* limitations under the License.
*/
-#include <unistd.h>
-#include <sys/types.h>
-#include <sys/socket.h>
-#include <sys/ioctl.h>
-#include <net/if.h>
-#include <linux/can.h>
-#include <linux/can/raw.h>
-#include <fcntl.h>
-#include <systemd/sd-event.h>
-#include <errno.h>
-#include <vector>
+#include "low-can-binding.hpp"
+
#include <map>
#include <queue>
-#include <string>
-#include <functional>
-#include <memory>
+#include <mutex>
+#include <vector>
#include <thread>
-
+#include <time.h>
+#include <linux/can.h>
#include <json-c/json.h>
-#include <openxc.pb.h>
-#include <afb/afb-binding.h>
-#include <afb/afb-service-itf.h>
+#include "openxc.pb.h"
+#include "configuration.hpp"
+#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 "obd2.hpp"
-#include "can-utils.hpp"
-#include "can-signals.hpp"
+extern "C"
+{
+ #include <afb/afb-service-itf.h>
+};
-/*
- * Interface between the daemon and the binding
- */
-static const struct afb_binding_interface *interface;
+// Interface between the daemon and the binding
+const struct afb_binding_interface *binder_interface;
/********************************************************************************
*
-* Event management
+* Subscription and unsubscription
*
*********************************************************************************/
-/*
- * TBF TBF TBF
- * called on an event on the CAN bus
- static int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata)
+static int make_subscription_unsubscription(struct afb_req request, const std::string& sig_name, std::map<std::string, struct afb_event>& s, bool subscribe)
{
- openxc_CanMessage can_message;
-
- can_message = openxc_CanMessage_init_default;
-
- /* read available data */
- /*
- if ((revents & EPOLLIN) != 0)
- {
- read_can(&can_message);
- send_event();
- }
-*/
- /* check if error or hangup */
-/*
- if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
+ /* Make the subscription or unsubscription to the event */
+ if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[sig_name])) < 0)
{
- sd_event_source_unref(s);
- close(fd);
- connect_to_event_loop();
+ ERROR(binder_interface, "make_subscription_unsubscription: Operation goes wrong for signal: %s", sig_name.c_str());
+ return 0;
}
+ return 1;
- return 0;
}
-*/
-/*
- * USELESS SINCE THREADS SEPARATION
- *
- * Get the event loop running.
- * Will trigger on_event function on EPOLLIN event on socket
- *
- * Return 0 or positive value on success. Else negative value for failure.
-static int connect_to_event_loop(CanBus &CanBus_handler)
-{
- sd_event *event_loop;
- sd_event_source *source;
- int rc;
- if (CanBus_handler.socket < 0)
+static int create_event_handle(const std::string& sig_name, std::map<std::string, struct afb_event>& s)
+{
+ s[sig_name] = afb_daemon_make_event(binder_interface->daemon, sig_name.c_str());
+ if (!afb_event_is_valid(s[sig_name]))
{
- return CanBus_handler.socket;
+ ERROR(binder_interface, "create_event_handle: Can't create an event for %s, something goes wrong.", sig_name.c_str());
+ return 0;
}
+ return 1;
+}
- event_loop = afb_daemon_get_event_loop(interface->daemon);
- rc = sd_event_add_io(event_loop, &source, CanBus_handler.socket, EPOLLIN, on_event, NULL);
- if (rc < 0)
+static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, const std::string& sig)
+{
+ int ret;
+
+ std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
+ std::map<std::string, struct afb_event>& s = get_subscribed_signals();
+ if (s.find(sig) != s.end())
{
- CanBus_handler.close();
- ERROR(interface, "Can't connect CAN bus %s to the event loop", CanBus_handler.device);
- } else
+ if (!afb_event_is_valid(s[sig]) && !subscribe)
+ {
+ NOTICE(binder_interface, "subscribe_unsubscribe_signal: Event isn't valid, it can't be unsubscribed.");
+ ret = -1;
+ }
+ /*else
+ {
+ // Event it isn't valid annymore, recreate it
+ ret = create_event_handle(sig, s);
+ }*/
+ }
+ else
{
- NOTICE(interface, "Connected CAN bus %s to the event loop", CanBus_handler.device);
+ /* Event doesn't exist , so let's create it */
+ struct afb_event empty_event = {nullptr, nullptr};
+ subscribed_signals[sig] = empty_event;
+ ret = create_event_handle(sig, s);
}
- return rc;
+ /* Check whether or not the event handler has been correctly created and
+ * make the subscription/unsubscription operation is so.
