X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=CAN-binder%2Flow-can-binding%2Fbinding%2Flow-can-cb.cpp;h=e3521018e673ec5f0d37e4de7fcd14f21937e9dc;hb=5206b26e1a6811d142ffbaf12daaea0731345490;hp=55d9bdd4a3d32b580d335489521e3998d9b13387;hpb=112709f7b6babda983feccd90c633eaca4c15e15;p=apps%2Fagl-service-can-low-level.git diff --git a/CAN-binder/low-can-binding/binding/low-can-cb.cpp b/CAN-binder/low-can-binding/binding/low-can-cb.cpp index 55d9bdd4..e3521018 100644 --- a/CAN-binder/low-can-binding/binding/low-can-cb.cpp +++ b/CAN-binder/low-can-binding/binding/low-can-cb.cpp @@ -27,42 +27,69 @@ #include #include "openxc.pb.h" -#include "configuration.hpp" +#include "application.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" -extern "C" -{ - #include -}; -void on_no_clients(std::string message) +///****************************************************************************** +/// +/// SystemD event loop Callbacks +/// +///*******************************************************************************/ + +void on_no_clients(std::shared_ptr can_subscription, uint32_t pid, std::map >& s) { - DiagnosticRequest* diag_req = configuration_t::instance().get_request_from_diagnostic_message(message); - if(diag_req != nullptr) + if( ! can_subscription->get_diagnostic_message().empty() && can_subscription->get_diagnostic_message(pid) != nullptr) { - active_diagnostic_request_t* adr = configuration_t::instance().get_diagnostic_manager().find_recurring_request(diag_req); + 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) - configuration_t::instance().get_diagnostic_manager().cleanup_request(adr, true); + application_t::instance().get_diagnostic_manager().cleanup_request(adr, true); } + + on_no_clients(can_subscription, s); } -int read(sd_event_source *s, int fd, uint32_t revents, void *userdata) +void on_no_clients(std::shared_ptr can_subscription, std::map >& s) { - can_signal_t* sig= (can_signal_t*)userdata; - sig->read_socket(); + auto it = s.find(can_subscription->get_index()); + s.erase(it); +} - /* check if error or hangup */ +static void push_n_notify(const can_message_t& cm) +{ + can_bus_t& cbm = application_t::instance().get_can_bus_manager(); + { + std::lock_guard can_message_lock(cbm.get_can_message_mutex()); + cbm.push_new_can_message(cm); + } + cbm.get_new_can_message_cv().notify_one(); +} + +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) + { + can_message_t cm; + utils::socketcan_bcm_t& s = can_subscription->get_socket(); + s >> cm; + + // Sure we got a valid CAN message ? + if(! cm.get_id() == 0 && ! cm.get_length() == 0) + {push_n_notify(cm);} + } + + // check if error or hangup if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0) { - sd_event_source_unref(s); - sig->get_socket().close(); - sig->create_rx_filter(); + sd_event_source_unref(event_source); + can_subscription->get_socket().close(); } return 0; } @@ -73,199 +100,259 @@ int read(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& s, bool subscribe) +static int make_subscription_unsubscription(struct afb_req request, std::shared_ptr& can_subscription, std::map >& s, bool subscribe) { /* Make the subscription or unsubscription to the event */ - if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[sig_name])) < 0) + if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[can_subscription->get_index()]->get_event())) < 0) { - ERROR(binder_interface, "%s: Operation goes wrong for signal: %s", __FUNCTION__, sig_name.c_str()); - return 0; + ERROR(binder_interface, "%s: Operation goes wrong for signal: %s", __FUNCTION__, can_subscription->get_name().c_str()); + return -1; } - return 1; + return 0; } -static int create_event_handle(const std::string& sig_name, std::map& s) +static int create_event_handle(std::shared_ptr& can_subscription, std::map >& s) { - s[sig_name] = afb_daemon_make_event(binder_interface->daemon, sig_name.c_str()); - if (!afb_event_is_valid(s[sig_name])) + int sub_index = can_subscription->get_index(); + can_subscription->set_event(afb_daemon_make_event(binder_interface->daemon, can_subscription->get_name().c_str())); + s[sub_index] = can_subscription; + if (!afb_event_is_valid(s[sub_index]->get_event())) { - ERROR(binder_interface, "%s: Can't create an event for %s, something goes wrong.", __FUNCTION__, sig_name.c_str()); - return 0; + ERROR(binder_interface, "%s: Can't create an event for %s, something goes wrong.", __FUNCTION__, can_subscription->get_name().c_str()); + return -1; } - return 1; + return 0; } /// @brief Will determine if it is needed or not to create the event handle and checks it to be sure that /// we got a valid afb_event to get subscribe or unsubscribe. Then launch the subscription or unsubscription /// against the application framework using that event handle. -static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, const std::string& sig) +static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, std::shared_ptr& can_subscription, std::map >& s) { - int ret; + int ret = -1; + int sub_index = can_subscription->get_index(); - utils::signals_manager_t& sm = utils::signals_manager_t::instance(); - - std::lock_guard subscribed_signals_lock(sm.get_subscribed_signals_mutex()); - std::map& s = sm.get_subscribed_signals(); - if (s.find(sig) != s.end()) + if (can_subscription && s.find(sub_index) != s.end()) { - if (!afb_event_is_valid(s[sig]) && !subscribe) + if (!afb_event_is_valid(s[sub_index]->get_event()) && !subscribe) { NOTICE(binder_interface, "%s: Event isn't valid, no need to unsubscribed.", __FUNCTION__); ret = -1; } - else - { - // Event it isn't valid annymore, recreate it - ret = create_event_handle(sig, s); - } + ret = 0; } else { /* Event doesn't exist , so let's create it */ - struct afb_event empty_event = {nullptr, nullptr}; - s[sig] = empty_event; - ret = create_event_handle(sig, s); + can_subscription->set_event({nullptr, nullptr}); + s[sub_index] = can_subscription; + ret = create_event_handle(can_subscription, s); } // Check whether or not the event handler has been correctly created and // make the subscription/unsubscription operation is so. - if (ret <= 0) + if (ret < 0) return ret; - return make_subscription_unsubscription(request, sig, s, subscribe); + return make_subscription_unsubscription(request, can_subscription, s, subscribe); } -/// -/// @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] signals - struct containing vectors with can_signal_t and diagnostic_messages to subscribe -/// -/// @return Number of correctly subscribed signal -/// -static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals) +static int add_to_event_loop(std::shared_ptr& can_subscription) { - int ret, rets = 0; + struct sd_event_source* event_source = nullptr; + return ( sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), + &event_source, + can_subscription->get_socket().socket(), + EPOLLIN, + read_message, + can_subscription.get())); +} - //TODO: Implement way to dynamically call the right function no matter - // how much signals types we have. - configuration_t& conf = configuration_t::instance(); +static int subscribe_unsubscribe_diagnostic_messages(struct afb_req request, bool subscribe, std::vector > diagnostic_messages, struct event_filter_t& event_filter, std::map >& s) +{ + int rets = 0; + application_t& app = application_t::instance(); + diagnostic_manager_t& diag_m = app.get_diagnostic_manager(); - for(const auto& sig : signals.diagnostic_messages) + for(const auto& sig : diagnostic_messages) { - diagnostic_manager_t& diag_m = conf.get_diagnostic_manager(); - DiagnosticRequest* diag_req = conf.get_request_from_diagnostic_message(sig->get_name()); + DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request()); + event_filter.frequency = std::isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency; + std::shared_ptr can_subscription; + auto it = std::find_if(s.begin(), s.end(), [&sig](std::pair > sub){ return (! sub.second->get_diagnostic_message().empty());}); + can_subscription = it != s.end() ? + it->second : + std::make_shared(low_can_subscription_t(event_filter)); // If the requested diagnostic message isn't supported by the car then unsubcribe it // no matter what we want, worse case will be a fail unsubscription but at least we don't // poll a PID for nothing. + //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); if(sig->get_supported() && subscribe) { - float frequency = sig->get_frequency(); - subscribe = diag_m.add_recurring_request( - diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->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); + diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), event_filter.frequency); + if(can_subscription->create_rx_filter(sig) < 0) + {return -1;} + DEBUG(binder_interface, "%s: Signal: %s subscribed", __FUNCTION__, sig->get_name().c_str()); + if(it == s.end() && add_to_event_loop(can_subscription) < 0) + { + diag_m.cleanup_request( + diag_m.find_recurring_request(*diag_req), true); + WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, sig->get_name().c_str()); + return -1; + } } else { - diag_m.cleanup_request( - diag_m.find_recurring_request(diag_req), true); - WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, sig->get_name().c_str()); - return -1; + if(sig->get_supported()) + {DEBUG(binder_interface, "%s: %s cancelled due to unsubscribe", __FUNCTION__, sig->get_name().c_str());} + else + { + WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, sig->get_name().c_str()); + return -1; + } } - - ret = subscribe_unsubscribe_signal(request, subscribe, sig->get_name()); - if(ret <= 0) + int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s); + if(ret < 0) return ret; + rets++; - DEBUG(binder_interface, "%s: Signal: %s subscribed", __FUNCTION__, sig->get_name().c_str()); } - for(const auto& sig: signals.can_signals) + return rets; +} + +static int subscribe_unsubscribe_can_signals(struct afb_req request, bool subscribe, std::vector > can_signals, struct event_filter_t& event_filter, std::map >& s) +{ + int rets = 0; + for(const auto& sig: can_signals) { - if(sig->create_rx_filter() <= 0 && - subscribe_unsubscribe_signal(request, subscribe, sig->get_name()) <=0) + auto it = std::find_if(s.begin(), s.end(), [&sig](std::pair > sub){ return sub.second->get_can_signal() == sig; }); + std::shared_ptr can_subscription; + if(it != s.end()) + { + can_subscription = it->second; + } + else { - return -1; + can_subscription = std::make_shared(low_can_subscription_t(event_filter)); + if(can_subscription->create_rx_filter(sig) < 0) + {return -1;} + if(add_to_event_loop(can_subscription) < 0) + {return -1;} } - struct sd_event_source* e_source; - sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &e_source, sig->get_socket().socket(), EPOLLIN, read, sig.get()); + + if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0) + {return -1;} + rets++; DEBUG(binder_interface, "%s: signal: %s subscribed", __FUNCTION__, sig->get_name().c_str()); } return rets; } -static int process_args(struct afb_req request, const std::vector& args, bool subscribe) +/// +/// @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] signals - struct containing vectors with can_signal_t and diagnostic_messages to subscribe +/// +/// @return Number of correctly subscribed signal +/// +static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals, struct event_filter_t& event_filter) { + int rets = 0; + utils::signals_manager_t& sm = utils::signals_manager_t::instance(); + + std::lock_guard subscribed_signals_lock(sm.get_subscribed_signals_mutex()); + std::map >& s = sm.get_subscribed_signals(); + + rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s); + rets += subscribe_unsubscribe_can_signals(request, subscribe, signals.can_signals, event_filter, s); + + return rets; +} + +static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const std::string& tag, json_object* args) +{ + int ret = 0; + struct event_filter_t event_filter; + struct json_object *filter, *obj; struct utils::signals_found sf; - int ok = 0, total = 0; - for(const auto& sig: args) + // computes the filter + if (json_object_object_get_ex(args, "filter", &filter)) { - openxc_DynamicField search_key = build_DynamicField(sig); - sf = utils::signals_manager_t::instance().find_signals(search_key); - total = (int)sf.can_signals.size() + (int)sf.diagnostic_messages.size(); - - if (sf.can_signals.empty() && sf.diagnostic_messages.empty()) - NOTICE(binder_interface, "%s: No signal(s) found for %s.", __FUNCTION__, sig.c_str()); - else - ok = subscribe_unsubscribe_signals(request, subscribe, sf); + if (json_object_object_get_ex(filter, "frequency", &obj) + && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int))) + { + event_filter.frequency = (float)json_object_get_double(obj); + ret += 1; + } + if (json_object_object_get_ex(filter, "min", &obj) + && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int))) + { + event_filter.min = (float)json_object_get_double(obj); + ret += 2; + } + if (json_object_object_get_ex(filter, "max", &obj) + && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int))) + { + event_filter.max = (float)json_object_get_double(obj); + ret += 4; + } } - NOTICE(binder_interface, "%s: Subscribed/unsubscribe correctly to %d/%d signal(s).", __FUNCTION__, ok, total); - return ok; + + // subscribe or unsubscribe + openxc_DynamicField search_key = build_DynamicField(tag); + sf = utils::signals_manager_t::instance().find_signals(search_key); + if (sf.can_signals.empty() && sf.diagnostic_messages.empty()) + NOTICE(binder_interface, "%s: No signal(s) found for %s.", __FUNCTION__, tag.c_str()); + else + ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter); + + return ret; } -static const std::vector parse_args_from_request(struct afb_req request) +static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe) { - int i, n; - std::vector ret; - struct json_object *args, *a, *x; + int i, n, rc, rc2; + struct json_object *args, *event, *x; - /* retrieve signals to subscribe */ args = afb_req_json(request); - if (args == NULL || !json_object_object_get_ex(args, "event", &a)) + if (args == NULL || !json_object_object_get_ex(args, "event", &event)) { - ret.push_back("*"); + rc = one_subscribe_unsubscribe(request, subscribe, "*", args); } - else if (json_object_get_type(a) != json_type_array) + else if (json_object_get_type(event) != json_type_array) { - ret.push_back(json_object_get_string(a)); + rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), args); } else { - n = json_object_array_length(a); + rc = 0; + n = json_object_array_length(event); for (i = 0 ; i < n ; i++) { - x = json_object_array_get_idx(a, i); - ret.push_back(json_object_get_string(x)); + x = json_object_array_get_idx(event, i); + rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), args); + if (rc >= 0) + rc = rc2 >= 0 ? rc + rc2 : rc2; } } - return ret; + if (rc >= 0) + afb_req_success(request, NULL, NULL); + else + afb_req_fail(request, "error", NULL); } void subscribe(struct afb_req request) { - bool subscribe = true; - - const std::vector args = parse_args_from_request(request); - - if (process_args(request, args, subscribe) > 0) - afb_req_success(request, NULL, NULL); - else - afb_req_fail(request, "error", NULL); + do_subscribe_unsubscribe(request, true); } void unsubscribe(struct afb_req request) { - std::vector args; - bool subscribe = false; - - args = parse_args_from_request(request); - - if (process_args(request, args, subscribe) > 0) - afb_req_success(request, NULL, NULL); - else - afb_req_fail(request, "error", NULL); -} \ No newline at end of file + do_subscribe_unsubscribe(request, false); +}