X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fbinding%2Flow-can-cb.cpp;h=32adac869e2462ee94f292bbcea06eb80bbb2374;hb=HEAD;hp=5d5a51706ce90819dba7611a3fc724e962e21d48;hpb=43cc23cd9d0986ae370f5839aa952c6e3eb196d0;p=apps%2Fagl-service-can-low-level.git diff --git a/low-can-binding/binding/low-can-cb.cpp b/low-can-binding/binding/low-can-cb.cpp index 5d5a5170..32adac86 100644 --- a/low-can-binding/binding/low-can-cb.cpp +++ b/low-can-binding/binding/low-can-cb.cpp @@ -1,5 +1,6 @@ /* * Copyright (C) 2015, 2018 "IoT.bzh" + * Copyright (C) 2021 Konsulko Group * Author "Romain Forlot" * Author "Loic Collignon" * @@ -23,6 +24,7 @@ #include #include #include +#include #include #include #include @@ -37,7 +39,7 @@ #include "../utils/signals.hpp" #include "../diagnostic/diagnostic-message.hpp" #include "../utils/openxc-utils.hpp" -#include "../utils/signals.hpp" +#include "../utils/config-parser.hpp" #ifdef USE_FEATURE_J1939 #include "../can/message/j1939-message.hpp" @@ -56,7 +58,7 @@ int config_low_can(afb_api_t apiHandle, CtlSectionT *section, json_object *json_ CtlConfigT *ctrlConfig = (CtlConfigT *) afb_api_get_userdata(apiHandle); int active_message_set = 0; json_object *dev_mapping = nullptr; - const char *diagnotic_bus = nullptr; + const char *diagnostic_bus = nullptr; if(! ctrlConfig || ! ctrlConfig->external) return -1; @@ -64,35 +66,86 @@ int config_low_can(afb_api_t apiHandle, CtlSectionT *section, json_object *json_ application_t *application = (application_t*) ctrlConfig->external; if(wrap_json_unpack(json_obj, "{si, s?s}", - "active_message_set", &active_message_set, - "diagnostic_bus", &diagnotic_bus)) + "active_message_set", &active_message_set, + "diagnostic_bus", &diagnostic_bus)) { + AFB_ERROR("active_message_set and/or diagnostic_bus missing in controller JSON"); + return -1; + } + + if(active_message_set < 0 || + active_message_set > (application->get_messages_definition().size() - 1)) { + AFB_ERROR("Invalid active message set %d", active_message_set); return -1; + } + application->set_active_message_set((uint8_t) active_message_set); + + utils::config_parser_t conf_file("/etc/dev-mapping.conf"); + if(conf_file.check_conf()) + { + // If a mapping file in /etc exists, use it + AFB_INFO("Using /etc/dev-mapping.conf"); + application->get_can_bus_manager().set_can_devices(conf_file.get_devices_name()); + } else { + // Use whatever configuration is in the controller JSON + if(wrap_json_unpack(json_obj, "{so}", + "dev-mapping", &dev_mapping)) { + AFB_ERROR("No device mapping in controller JSON"); + return -1; + } - application->set_active_message_set((uint8_t)active_message_set); + application->get_can_bus_manager().set_can_devices(dev_mapping); + } - if(wrap_json_unpack(json_obj, "{so}", - "dev-mapping", &dev_mapping)) + // Find all required buses + std::set buses; + std::set j1939_buses; + vect_ptr_msg_def_t msg_defs = application->get_messages_definition(); + for(std::shared_ptr &msg_def : msg_defs) { + if(!msg_def->is_j1939()) + buses.insert(msg_def->get_bus_name()); + else + j1939_buses.insert(msg_def->get_bus_name()); + } +#ifdef USE_FEATURE_J1939 + // NOTE: With C++17 just: buses.merge(j1939_buses) + for(auto it = begin(j1939_buses); it != end(j1939_buses); ++it) + buses.insert(*it); +#endif + + // Check that required buses have device mappings + for(auto it = begin(buses); it != end(buses); ++it) { + std::string dev = application->get_can_bus_manager().get_can_device_name(*it); + if(dev == "") { + AFB_ERROR("No CAN device defined for bus \"%s\"", it->c_str()); + return -1; + } + AFB_INFO("Using CAN device %s for bus \"%s\"", dev.c_str(), it->c_str()); + } + + // Check that diagnostic bus is one of the configured buses + if(diagnostic_bus && buses.count(diagnostic_bus) == 0) { + AFB_ERROR("No CAN device mapping defined for diagnostic bus \"%s\"", diagnostic_bus); return -1; - application->get_can_bus_manager().set_can_devices(dev_mapping); + } /// Initialize Diagnostic manager that will handle obd2 requests. /// We pass by default the first CAN bus device to its Initialization. - if(! diagnotic_bus || application_t::instance().get_diagnostic_manager().initialize(diagnotic_bus)) + if(! diagnostic_bus || application_t::instance().get_diagnostic_manager().initialize(diagnostic_bus)) AFB_WARNING("Diagnostic Manager: not initialized. No diagnostic messages will be processed."); return 0; } CtlSectionT ctlSections_[] = { - [0]={.key="config" , .uid="config", .info=nullptr, - .loadCB=config_low_can, - .handle=nullptr, - .actions=nullptr}, - [1]={.key="plugins" , .uid="plugins", .info=nullptr, + [0]={.key="plugins" , .uid="plugins", .info=nullptr, .loadCB=PluginConfig, .handle=nullptr, .actions=nullptr}, + [1]={.key="config" , .uid="config", .info=nullptr, + .loadCB=config_low_can, + .handle=nullptr, + .actions=nullptr}, [2]={.key=nullptr , .uid=nullptr, .info=nullptr, .loadCB=nullptr, .handle=nullptr, @@ -126,9 +179,7 @@ static int subscribe_unsubscribe_signal(afb_req_t request, * subsciptions. */ if(! request) - { return 0; - } // Event doesn't exist , so let's create it if ((ret = can_subscription->subscribe(request)) < 0) @@ -299,7 +350,7 @@ static int subscribe_unsubscribe_signals(afb_req_t request, static event_filter_t generate_filter(json_object* args) { - event_filter_t event_filter; + event_filter_t event_filter = {}; struct json_object *filter, *obj; // computes the filter @@ -366,7 +417,6 @@ static int one_subscribe_unsubscribe_events(afb_req_t request, bool subscribe, c static int one_subscribe_unsubscribe_id(afb_req_t request, bool subscribe, const uint32_t& id, json_object *args) { - int ret = 0; std::shared_ptr message_definition = application_t::instance().get_message_definition(id); struct utils::signals_found sf; @@ -376,15 +426,26 @@ static int one_subscribe_unsubscribe_id(afb_req_t request, bool subscribe, const if(sf.signals.empty()) { AFB_NOTICE("No signal(s) found for %d.", id); - ret = -1; - } - else - { - event_filter_t event_filter = generate_filter(args); - ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter); + return -1; } - return ret; + event_filter_t event_filter = generate_filter(args); + std::shared_ptr can_subscription = std::make_shared(low_can_subscription_t(event_filter)); + can_subscription->set_message_definition(message_definition); + + utils::signals_manager_t& sm = utils::signals_manager_t::instance(); + std::lock_guard subscribed_signals_lock(sm.get_subscribed_signals_mutex()); + map_subscription& s = sm.get_subscribed_signals(); + + if(can_subscription->create_rx_filter(message_definition) < 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; + + return 0; } @@ -485,35 +546,6 @@ void unsubscribe(afb_req_t request) do_subscribe_unsubscribe(request, false); } -/* -static int send_frame(struct canfd_frame& cfd, const std::string& bus_name, socket_type type) -{ - if(bus_name.empty()) - { - return -1; - } - - std::map >& cd = application_t::instance().get_can_devices(); - - if( cd.count(bus_name) == 0) - { - cd[bus_name] = std::make_shared(low_can_subscription_t()); - } - - - if(type == socket_type::BCM) - { - return low_can_subscription_t::tx_send(*cd[bus_name], cfd, bus_name); - } - else if(type == socket_type::J1939) - { - return low_can_subscription_t::j1939_send(*cd[bus_name], cfd, bus_name); - } - else{ - return -1; - } -} -*/ static int send_message(message_t *message, const std::string& bus_name, uint32_t flags, event_filter_t &event_filter, std::shared_ptr signal) { if(bus_name.empty()) @@ -579,7 +611,9 @@ static void write_raw_frame(afb_req_t request, const std::string& bus_name, mess message->set_maxdlen(J1939_MAX_DLEN); #endif - if(message->get_length() > 0 && message->get_length() <= message->get_maxdlen()) + if(message->get_length() > 0 && + message->get_length() <= message->get_maxdlen() && + json_object_get_type(can_data) == json_type_array) { std::vector data; for (int i = 0 ; i < message->get_length() ; i++) @@ -767,6 +801,36 @@ static struct json_object *get_signals_value(const std::string& name) return ans; } + +static struct json_object *get_id_value(const uint32_t& id) +{ + std::shared_ptr message_definition = application_t::instance().get_message_definition(id); + struct utils::signals_found sf; + struct json_object *ans = nullptr; + + if(message_definition) + sf.signals = list_ptr_signal_t(message_definition->get_signals().begin(), message_definition->get_signals().end()); + + if(sf.signals.empty()) + { + AFB_WARNING("no signal(s) found for %d.", id); + return NULL; + } + + ans = json_object_new_object(); + struct json_object *jsignals = json_object_new_array(); + json_object_object_add(ans, "signals", jsignals); + for(const auto& sig: sf.signals) + { + struct json_object *jobj = json_object_new_object(); + json_object_object_add(jobj, "name", json_object_new_string(sig->get_name().c_str())); + json_object_object_add(jobj, "value", json_object_new_double(sig->get_last_value())); + json_object_array_add(jsignals, jobj); + } + + return ans; +} + void get(afb_req_t request) { int rc = 0; @@ -784,6 +848,37 @@ void get(afb_req_t request) if (!ans) rc = -1; } + else if (args != nullptr && + (json_object_object_get_ex(args, "id", &json_name))) + { + if (json_object_get_type(json_name) == json_type_string) // id is set before and check if it's an array + { + ans = get_id_value(json_object_get_int(json_name)); + } + else if(json_object_get_type(json_name) == json_type_array) + { + ans = json_object_new_array(); + for (int i = 0 ; i < json_object_array_length(json_name); i++) + { + json_object *sub_ans = nullptr; + json_object *x = json_object_array_get_idx(json_name, i); + sub_ans = get_id_value(json_object_get_int(x)); + if(!sub_ans) + rc = -1; + else { + struct json_object *jobj = json_object_new_object(); + struct json_object *jid = json_object_new_string(json_object_get_string(x)); + json_object_object_add(jobj, "id", jid); + json_object_object_add(jobj, "data", sub_ans); + json_object_array_add(ans, jobj); + } + } + } + else + rc = -1; + if (!ans) + rc = -1; + } else { AFB_ERROR("Request argument malformed. Please use the following syntax:");