+ */
+ if (ret <= 0)
+ return ret;
+ return make_subscription_unsubscription(request, sig, s, subscribe);
}
+
+/**
+ * @fn static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const std::vector<can_signal_t>& signals)
+ * @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] can_signal_t vector with can_signal_t to subscribe
+ *
+ * @return Number of correctly subscribed signal
*/
+static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const std::vector<std::string>& signals)
+{
+ int rets = 0;
-/********************************************************************************
-*
-* Subscription and unsubscription
-*
-*********************************************************************************/
+ //TODO: Implement way to dynamically call the right function no matter
+ // how much signals types we have.
-static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, std::vector<CanSignal>::const_iterator& sig_i)
- {
- int ret;
-
- const auto& ss_i = subscribed_signals.find(sig_i);
- if (ss_i != subscribed_signals.end())
- {
- if(!afb_event_is_valid(ss_i->second))
- {
- if(!subscribe)
- {
- NOTICE(interface, "Event isn't valid, it can't be unsubscribed.");
- ret = 1;
- }
- else
- {
- ss_i->second = afb_daemon_make_event(afbitf->daemon, ss_i->first.genericName);
- if (!afb_event_is_valid(ss_i->second))
- {
- ERROR(interface, "Can't create an event, something goes wrong.");
- ret = 0;
- }
- }
- }
- }
- else
- {
- subscribed_signals[sig_i] = afb_daemon_make_event(afbitf->daemon, sig_i.genericName);
- if (!afb_event_is_valid(ss_i->second))
- {
- ERROR(interface, "Can't create an event, something goes wrong.");
- ret = 0;
- }
- }
-
- if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, subscribed_signals[sig_i])) < 0)
+ for(const std::string& sig : signals)
{
- ERROR(interface, "Operation goes wrong for signal: %s", sig_i.genericName);
- ret = 0;
- }
- else
- ret = 1;
-
- return ret;
- }
+ int ret;
+ if (active_diagnostic_request_t::is_diagnostic_signal(sig))
+ {
+ std::vector<diagnostic_message_t*> found;
+ configuration_t::instance().find_diagnostic_messages(build_DynamicField(sig), found);
+ DiagnosticRequest* diag_req = new DiagnosticRequest(found.front()->build_diagnostic_request());
-static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const std:vector<CanSignal>& signals)
-{
- std::vector<CanSignal>::iterator signal_i;
- std::map <CanSignal, struct afb_event>::iterator s_signal_i;
- int ret;
+ // If the requested diagnostic message isn't supported by the car then unssubcribe.
+ // no matter what we want, worse case will be a fail unsubscription but at least we don't
+ // poll a PID for nothing.
+ if(found.front()->get_supported())
+ subscribe = false;
+ if(subscribe)
+ {
+ float frequency = found.front()->get_frequency();
+ configuration_t::instance().get_diagnostic_manager().add_recurring_request(
+ diag_req, sig.c_str(), false, found.front()->get_decoder(), found.front()->get_callback(), (float)frequency);
+ //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);
+ }
+ else
+ {
+ configuration_t::instance().get_diagnostic_manager().cleanup_request(
+ configuration_t::instance().get_diagnostic_manager().find_recurring_request(diag_req), true);
+ }
+ }
- // TODO: lock the subscribed_signals when insert/remove
- for(const auto& signal_i : signals)
- {
- ret = subscribe_unsubscribe_signal(request, subscribe, signal_i);
- if(ret == 0)
- return ret;
+ ret = subscribe_unsubscribe_signal(request, subscribe, sig);
+ if(ret <= 0)
+ return ret;
+
+ rets++;
+ DEBUG(binder_interface, "Signal: %s subscribed", sig.c_str());
}
+ return rets;
}
-static int subscribe_unsubscribe_all(struct afb_req request, bool subscribe)
+static int subscribe_unsubscribe_name(struct afb_req request, bool subscribe, const char *name)
{
- int i, n, e;
+ std::vector<std::string> signals;
+ int ret = 0;
- n = sizeof OBD2_PIDS / sizeof * OBD2_PIDS;
- e = 0;
- for (i = 0 ; i < n ; i++)
- e += !subscribe_unsubscribe_sig(request, subscribe, &OBD2_PIDS[i]);
- return e == 0;
-}
