint32_t flags, event_filter_t &event_filter)
+{
+
+ struct utils::signals_found sf;
+
+ utils::signals_manager_t::instance().lookup_signals_by_id(message->get_id(), application_t::instance().get_all_signals(), sf.signals);
+
+ if( !sf.signals.empty() )
+ {
+ AFB_DEBUG("ID WRITE RAW : %d", sf.signals.front()->get_message()->get_id());
+ if(flags & BCM_PROTOCOL)
+ {
+ if(sf.signals.front()->get_message()->is_fd())
+ {
+ AFB_DEBUG("CANFD_MAX_DLEN");
+ message->set_flags(CAN_FD_FRAME);
+ message->set_maxdlen(CANFD_MAX_DLEN);
+ }
+ else
+ {
+ AFB_DEBUG("CAN_MAX_DLEN");
+ message->set_maxdlen(CAN_MAX_DLEN);
+ }
+
+ if(sf.signals.front()->get_message()->is_isotp())
+ {
+ flags = ISOTP_PROTOCOL;
+ message->set_maxdlen(MAX_ISOTP_FRAMES * message->get_maxdlen());
+ }
+ }
- int n = json_object_array_length(json_can_data);
- if(n < 8)
+#ifdef USE_FEATURE_J1939
+ if(flags&J1939_PROTOCOL)
+ message->set_maxdlen(J1939_MAX_DLEN);
+#endif
+
+ if(message->get_length() > 0 && message->get_length() <= message->get_maxdlen())
{
- for (int i = 0 ; i < n ; i++)
+ std::vector<uint8_t> data;
+ for (int i = 0 ; i < message->get_length() ; i++)
{
- x = json_object_array_get_idx(json_can_data, i);
- cf.data[i] = json_object_get_type(x) == json_type_int ? (uint8_t)json_object_get_int(x) : 0;
+ struct json_object *one_can_data = json_object_array_get_idx(can_data, i);
+ data.push_back((json_object_is_type(one_can_data, json_type_int)) ?
+ (uint8_t)json_object_get_int(one_can_data) : 0);
}
+ message->set_data(data);
}
+ else
+ {
+ if(flags&BCM_PROTOCOL)
+ afb_req_fail(request, "Invalid", "Frame BCM");
+ else if(flags&J1939_PROTOCOL)
+ afb_req_fail(request, "Invalid", "Frame J1939");
+ else if(flags&ISOTP_PROTOCOL)
+ afb_req_fail(request, "Invalid", "Frame ISOTP");
+ else
+ afb_req_fail(request, "Invalid", "Frame");
+
+ return;
+ }
+
+ if(! send_message(message, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name), flags, event_filter, sf.signals.front()))
+ afb_req_success(request, nullptr, "Message correctly sent");
+ else
+ afb_req_fail(request, "Error", "sending the message. See the log for more details.");
}
+ else
+ {
+ afb_req_fail(request, "Error", "no find id in signals. See the log for more details.");
+ }
+
+}
- if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
+static void write_frame(afb_req_t request, const std::string& bus_name, json_object *json_value, event_filter_t &event_filter)
+{
+ message_t *message;
+ uint32_t id;
+ uint32_t length;
+ struct json_object *can_data = nullptr;
+ std::vector<uint8_t> data;
+
+ AFB_DEBUG("JSON content %s", json_object_get_string(json_value));
+
+ if(!wrap_json_unpack(json_value, "{si, si, so !}",
+ "can_id", &id,
+ "can_dlc", &length,
+ "can_data", &can_data))
{
- AFB_WARNING("No signal(s) found for id %d. Message not sent.", cf.can_id);
- rc = -1;
+ message = new can_message_t(0, id, length, false, 0, data, 0);
+ write_raw_frame(request, bus_name, message, can_data, BCM_PROTOCOL, event_filter);
}
+#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(length, data, 0, J1939_NO_NAME, (pgn_t)id, J1939_NO_ADDR);
+ write_raw_frame(request, bus_name, message, can_data, J1939_PROTOCOL, event_filter);
+ }
+#endif
else
{
- std::map<std::string, std::shared_ptr<low_can_socket_t> >& cd = application_t::instance().get_can_devices();
- const char* can_socket = json_object_get_string(json_can_socket);
- for(const auto& sig: sf.can_signals)
+ afb_req_fail(request, "Invalid", "Frame object malformed");
+ return;
+ }
+ delete message;
+}
+
+static void write_signal(afb_req_t request, const std::string& name, json_object *json_value, event_filter_t &event_filter)
+{
+ struct canfd_frame cfd;
+ struct utils::signals_found sf;
+ signal_encoder encoder = nullptr;
+ bool send = true;
+
+ ::memset(&cfd, 0, sizeof(cfd));
+
+ openxc_DynamicField search_key = build_DynamicField(name);
+ sf = utils::signals_manager_t::instance().find_signals(search_key);
+ openxc_DynamicField dynafield_value = build_DynamicField(json_value);
+
+ if (sf.signals.empty())
+ {
+ afb_req_fail_f(request, "No signal(s) found for %s. Message not sent.", name.c_str());
+ return;
+ }
+
+ std::shared_ptr<signal_t> sig = sf.signals.front();
+ if(! sig->get_writable())
+ {
+ afb_req_fail_f(request, "%s isn't writable. Message not sent.", sig->get_name().c_str());
+ return;
+ }
+
+ uint64_t value = (encoder = sig->get_encoder()) ?
