* 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 <map>
+#include "low-can-binding.hpp"
+
#include <queue>
-#include <string>
-#include <functional>
-#include <memory>
+#include <vector>
#include <thread>
-#include <fstream>
-
+#include <fcntl.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 <systemd/sd-event.h>
-#include "obd2.hpp"
+#include "timer.hpp"
+#include "openxc.pb.h"
#include "can-utils.hpp"
#include "can-signals.hpp"
+#include "openxc-utils.hpp"
+
+extern "C"
+{
+ #include <afb/afb-binding.h>
+ #include <afb/afb-service-itf.h>
+};
/*
* Interface between the daemon and the binding
*/
-static const struct afb_binding_interface *interface;
-static obd2_handler_t obd2_handler();
+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
*
*********************************************************************************/
-static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, std::vector<CanSignal>::const_iterator& sig_i)
+static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, const CanSignal& sig)
{
int ret;
- const auto& ss_i = subscribed_signals.find(sig_i);
+ // TODO: lock the subscribed_signals when insert/remove
+ const auto& ss_i = subscribed_signals.find(sig.genericName);
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.");
+ NOTICE(binder_interface, "Event isn't valid, it can't be unsubscribed.");
ret = 1;
}
else
{
- ss_i->second = afb_daemon_make_event(interface->daemon, ss_i->first.genericName);
+ ss_i->second = afb_daemon_make_event(binder_interface->daemon, ss_i->first.c_str());
if (!afb_event_is_valid(ss_i->second))
{
- ERROR(interface, "Can't create an event, something goes wrong.");
+ ERROR(binder_interface, "Can't create an event, something goes wrong.");
ret = 0;
}
}
}
else
{
- subscribed_signals[sig_i] = afb_daemon_make_event(interface->daemon, sig_i->genericName);
+ subscribed_signals[sig.genericName] = afb_daemon_make_event(binder_interface->daemon, sig.genericName);
if (!afb_event_is_valid(ss_i->second))
{
- ERROR(interface, "Can't create an event, something goes wrong.");
+ ERROR(binder_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)
+ if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, subscribed_signals[sig.genericName])) < 0)
{
- ERROR(interface, "Operation goes wrong for signal: %s", sig_i->genericName);
+ ERROR(binder_interface, "Operation goes wrong for signal: %s", sig.genericName);
ret = 0;
}
else
static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const std::vector<CanSignal>& signals)
{
- int ret;
+ int ret = 0;
- // 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;
}
+ return ret;
}
static int subscribe_unsubscribe_all(struct afb_req request, bool subscribe)
{
- int n, e;
+ int e = 0;
- n = obd2_handler.OBD2_PIDS.size();
- e = 0;
- for (const auto& pid : obd2_handler.OBD2_PIDS)
- e += !subscribe_unsubscribe_signals(request, subscribe, pid);
+ //for (const auto& sig : SIGNALS)
+ // e += !subscribe_unsubscribe_signals(request, subscribe, sig);
+ e += !subscribe_unsubscribe_signals(request, subscribe, getSignals());
return e == 0;
}
}
else
{
- sig = find_can_signals(name);
+ openxc_DynamicField search_key = build_DynamicField(name);
+ sig = find_can_signals(search_key);
if (sig.empty())
ret = 0;
}
afb_req_fail(request, "error", NULL);
}
-static void subscribe(struct afb_req request)
-{
- subscribe_unsubscribe(request, true);
-}
-
-static void unsubscribe(struct afb_req request)
+extern "C"
{
- 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 = {
- .type = AFB_BINDING_VERSION_1,
- .v1 = {
- .info = "CAN bus service",
- .prefix = "can",
- .verbs = verbs
+ static void subscribe(struct afb_req request)
+ {
+ subscribe_unsubscribe(request, true);
}
-};
-const struct afb_binding *afbBindingV1Register (const struct afb_binding_interface *itf)
-{
- interface = itf;
+ static void unsubscribe(struct afb_req request)
+ {
+ subscribe_unsubscribe(request, false);
+ }
- return &binding_desc;
-}
+ 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." }
+ };
-/**
- * @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);
+ static const struct afb_binding binding_desc {
+ AFB_BINDING_VERSION_1,
+ {
+ "CAN bus service",
+ "can",
+ verbs
+ }
+ };
- /* Open CAN socket */
- can_bus_t can_bus_handler(interface, fd_conf);
- if(can_bus_handler.init_can_dev() == 0)
+ const struct afb_binding *afbBindingV1Register (const struct afb_binding_interface *itf)
{
- can_bus_handler.start_threads();
- return 0;
+ binder_interface = itf;
+
+ return &binding_desc;
}
- return 1;
-}
+ /**
+ * @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)
+ {
+ 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 */
+ if(can_bus_handler->init_can_dev() == 0)
+ {
+ 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;
+ }
+};
Code Review / apps / low-level-can-service.git / blobdiff