+ openxc_DynamicField search_key = build_DynamicField(std::string(name));
+ signals = find_signals(search_key);
+ if (signals.empty())
+ ret = 0;
-static int subscribe_unsubscribe_name(struct afb_req request, bool subscribe, const char *name)
-{
- std::vector<CanSignal> sig;
- int ret = 0;
+ ret = subscribe_unsubscribe_signals(request, subscribe, signals);
+ NOTICE(binder_interface, "Subscribed/unsubscribe correctly to %d/%d signal(s).", ret, (int)signals.size());
- if (!strcmp(name, "*"))
- ret = subscribe_unsubscribe_all(request, subscribe);
- else
- {
- //if(obd2_handler_c.is_obd2_signal(name))
- if(false)
- {
- // TODO
- }
- else
- {
- sig = find_can_signals(name);
- if (sig.empty())
- ret = 0;
- }
- ret = subscribe_unsubscribe_signals(request, subscribe, sig);
- }
return ret;
}
/* makes the subscription/unsubscription */
args = afb_req_json(request);
if (args == NULL || !json_object_object_get_ex(args, "event", &a)) {
- ok = subscribe_unsubscribe_all(request, subscribe);
+ ok = subscribe_unsubscribe_name(request, subscribe, "*");
} else if (json_object_get_type(a) != json_type_array) {
ok = subscribe_unsubscribe_name(request, subscribe, json_object_get_string(a));
} else {
afb_req_fail(request, "error", NULL);
}
-static void subscribe(struct afb_req request)
+extern "C"
{
- subscribe_unsubscribe(request, true);
-}
+ static void subscribe(struct afb_req request)
+ {
+ subscribe_unsubscribe(request, true);
+ }
-static void unsubscribe(struct afb_req request)
-{
- subscribe_unsubscribe(request, false);
-}
-static const struct afb_verb_desc_v1 verbs[]=
-{
- { .name= "subscribe", .session= AFB_SESSION_NONE, .callback= subscribe, .info= "subscribe to notification of CAN bus messages." },
- { .name= "unsubscribe", .session= AFB_SESSION_NONE, .callback= unsubscribe, .info= "unsubscribe a previous subscription." },
- {NULL}
-};
+ static void unsubscribe(struct afb_req request)
+ {
+ subscribe_unsubscribe(request, false);
+ }
+
+ static const struct afb_verb_desc_v1 verbs[]=
+ {
+ { .name= "subscribe", .session= AFB_SESSION_NONE, .callback= subscribe, .info= "subscribe to notification of CAN bus messages." },
+ { .name= "unsubscribe", .session= AFB_SESSION_NONE, .callback= unsubscribe, .info= "unsubscribe a previous subscription." }
+ };
+
+ static const struct afb_binding binding_desc {
+ AFB_BINDING_VERSION_1,
+ {
+ "Low level CAN bus service",
+ "low-can",
+ verbs
+ }
+ };
+
+ const struct afb_binding *afbBindingV1Register (const struct afb_binding_interface *itf)
+ {
+ binder_interface = itf;
-static const struct afb_binding binding_desc = {
- .type = AFB_BINDING_VERSION_1,
- .v1 = {
- .info = "CAN bus service",
- .prefix = "can",
- .verbs = verbs
+ return &binding_desc;
}
-};
-const struct afb_binding *afbBindingV1Register (const struct afb_binding_interface *itf)
-{
- interface = itf;
+ /**
+ * @brief Initialize the binding.
+ *
+ * @param[in] service Structure which represent the Application Framework Binder.
+ *
+ * @return Exit code, zero if success.
+ */
+ int afbBindingV1ServiceInit(struct afb_service service)
+ {
+ can_bus_t& can_bus_manager = configuration_t::instance().get_can_bus_manager();
- return &binding_desc;
-}
+ /// Initialize CAN socket
+ if(can_bus_manager.init_can_dev() == 0)
+ can_bus_manager.start_threads();
-/**
- * @brief Initialize the binding.
- *
- * @param[in] service Structure which represent the Application Framework Binder.
- *
- * @return Exit code, zero if success.
- */
-int afbBindingV1ServiceInit(struct afb_service service)
-{
- std::ifstream fd_conf;
- fd_conf = afb_daemon_rootdir_open_locale(interface->daemon, "can_bus.json", O_RDONLY, NULL);
+ /// 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(configuration_t::instance().get_diagnostic_manager().initialize())
+ return 0;
- /* Open CAN socket */
- can_bus_t can_bus_handler(interface, ));
- CanBus_handler.open();
- CanBus_handler.start_threads();
-}
+ ERROR(binder_interface, "There was something wrong with CAN device Initialization. Check your config file maybe");
+ return 1;
+ }
+};
Code Review / apps / low-level-can-service.git / blobdiff