+ encoder(*sig, dynafield_value, &send) :
+ encoder_t::encode_DynamicField(*sig, dynafield_value, &send);
+
+ uint32_t flags = INVALID_FLAG;
+
+ if(sig->get_message()->is_j1939())
+ flags = J1939_PROTOCOL;
+ else if(sig->get_message()->is_isotp())
+ flags = ISOTP_PROTOCOL;
+ else
+ flags = BCM_PROTOCOL;
+
+// cfd = encoder_t::build_frame(sig, value);
+ message_t *message = encoder_t::build_message(sig, value, false, false);
+
+ if(! send_message(message, sig->get_message()->get_bus_device_name(), flags, event_filter, sig) && send)
+ afb_req_success(request, nullptr, "Message correctly sent");
+ else
+ afb_req_fail(request, "Error", "Sending the message. See the log for more details.");
+
+ if(sig->get_message()->is_j1939())
+#ifdef USE_FEATURE_J1939
+ delete (j1939_message_t*) message;
+#else
+ afb_req_fail(request, "Warning", "J1939 not implemented in your kernel.");
+#endif
+ else
+ delete (can_message_t*) message;
+}
+
+void write(afb_req_t request)
+{
+ struct json_object* args = nullptr, *json_value = nullptr, *name = nullptr;
+ args = afb_req_json(request);
+
+ if(args != NULL)
+ {
+ event_filter_t event_filter = generate_filter(args);
+
+ if(json_object_object_get_ex(args,"bus_name",&name))
{
- if (sig->get_message()->get_bus_name().c_str() == can_socket)
- {
- rc = cd[can_socket]->tx_send(cf, sig);
- }
+ if(json_object_object_get_ex(args,"frame",&json_value))
+ write_frame(request, (std::string)json_object_get_string(name), json_value, event_filter);
+ else
+ afb_req_fail(request, "Error", "Request argument malformed");
}
+ else if(json_object_object_get_ex(args,"signal_name",&name))
+ {
+ if(json_object_object_get_ex(args,"signal_value",&json_value))
+ write_signal(request, (std::string)json_object_get_string(name), json_value, event_filter);
+ else
+ afb_req_fail(request, "Error", "Request argument malformed");
+ }
+ else
+ {
+ afb_req_fail(request, "Error", "Request argument malformed");
+ }
+ }
+ else
+ {
+ afb_req_fail(request, "Error", "Request argument null");
+ }
+}
+
+static struct json_object *get_signals_value(const std::string& name)
+{
+ struct utils::signals_found sf;
+ struct json_object *ans = nullptr;
+
+ openxc_DynamicField search_key = build_DynamicField(name);
+ sf = utils::signals_manager_t::instance().find_signals(search_key);
+
+ if (sf.signals.empty())
+ {
+ AFB_WARNING("No signal(s) found for %s.", name.c_str());
+ return NULL;
+ }
+ ans = json_object_new_array();
+ for(const auto& sig: sf.signals)
+ {
+ struct json_object *jobj = json_object_new_object();
+ json_object_object_add(jobj, "event", json_object_new_string(sig->get_name().c_str()));
+ json_object_object_add(jobj, "value", json_object_new_double(sig->get_last_value()));
+ json_object_array_add(ans, jobj);
+ }
+
+ return ans;
+}
+void get(afb_req_t request)
+{
+ int rc = 0;
+ struct json_object* args = nullptr,
+ *json_name = nullptr;
+ json_object *ans = nullptr;
+
+ args = afb_req_json(request);
+
+ // Process about Raw CAN message on CAN bus directly
+ if (args != nullptr &&
+ (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string) ))
+ {
+ ans = get_signals_value(json_object_get_string(json_name));
+ if (!ans)
+ rc = -1;
+ }
+ else
+ {
+ AFB_ERROR("Request argument malformed. Please use the following syntax:");
+ rc = -1;
}
if (rc >= 0)
- afb_req_success(request, NULL, NULL);
+ afb_req_success(request, ans, NULL);
+ else
+ afb_req_fail(request, "error", NULL);
+}
+
+
+static struct json_object *list_can_message(const std::string& name)
+{
+ struct utils::signals_found sf;
+ struct json_object *ans = nullptr;
+
+ openxc_DynamicField search_key = build_DynamicField(name);
+ sf = utils::signals_manager_t::instance().find_signals(search_key);
+
+ if (sf.signals.empty() && sf.diagnostic_messages.empty())
+ {
+ AFB_WARNING("No signal(s) found for %s.", name.c_str());
+ return NULL;
+ }
+ ans = json_object_new_array();
+ for(const auto& sig: sf.signals)
+ {
+ json_object_array_add(ans,
+ json_object_new_string(sig->get_name().c_str()));
+ }
+ for(const auto& sig: sf.diagnostic_messages)
+ {
+ json_object_array_add(ans,
+ json_object_new_string(sig->get_name().c_str()));
+ }
+
+ return ans;
+}
+
+void list(afb_req_t request)
+{
+ int rc = 0;
+ json_object *ans = nullptr;
+ struct json_object* args = nullptr,
+ *json_name = nullptr;
+ args = afb_req_json(request);
+ const char *name;
+ if ((args != nullptr) &&
+ (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string)))
+ name = json_object_get_string(json_name);
+ else
+ name = "*";
+
+ ans = list_can_message(name);
+ if (!ans)
+ rc = -1;
+
+ if (rc >= 0)
+ afb_req_success(request, ans, NULL);
else
afb_req_fail(request, "error", NULL);
+
+}
+
+/// @brief Initialize the binding.
