-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- * Author "Loic Collignon" <loic.collignon@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "low-can-hat.hpp"
-#include "low-can-subscription.hpp"
-
-#include <map>
-#include <queue>
#include <mutex>
-#include <vector>
-#include <json-c/json.h>
+#include <systemd/sd-event.h>
#include "application.hpp"
+#include "../utils/signals.hpp"
+#include "low-can-hat.hpp"
+#include "../can/message/message.hpp"
#include "../can/can-bus.hpp"
-extern "C"
-{
- static int initv2();
- static constexpr struct afb_auth loa_afb_auth(const unsigned loa)
+
+///******************************************************************************
+///
+/// SystemD event loop Callbacks
+///
+///*******************************************************************************/
+
+static void push_n_notify(std::shared_ptr<message_t> m)
+{
+ can_bus_t& cbm = application_t::instance().get_can_bus_manager();
{
- struct afb_auth a = {};
- a.type = afb_auth_LOA;
- a.loa = loa;
- return a;
+ std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
+ cbm.push_new_can_message(m);
}
+ cbm.get_new_can_message_cv().notify_one();
+}
+
+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)
+{
+ bool is_permanent_recurring_request = false;
- static constexpr struct afb_auth perm_afb_auth(const char* permission)
+ if( ! can_subscription->get_diagnostic_message().empty() && can_subscription->get_diagnostic_message(pid) != nullptr)
{
- struct afb_auth a = {};
- a.type = afb_auth_Permission;
- a.text = permission;
- return a;
+ 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)
+ {
+ is_permanent_recurring_request = adr->get_permanent();
+
+ if(! is_permanent_recurring_request)
+ application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
+ }
}
- static const struct afb_auth afb_auth_loa_1 = { loa_afb_auth(1) };
- static const struct afb_auth afb_auth_perm = { perm_afb_auth("urn:AGL:permission::platform:can:write") };
+ if(! is_permanent_recurring_request)
+ on_no_clients(can_subscription, s);
+}
- static const struct afb_verb_v2 verbs[]=
- {
- { .verb= "auth", .callback= auth, .auth= &afb_auth_perm, .info="Authentification against service to get the required level of confidence", .session= AFB_SESSION_NONE},
- { .verb= "subscribe", .callback= subscribe, .auth= NULL, .info="Let subscribe to signals", .session= AFB_SESSION_NONE},
- { .verb= "unsubscribe", .callback= unsubscribe, .auth= NULL, .info="Let unsubscribe signals", .session= AFB_SESSION_NONE},
- { .verb= "write", .callback= write, .auth= &afb_auth_loa_1, .info="Write a single CAN message on a CAN bus", .session= AFB_SESSION_LOA_1},
- { .verb= "get", .callback= get, .auth=NULL, .info="get a current value of CAN message", .session= AFB_SESSION_NONE},
- { .verb= "list",.callback= list, .auth=NULL, .info="get a supported CAN message list", .session= AFB_SESSION_NONE},
- { .verb= NULL, .callback= NULL, .auth= NULL, .info=NULL, .session= 0}
- };
-
- const struct afb_binding_v2 afbBindingV2 {
- .api = "low-can",
- .specification = NULL,
- .info = "API to Low level CAN service, read and decode the bus",
- .verbs = verbs,
- .preinit = NULL,
- .init = initv2,
- .onevent = NULL,
- .noconcurrency = 0
- };
-
- /// @brief Initialize the binding.
- ///
- /// @param[in] service Structure which represent the Application Framework Binder.
- ///
- /// @return Exit code, zero if success.
- static int initv2()
- {
- can_bus_t& can_bus_manager = application_t::instance().get_can_bus_manager();
- can_bus_manager.set_can_devices();
- can_bus_manager.start_threads();
+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);
+}
+
+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;
- /// Initialize Diagnostic manager that will handle obd2 requests.
- /// We pass by default the first CAN bus device to its Initialization.
- /// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus.
- if(application_t::instance().get_diagnostic_manager().initialize())
- return 0;
- AFB_ERROR("There was something wrong with CAN device Initialization.");
- return 1;
+ if ((revents & EPOLLIN) != 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)
+ {
+ std::shared_ptr<utils::socketcan_t> s = can_subscription->get_socket();
+ if(s->socket() > 0)
+ {
+ std::shared_ptr<message_t> message = s->read_message();
+
+ // Sure we got a valid CAN message ?
+ if (message->get_id() &&
+ message->get_length() &&
+ ! (message->get_flags() & INVALID_FLAG) )
+ {
+ if(can_subscription->get_signal() != nullptr && can_subscription->get_signal()->get_message()->get_flags() & BYTE_FRAME_IS_BIG_ENDIAN)
+ message->frame_swap();
+ push_n_notify(message);
+ }
+ }
+ }
}
-};
+
+ // check if error or hangup
+ if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
+ {
+ sd_event_source_unref(event_source);
+ can_subscription->get_socket()->close();
+ }
+
+ return 0;
+}
Code Review / apps / agl-service-can-low-level.git / blobdiff