#include <thread>
#include <wrap-json.h>
#include <systemd/sd-event.h>
-
#include "openxc.pb.h"
#include "application.hpp"
#include "../can/can-encoder.hpp"
#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
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);
+ }
+ }
}
}
}
// Event doesn't exist , so let's create it
- if (! subscription_exists &&
- (ret = can_subscription->subscribe(request)) < 0)
+ if ((ret = can_subscription->subscribe(request)) < 0)
return ret;
if(! subscription_exists)
if( (ret = s[sub_index]->unsubscribe(request)) < 0)
return ret;
+ s.find(sub_index)->second->set_index(-1);
s.erase(sub_index);
-
return ret;
}
}
static int subscribe_unsubscribe_diagnostic_messages(afb_req_t 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,
- bool perm_rec_diag_req)
+ 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,
+ bool perm_rec_diag_req)
{
int rets = 0;
application_t& app = application_t::instance();
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;
}
static int subscribe_unsubscribe_signals(afb_req_t request,
- bool subscribe,
- std::vector<std::shared_ptr<signal_t> > signals,
- struct event_filter_t& event_filter,
- std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+ bool subscribe,
+ std::vector<std::shared_ptr<signal_t> > 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: signals)
{
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;
}
{
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;
{
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");
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))
+ "can_id", &id,
+ "can_dlc", &length,
+ "can_data", &can_data))
{
- message = new can_message_t(CANFD_MAX_DLEN,(uint32_t)id,(uint32_t)length,message_format_t::STANDARD,false,0,data,0);
+ message = new can_message_t(0,(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");
}
// cfd = encoder_t::build_frame(sig, value);
- message_t *message = encoder_t::build_message(sig,value);
+ message_t *message = encoder_t::build_message(sig,value,false,false);
if(! send_message(message, sig->get_message()->get_bus_device_name(), type) && send)
{
// Process about Raw CAN message on CAN bus directly
if (args != NULL && ! wrap_json_unpack(args, "{ss, so !}",
- "bus_name", &name,
- "frame", &json_value))
+ "bus_name", &name,
+ "frame", &json_value))
write_frame(request, name, json_value);
// Search signal then encode value.
/// @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();
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;
}
Code Review / apps / agl-service-can-low-level.git / blobdiff