+///
+/// @param[in] service Structure which represent the Application Framework Binder.
+///
+/// @return Exit code, zero if success.
+int init_binding(afb_api_t api)
+{
+ int ret = 1;
+ application_t& application = application_t::instance();
+ can_bus_t& can_bus_manager = application.get_can_bus_manager();
+
+ if(application.get_message_set().empty())
+ {
+ AFB_ERROR("No message_set defined");
+ return -1;
+ }
+
+
+ can_bus_manager.set_can_devices();
+ can_bus_manager.start_threads();
+ utils::signals_manager_t& sm = utils::signals_manager_t::instance();
+
+ // Add a recurring dignostic message request to get engine speed at all times.
+ openxc_DynamicField search_key = build_DynamicField("diagnostic_messages.engine.speed");
+ struct utils::signals_found sf = sm.find_signals(search_key);
+
+ if(sf.signals.empty() && sf.diagnostic_messages.size() == 1)
+ {
+ afb_req_t request = nullptr;
+
+ struct event_filter_t event_filter;
+ event_filter.frequency = sf.diagnostic_messages.front()->get_frequency();
+
+ map_subscription& s = sm.get_subscribed_signals();
+
+ subscribe_unsubscribe_diagnostic_messages(request, true, sf.diagnostic_messages, event_filter, s, true);
+ }
+
+
+#ifdef USE_FEATURE_J1939
+ std::string j1939_bus;
+ vect_ptr_msg_def_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())
+ {
+ if (j1939_bus == message_definition->get_bus_device_name() )
+ continue;
+ j1939_bus = message_definition->get_bus_device_name();
+
+ 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,
+ j1939_bus,
+ J1939_ADDR_CLAIM_PROTOCOL);
+
+ if(ret < 0)
+ {
+ AFB_ERROR("Error open socket address claiming for j1939 protocol");
+ return -1;
+ }
+ add_to_event_loop(low_can_j1939);
+ break;
+ }
+ }
+#endif
+
+ if(ret)
+ AFB_ERROR("There was something wrong with CAN device Initialization.");
+
+ return ret;
+}
+
+int load_config(afb_api_t api)
+{
+ int ret = 0;
+ CtlConfigT *ctlConfig;
+ const char *dirList = getenv("CONTROL_CONFIG_PATH");
+ std::string bindingDirPath = GetBindingDirPath(api);
+ std::string filepath = bindingDirPath + "/etc";
+
+ if (!dirList)
+ dirList=CONTROL_CONFIG_PATH;
+
+ filepath.append(":");
+ filepath.append(dirList);
+ const char *configPath = CtlConfigSearch(api, filepath.c_str(), "control");
+
+ if (!configPath)
+ {
+ AFB_ERROR_V3("CtlPreInit: No control-* config found invalid JSON %s ", filepath.c_str());
+ return -1;
+ }
+
+ // create one API per file
+ ctlConfig = CtlLoadMetaData(api, configPath);
+ if (!ctlConfig)
+ {
+ AFB_ERROR_V3("CtrlPreInit No valid control config file in:\n-- %s", configPath);
+ return -1;
+ }
+
+ // Save the config in the api userdata field
+ afb_api_set_userdata(api, ctlConfig);
+
+ setExternalData(ctlConfig, (void*) &application_t::instance());
+ ret= CtlLoadSections(api, ctlConfig, ctlSections_);
+
+ return ret;
}
Code Review / apps / agl-service-can-low-level.git / blobdiff