* limitations under the License.
*/
-#include <map>
+#include "low-can-binding.hpp"
+
#include <queue>
#include <vector>
-#include <string>
-#include <memory>
#include <thread>
#include <fcntl.h>
-#include <errno.h>
-#include <unistd.h>
-#include <net/if.h>
-#include <functional>
-#include <sys/ioctl.h>
#include <linux/can.h>
-#include <openxc.pb.h>
-#include <sys/timeb.h>
-#include <sys/types.h>
-#include <sys/socket.h>
#include <json-c/json.h>
-#include <linux/can/raw.h>
#include <systemd/sd-event.h>
#include "timer.hpp"
#include "openxc.pb.h"
#include "can-utils.hpp"
#include "can-signals.hpp"
-#include "can-decoder.hpp"
#include "openxc-utils.hpp"
-#include "low-can-binding.hpp"
-
extern "C"
{
#include <afb/afb-binding.h>
*/
const struct afb_binding_interface *binder_interface;
+/*
+ * CAN bus handler pointer. This is the object that will be use to
+ * initialize each CAN devices specified into the configuration file
+ *
+ * It is used by the reading thread also because of its can_message_q_ queue
+ * that store CAN messages read from the socket.
+ */
+can_bus_t *can_bus_handler;
+
/********************************************************************************
*
* Event management
*
*********************************************************************************/
+int can_frame_received(sd_event_source *s, int fd, uint32_t revents, void *userdata)
+{
+ can_bus_dev_t *can_bus_dev = (can_bus_dev_t*)userdata;
+
+ /* Notify reading thread that there is something to read */
+ if ((revents & EPOLLIN) != 0) {
+ new_can_frame.notify_one();
+ }
+ /* check if error or hangup and reopen the socket and event_loop.
+ * socket is protected by a mutex */
+ if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
+ {
+ std::lock_guard<std::mutex> can_frame_lock(can_frame_mutex);
+ sd_event_source_unref(s);
+ can_bus_dev->close();
+ can_bus_dev->open();
+ can_bus_dev->start_reading(*can_bus_handler);
+ can_bus_dev->event_loop_connection();
+ }
+
+ return 0;
+}
/********************************************************************************
*
* Subscription and unsubscription
else
{
openxc_DynamicField search_key = build_DynamicField(name);
- sig = find_can_signals(binder_interface, search_key);
+ sig = find_can_signals(search_key);
if (sig.empty())
ret = 0;
}
afb_req_fail(request, "error", NULL);
}
-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,
- {
- "CAN bus service",
- "can",
- verbs
- }
-};
-
extern "C"
{
static void subscribe(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,
+ {
+ "CAN bus service",
+ "can",
+ verbs
+ }
+ };
+
const struct afb_binding *afbBindingV1Register (const struct afb_binding_interface *itf)
{
binder_interface = itf;
int fd_conf;
fd_conf = afb_daemon_rootdir_open_locale(binder_interface->daemon, "can_bus.json", O_RDONLY, NULL);
+ /* Initialize the CAN bus handler */
+ can_bus_t cbh(fd_conf);
+ can_bus_handler = &cbh;
+
/* Open CAN socket */
- can_bus_t can_bus_handler(binder_interface, fd_conf);
- if(can_bus_handler.init_can_dev() == 0)
+ if(can_bus_handler->init_can_dev() == 0)
{
- can_bus_handler.start_threads();
+ can_bus_handler->start_threads();
return 0;
}
-
+ ERROR(binder_interface, "There was something wrong with CAN device Initialization. Check your config file maybe");
return 1;
}
};