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=b28bb6d33700c25bf50d1da349bd5d3bc0b2febc;hpb=90e008737b3bbfd9b1ec301b904acc8efbb9603c;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 b28bb6d3..e3521018 100644 --- a/CAN-binder/low-can-binding/binding/low-can-cb.cpp +++ b/CAN-binder/low-can-binding/binding/low-can-cb.cpp @@ -31,203 +31,10 @@ #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 "canutil/write.h" -extern "C" -{ - #include -}; - -///****************************************************************************** -/// -/// low_can_subscription_t object -/// -///*******************************************************************************/ - -low_can_subscription_t::low_can_subscription_t() - : index_{-1}, - sig_name_{}, - bus_name_{""}, - can_id_{0}, - bit_position_{0}, - bit_size_{0}, - factor_{-1.0}, - offset_{-1}, - socket_{} -{} - -low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter) - : event_filter_{event_filter} -{} - -low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s) - : index_{s.index_}, - sig_name_{s.sig_name_}, - bus_name_{s.bus_name_}, - can_id_{s.can_id_}, - bit_position_{s.bit_position_}, - bit_size_{s.bit_size_}, - factor_{s.factor_}, - offset_{s.offset_}, - event_filter_{s.event_filter_}, - socket_{std::move(s.socket_)} -{} - - low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s) -{ - socket_ = std::move(s.socket_); - return *this; -} - -low_can_subscription_t::operator bool() const -{ - return socket_.socket() != INVALID_SOCKET; -} - -int low_can_subscription_t::get_index() const -{ - return index_; -} - -const std::string low_can_subscription_t::get_sig_name() const -{ - return sig_name_; -} - -float low_can_subscription_t::get_frequency() const -{ - return event_filter_.frequency; -} - -float low_can_subscription_t::get_min() const -{ - return event_filter_.min; -} - -float low_can_subscription_t::get_max() const -{ - return event_filter_.max; -} - -utils::socketcan_bcm_t& low_can_subscription_t::get_socket() -{ - return socket_; -} - -void low_can_subscription_t::set_frequency(float freq) -{ - event_filter_.frequency = freq; -} - -void low_can_subscription_t::set_min(float min) -{ - event_filter_.min = min; -} - -void low_can_subscription_t::set_max(float max) -{ - event_filter_.max = max; -} - -/// @brief Create a RX_SETUP receive job used by the BCM socket. -/// -/// @return 0 if ok else -1 -int low_can_subscription_t::create_rx_filter(const std::string& bus_name, const std::string& sig_name, uint32_t can_id, uint8_t bit_position, uint8_t bit_size, float factor, float offset) -{ - // Make sure that socket has been opened. - if(! socket_) - { - socket_.open(bus_name); - index_ = (int)socket_.socket(); - } - - sig_name_ = sig_name; - bus_name_ = bus_name; - can_id_ = can_id; - bit_position_ = bit_position; - bit_size_ = bit_size; - factor_ = factor; - offset_ = offset; - - struct utils::simple_bcm_msg bcm_msg; - struct can_frame cfd; - - memset(&cfd, 0, sizeof(cfd)); - memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head)); - float val = (float)(1 << bit_size_) - 1; - - struct timeval freq; - frequency_clock_t f(event_filter_.frequency); - freq = f.get_timeval_from_period(); - - bcm_msg.msg_head.opcode = RX_SETUP; - bcm_msg.msg_head.can_id = can_id_; - bcm_msg.msg_head.flags = SETTIMER|RX_NO_AUTOTIMER; - bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec ; - bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec; - bcm_msg.msg_head.nframes = 1; - bitfield_encode_float(val, - bit_position_, - bit_size_, - factor_, - offset_, - cfd.data, - CAN_MAX_DLEN); - - bcm_msg.frames = cfd; - - if(socket_ << bcm_msg) - return 0; - return -1; -} - -/// @brief Create a RX_SETUP receive job used by the BCM socket. -/// -/// @return 0 if ok else -1 -int low_can_subscription_t::create_rx_filter() -{ - // Make sure that socket has been opened. - if(! socket_) - { - socket_.open(bus_name_); - index_ = (int)socket_.socket(); - } - - struct utils::simple_bcm_msg bcm_msg; - struct can_frame cfd; - - memset(&cfd, 0, sizeof(cfd)); - memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head)); - float val = (float)(1 << bit_size_) - 1; - - struct timeval freq; - frequency_clock_t f(event_filter_.frequency); - freq = f.get_timeval_from_period(); - - bcm_msg.msg_head.opcode = RX_SETUP; - bcm_msg.msg_head.can_id = can_id_; - bcm_msg.msg_head.flags = SETTIMER|RX_NO_AUTOTIMER; - bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec ; - bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec; - bcm_msg.msg_head.nframes = 1; - bitfield_encode_float(val, - bit_position_, - bit_size_, - factor_, - offset_, - cfd.data, - CAN_MAX_DLEN); - - bcm_msg.frames = cfd; - - if(socket_ << bcm_msg) - return 0; - return -1; -} ///****************************************************************************** /// @@ -235,66 +42,55 @@ int low_can_subscription_t::create_rx_filter() /// ///*******************************************************************************/ -void on_no_clients(const std::string& message) +void on_no_clients(std::shared_ptr can_subscription, uint32_t pid, std::map >& s) { - DiagnosticRequest* diag_req = application_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) { + 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) application_t::instance().get_diagnostic_manager().cleanup_request(adr, true); } - delete diag_req; - diag_req = nullptr; + + on_no_clients(can_subscription, s); +} + +void on_no_clients(std::shared_ptr can_subscription, std::map >& s) +{ + auto it = s.find(can_subscription->get_index()); + s.erase(it); } 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); } + { + 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 *s, int fd, uint32_t revents, void *userdata) +int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata) { - can_message_t cm; - low_can_subscription_t* can_subscription; - diagnostic_manager_t& diag_m = application_t::instance().get_diagnostic_manager(); - - if(userdata != nullptr) + low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata; + if ((revents & EPOLLIN) != 0) { - can_subscription = (low_can_subscription_t*)userdata; + can_message_t cm; utils::socketcan_bcm_t& s = can_subscription->get_socket(); s >> cm; - } - else - { - utils::socketcan_bcm_t& s = diag_m.get_socket(); - s >> cm; - } - push_n_notify(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 */ + // check if error or hangup if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0) { - sd_event_source_unref(s); - if(userdata != nullptr) - { - can_subscription->get_socket().close(); - can_subscription->create_rx_filter(); - NOTICE(binder_interface, "%s: Recreated RX_SETUP BCM job for can_subscription: %s", __FUNCTION__, can_subscription->get_sig_name().c_str()); - } - else - { - diag_m.get_socket().close(); - diag_m.cleanup_active_requests(true); - ERROR(binder_interface, "%s: Error on diagnostic manager socket, cancelling active requests.", __FUNCTION__); - } - return -1; + sd_event_source_unref(event_source); + can_subscription->get_socket().close(); } - return 0; } @@ -304,25 +100,25 @@ int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata) /// ///*******************************************************************************/ -static int make_subscription_unsubscription(struct afb_req request, std::shared_ptr& can_subscription, std::map, struct afb_event> >& 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[can_subscription->get_index()].second)) < 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__, can_subscription->get_sig_name().c_str()); + ERROR(binder_interface, "%s: Operation goes wrong for signal: %s", __FUNCTION__, can_subscription->get_name().c_str()); return -1; } return 0; } -static int create_event_handle(std::shared_ptr& can_subscription, std::map, struct afb_event> >& s) +static int create_event_handle(std::shared_ptr& can_subscription, std::map >& s) { int sub_index = can_subscription->get_index(); - struct afb_event event = afb_daemon_make_event(binder_interface->daemon, can_subscription->get_sig_name().c_str()); - s[sub_index] = std::make_pair(can_subscription, event); - if (!afb_event_is_valid(s[sub_index].second)) + 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__, can_subscription->get_sig_name().c_str()); + ERROR(binder_interface, "%s: Can't create an event for %s, something goes wrong.", __FUNCTION__, can_subscription->get_name().c_str()); return -1; } return 0; @@ -331,32 +127,25 @@ static int create_event_handle(std::shared_ptr& can_subs /// @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, std::shared_ptr& can_subscription) +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, struct afb_event> >& s = sm.get_subscribed_signals(); if (can_subscription && s.find(sub_index) != s.end()) { - if (!afb_event_is_valid(s[sub_index].second) && !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 anymore, recreate it - ret = create_event_handle(can_subscription, s); - } + ret = 0; } else { /* Event doesn't exist , so let's create it */ - struct afb_event empty_event = {nullptr, nullptr}; - s[sub_index] = std::make_pair(can_subscription, empty_event); + can_subscription->set_event({nullptr, nullptr}); + s[sub_index] = can_subscription; ret = create_event_handle(can_subscription, s); } @@ -367,80 +156,124 @@ static int subscribe_unsubscribe_signal(struct afb_req request, bool 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, struct event_filter_t& event_filter) +static int add_to_event_loop(std::shared_ptr& can_subscription) { - int 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. - application_t& conf = application_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) { - int ret = 0; - 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 = std::isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency; - - diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), 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()); - delete diag_req; - diag_req = nullptr; - 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; + } } - - std::shared_ptr can_subscription(new low_can_subscription_t(event_filter)); - ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription); + 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) { - std::shared_ptr can_subscription(new low_can_subscription_t(event_filter)); - if(can_subscription->create_rx_filter(sig->get_message()->get_bus_device_name(), - sig->get_name(), - sig->get_message()->get_id(), - sig->get_bit_position(), - sig->get_bit_size(), - sig->get_factor(), - sig->get_offset()) < 0) - {return -1;} - else if(subscribe_unsubscribe_signal(request, subscribe, can_subscription) < 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 + { + 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;} + } + + if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0) {return -1;} - struct sd_event_source* e_source; - sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &e_source, can_subscription->get_socket().socket(), EPOLLIN, read_message, sig.get()); rets++; DEBUG(binder_interface, "%s: signal: %s subscribed", __FUNCTION__, sig->get_name().c_str()); } return rets; } -static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const char *tag, struct json_object *event) +/// +/// @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; @@ -448,7 +281,7 @@ static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, con struct utils::signals_found sf; // computes the filter - if (json_object_object_get_ex(event, "filter", &filter)) + if (json_object_object_get_ex(args, "filter", &filter)) { 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))) @@ -483,17 +316,17 @@ static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, con static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe) { - int rc, rc2; + int i, n, rc, rc2; struct json_object *args, *event, *x; args = afb_req_json(request); if (args == NULL || !json_object_object_get_ex(args, "event", &event)) { - rc = one_subscribe_unsubscribe(request, subscribe, "*", NULL); + rc = one_subscribe_unsubscribe(request, subscribe, "*", args); } else if (json_object_get_type(event) != json_type_array) { - rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), event); + rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), args); } else { @@ -502,7 +335,7 @@ static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe) for (i = 0 ; i < n ; i++) { x = json_object_array_get_idx(event, i); - rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), x); + rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), args); if (rc >= 0) rc = rc2 >= 0 ? rc + rc2 : rc2; }