X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=CAN-binder%2Flow-can-binding%2Fbinding%2Flow-can-cb.cpp;h=eed0d761da64586edf590a4215e9e688bb1a9d5c;hb=07cf0fca41024a41ba035f6e817a9590b686a992;hp=b3c9e2e0685ac102b11cf64a43af4d73fd653cf6;hpb=4f1b1d088afe8eb9a5b75287429104e4175e97e7;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 b3c9e2e0..eed0d761 100644 --- a/CAN-binder/low-can-binding/binding/low-can-cb.cpp +++ b/CAN-binder/low-can-binding/binding/low-can-cb.cpp @@ -19,6 +19,7 @@ #include "low-can-hat.hpp" #include +#include #include #include #include @@ -27,7 +28,7 @@ #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" @@ -35,144 +36,303 @@ #include "../utils/signals.hpp" #include "../diagnostic/diagnostic-message.hpp" #include "../utils/openxc-utils.hpp" +#include "canutil/write.h" extern "C" { #include }; -void on_no_clients(std::string message) +///****************************************************************************** +/// +/// low_can_subscription_t object +/// +///*******************************************************************************/ + +low_can_subscription_t::low_can_subscription_t() + : index_{-1}, + event_filter_{event_filter_t()}, + 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(struct event_filter_t event_filter, std::shared_ptr diagnostic_message) + : event_filter_{event_filter}, diagnostic_message_{diagnostic_message} +{} + +low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s) + : index_{s.index_}, + 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::shared_ptr low_can_subscription_t::get_can_signal() const +{ + return can_signal_; +} + +const std::string low_can_subscription_t::get_sig_name() const +{ + return can_signal_->get_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) { - DiagnosticRequest* diag_req = configuration_t::instance().get_request_from_diagnostic_message(message); + 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(std::shared_ptr sig) +{ + can_signal_= sig; + return create_rx_filter(); +} + +/// @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() +{ + if (can_signal_ == nullptr) + {return -1;} + + // Make sure that socket has been opened. + if(! socket_) + { + socket_.open(can_signal_->get_message()->get_bus_device_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 << can_signal_->get_bit_size()) - 1; + + struct timeval freq; + frequency_clock_t f = std::isnan(event_filter_.frequency) ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency); + freq = f.get_timeval_from_period(); + + bcm_msg.msg_head.opcode = RX_SETUP; + bcm_msg.msg_head.can_id = can_signal_->get_message()->get_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, + can_signal_->get_bit_position(), + can_signal_->get_bit_size(), + can_signal_->get_factor(), + can_signal_->get_offset(), + cfd.data, + CAN_MAX_DLEN); + + bcm_msg.frames = cfd; + + if(socket_ << bcm_msg) + return 0; + return -1; +} + +///****************************************************************************** +/// +/// SystemD event loop Callbacks +/// +///*******************************************************************************/ + +void on_no_clients(const std::string& message) +{ + DiagnosticRequest* diag_req = application_t::instance().get_request_from_diagnostic_message(message); if(diag_req != nullptr) { - active_diagnostic_request_t* adr = configuration_t::instance().get_diagnostic_manager().find_recurring_request(diag_req); + 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); } + delete diag_req; + diag_req = nullptr; } -int read_can_signal(sd_event_source *s, int fd, uint32_t revents, void *userdata) +static void push_n_notify(const can_message_t& cm) { - can_signal_t* sig= (can_signal_t*)userdata; - sig->read_socket(); + 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(); +} - /* check if error or hangup */ - if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0) +int read_message(sd_event_source *s, 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) { - sd_event_source_unref(s); - sig->get_socket().close(); - sig->create_rx_filter(); + can_subscription = (low_can_subscription_t*)userdata; + utils::socketcan_bcm_t& s = can_subscription->get_socket(); + s >> cm; + } + else + { + utils::socketcan_bcm_t& s = diag_m.get_socket(); + s >> cm; } - return 0; -} -int read_diagnostic_message(sd_event_source *s, int fd, uint32_t revents, void *userdata) -{ - diagnostic_manager_t& diag_m = configuration_t::instance().get_diagnostic_manager(); - diag_m.read_socket(); + push_n_notify(cm); /* check if error or hangup */ if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0) { sd_event_source_unref(s); - diag_m.get_socket().close(); - diag_m.cleanup_active_requests(true); - ERROR(binder_interface, "%s: Error on diagnostic manager socket, cancelling active requests.", __FUNCTION__); + 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; } return 0; } - ///****************************************************************************** /// /// Subscription and unsubscription /// ///*******************************************************************************/ -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, struct afb_event> >& 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()].second)) < 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_sig_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, 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])) + 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)) { - 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_sig_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) { int ret; - + 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()) + 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[sig]) && !subscribe) + if (!afb_event_is_valid(s[sub_index].second) && !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); + // Event it isn't valid anymore, recreate it + ret = create_event_handle(can_subscription, s); } } 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); + s[sub_index] = std::make_pair(can_subscription, empty_event); + 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) +int subscribe_unsubscribe_diagnostic_messages(struct afb_req request, bool subscribe, std::vector > diagnostic_messages, struct event_filter_t& event_filter) { - int ret, rets = 0; - - //TODO: Implement way to dynamically call the right function no matter - // how much signals types we have. - configuration_t& conf = configuration_t::instance(); + int rets = 0; + application_t& conf = application_t::instance(); + diagnostic_manager_t& diag_m = conf.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(); + active_diagnostic_request_t* adr; DiagnosticRequest* diag_req = conf.get_request_from_diagnostic_message(sig->get_name()); // If the requested diagnostic message isn't supported by the car then unsubcribe it @@ -180,109 +340,150 @@ static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, // poll a PID for nothing. if(sig->get_supported() && subscribe) { - float frequency = sig->get_frequency(); - 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); + float frequency = std::isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency; + + adr = 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); } 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; } - ret = subscribe_unsubscribe_signal(request, subscribe, sig->get_name()); - if(ret <= 0) + std::shared_ptr can_subscription(new low_can_subscription_t(event_filter, std::shared_ptr(adr))); + int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription); + 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; +} + +int subscribe_unsubscribe_can_signals(struct afb_req request, bool subscribe, std::vector > can_signals, struct event_filter_t& event_filter) +{ + int rets = 0; + for(const auto& sig: can_signals) { - if(sig->create_rx_filter() <= 0 && - subscribe_unsubscribe_signal(request, subscribe, sig->get_name()) <=0) - { - return -1; - } - sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &e_source, sig->get_socket().socket(), EPOLLIN, read_can_signal, sig.get()); + std::shared_ptr can_subscription(new low_can_subscription_t(event_filter)); + if(can_subscription->create_rx_filter(sig) < 0) + {return -1;} + else if(subscribe_unsubscribe_signal(request, subscribe, 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, can_subscription->get_socket().socket(), EPOLLIN, read_message, can_subscription.get()); 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; + + rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter); + rets += subscribe_unsubscribe_can_signals(request, subscribe, signals.can_signals, event_filter); + + 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); +}