X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fbinding%2Flow-can-cb.cpp;h=5e03c754cfa511d06977ba7b3e4d3803fb774440;hb=cc48ab799cf5357f4d573d80c07f6843e50bc8e8;hp=3cb61c6c1a9ac2b01754d5cb607e7009a9469aeb;hpb=99682db67048b828705c9afe14d53b8305a07392;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 3cb61c6c..5e03c754 100644 --- a/low-can-binding/binding/low-can-cb.cpp +++ b/low-can-binding/binding/low-can-cb.cpp @@ -1,5 +1,5 @@ /* - * Copyright (C) 2015, 2016 "IoT.bzh" + * Copyright (C) 2015, 2018 "IoT.bzh" * Author "Romain Forlot" * Author "Loic Collignon" * @@ -24,119 +24,86 @@ #include #include #include +#include #include #include - +#include #include "openxc.pb.h" #include "application.hpp" #include "../can/can-encoder.hpp" #include "../can/can-bus.hpp" -#include "../can/can-signals.hpp" -#include "../can/can-message.hpp" +#include "../can/signals.hpp" +#include "../can/message/message.hpp" #include "../utils/signals.hpp" #include "../diagnostic/diagnostic-message.hpp" #include "../utils/openxc-utils.hpp" +#include "../utils/signals.hpp" -///****************************************************************************** +#ifdef USE_FEATURE_J1939 + #include "../can/message/j1939-message.hpp" + #include +#endif + +///***************************************************************************** /// -/// SystemD event loop Callbacks +/// Controller Definitions and Callbacks /// -///*******************************************************************************/ +///****************************************************************************/ -void on_no_clients(std::shared_ptr can_subscription, uint32_t pid, std::map >& s) +int config_low_can(afb_api_t apiHandle, CtlSectionT *section, json_object *json_obj) { - bool is_permanent_recurring_request = false; + AFB_DEBUG("Config %s", json_object_to_json_string(json_obj)); + CtlConfigT *ctrlConfig = (CtlConfigT *) afb_api_get_userdata(apiHandle); + int active_message_set = 0; + json_object *dev_mapping = nullptr; + const char *diagnotic_bus = 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) - { - is_permanent_recurring_request = adr->get_permanent(); + if(! ctrlConfig || ! ctrlConfig->external) + return -1; - if(! is_permanent_recurring_request) - application_t::instance().get_diagnostic_manager().cleanup_request(adr, true); - } - } + application_t *application = (application_t*) ctrlConfig->external; - if(! is_permanent_recurring_request) - on_no_clients(can_subscription, s); -} + if(wrap_json_unpack(json_obj, "{si, s?s}", + "active_message_set", &active_message_set, + "diagnostic_bus", &diagnotic_bus)) + return -1; -void on_no_clients(std::shared_ptr can_subscription, std::map >& s) -{ - auto it = s.find(can_subscription->get_index()); - s.erase(it); -} + application->set_active_message_set((uint8_t)active_message_set); -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(); -} + if(wrap_json_unpack(json_obj, "{so}", + "dev-mapping", &dev_mapping)) + return -1; -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; + application->get_can_bus_manager().set_can_devices(dev_mapping); - // Sure we got a valid CAN message ? - if(! cm.get_id() == 0 && ! cm.get_length() == 0) - {push_n_notify(cm);} - } + /// 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)) + AFB_WARNING("Diagnostic Manager: not initialized. No diagnostic messages will be processed."); - // check if error or hangup - if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0) - { - sd_event_source_unref(event_source); - can_subscription->get_socket().close(); - } 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, + .loadCB=PluginConfig, + .handle=nullptr, + .actions=nullptr}, + [2]={.key=nullptr , .uid=nullptr, .info=nullptr, + .loadCB=nullptr, + .handle=nullptr, + .actions=nullptr}, +}; + +///***************************************************************************** /// /// Subscription and unsubscription /// -///*******************************************************************************/ - -static int make_subscription_unsubscription(afb_req_t request, - std::shared_ptr& can_subscription, - std::map >& s, - bool subscribe) -{ - /* Make the subscription or unsubscription to the event (if request is not null) */ - if(request && - ((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[can_subscription->get_index()]->get_event())) < 0) - { - AFB_ERROR("Operation goes wrong for signal: %s", can_subscription->get_name().c_str()); - return -1; - } - return 0; -} - -static int create_event_handle(std::shared_ptr& can_subscription, - std::map >& s) -{ - int sub_index = can_subscription->get_index(); - can_subscription->set_event(afb_daemon_make_event(can_subscription->get_name().c_str())); - s[sub_index] = can_subscription; - if (!afb_event_is_valid(s[sub_index]->get_event())) - { - AFB_ERROR("Can't create an event for %s, something goes wrong.", can_subscription->get_name().c_str()); - return -1; - } - return 0; -} +///****************************************************************************/ /// @brief This will determine if an event handle needs to be created and checks if /// we got a valid afb_event to get subscribe or unsubscribe. After that launch the subscription or unsubscription @@ -144,32 +111,53 @@ static int create_event_handle(std::shared_ptr& can_subs static int subscribe_unsubscribe_signal(afb_req_t request, bool subscribe, std::shared_ptr& can_subscription, - std::map >& s) + map_subscription& s) { - int ret = -1; + int ret = 0; int sub_index = can_subscription->get_index(); + bool subscription_exists = s.count(sub_index); - if (can_subscription && s.find(sub_index) != s.end()) + // Susbcription part + if(subscribe) { - if (!afb_event_is_valid(s[sub_index]->get_event()) && !subscribe) + /* There is no valid request to subscribe so this must be an + * internal permanent diagnostic request. Skip the subscription + * part and don't register it into the current "low-can" + * subsciptions. + */ + if(! request) { - AFB_NOTICE("Event isn't valid, no need to unsubscribed."); - ret = -1; + return 0; } - ret = 0; + + // Event doesn't exist , so let's create it + if ((ret = can_subscription->subscribe(request)) < 0) + return ret; + + if(! subscription_exists) + s[sub_index] = can_subscription; + + return ret; } - else + + // Unsubscrition part + if(! subscription_exists) { - /* Event doesn't exist , so let's create it */ - s[sub_index] = can_subscription; - ret = create_event_handle(can_subscription, s); + AFB_NOTICE("There isn't any valid subscriptions for that request."); + return ret; + } + else if (subscription_exists && + ! afb_event_is_valid(s[sub_index]->get_event()) ) + { + AFB_NOTICE("Event isn't valid, no need to unsubscribed."); + return ret; } - // Checks if the event handler is correctly created, if it is, it - // performs the subscription or unsubscription operations. - if (ret < 0) + if( (ret = s[sub_index]->unsubscribe(request)) < 0) return ret; - return make_subscription_unsubscription(request, can_subscription, s, subscribe); + s.find(sub_index)->second->set_index(-1); + s.erase(sub_index); + return ret; } static int add_to_event_loop(std::shared_ptr& can_subscription) @@ -177,7 +165,7 @@ static int add_to_event_loop(std::shared_ptr& can_subscr struct sd_event_source* event_source = nullptr; return ( sd_event_add_io(afb_daemon_get_event_loop(), &event_source, - can_subscription->get_socket().socket(), + can_subscription->get_socket()->socket(), EPOLLIN, read_message, can_subscription.get())); @@ -185,9 +173,9 @@ static int add_to_event_loop(std::shared_ptr& can_subscr static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request, bool subscribe, - std::vector > diagnostic_messages, + list_ptr_diag_msg_t diagnostic_messages, struct event_filter_t& event_filter, - std::map >& s, + map_subscription& s, bool perm_rec_diag_req) { int rets = 0; @@ -200,7 +188,10 @@ static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request, event_filter.frequency = event_filter.frequency == 0 ? 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());}); + 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)); @@ -209,12 +200,12 @@ static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request, // poll a PID for nothing. if(sig->get_supported() && subscribe) { - if (!app.isEngineOn()) + if (!app.is_engine_on()) AFB_WARNING("signal: Engine is off, %s won't received responses until it's on", sig->get_name().c_str()); diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), event_filter.frequency, perm_rec_diag_req); if(can_subscription->create_rx_filter(sig) < 0) - {return -1;} + return -1; AFB_DEBUG("Signal: %s subscribed", sig->get_name().c_str()); if(it == s.end() && add_to_event_loop(can_subscription) < 0) { @@ -227,7 +218,9 @@ static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request, else { if(sig->get_supported()) - {AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());} + { + AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str()); + } else { AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str()); @@ -240,39 +233,39 @@ static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request, rets++; } - return rets; } -static int subscribe_unsubscribe_can_signals(afb_req_t request, - bool subscribe, - std::vector > can_signals, - struct event_filter_t& event_filter, - std::map >& s) +static int subscribe_unsubscribe_signals(afb_req_t request, + bool subscribe, + list_ptr_signal_t signals, + struct event_filter_t& event_filter, + map_subscription& s) { int rets = 0; - for(const auto& sig: can_signals) + for(const auto& sig: signals) { - auto it = std::find_if(s.begin(), s.end(), [&sig, &event_filter](std::pair > sub){ return sub.second->is_signal_subscription_corresponding(sig, event_filter) ; }); + auto it = std::find_if(s.begin(), s.end(), [&sig, &event_filter](std::pair > sub) + { + return sub.second->is_signal_subscription_corresponding(sig, event_filter) ; + }); std::shared_ptr can_subscription; if(it != s.end()) - { - can_subscription = it->second; - } + can_subscription = it->second; else { - can_subscription = std::make_shared(low_can_subscription_t(event_filter)); + can_subscription = std::make_shared(low_can_subscription_t(event_filter)); if(can_subscription->create_rx_filter(sig) < 0) - {return -1;} + return -1; if(add_to_event_loop(can_subscription) < 0) - {return -1;} + return -1; } if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0) - {return -1;} + return -1; rets++; - AFB_DEBUG("signal: %s subscribed", sig->get_name().c_str()); + AFB_DEBUG("%s Signal: %s %ssubscribed", sig->get_message()->is_fd() ? "FD": "", sig->get_name().c_str(), subscribe ? "":"un"); } return rets; } @@ -282,7 +275,8 @@ static int subscribe_unsubscribe_can_signals(afb_req_t request, /// /// @param[in] afb_req request : contains original request use to subscribe or unsubscribe /// @param[in] subscribe boolean value, which chooses between a subscription operation or an unsubscription -/// @param[in] signals - struct containing vectors with can_signal_t and diagnostic_messages to subscribe +/// @param[in] signals - struct containing vectors with signal_t and diagnostic_messages to subscribe +/// @param[in] event_filter - stuct containing filter on the signal /// /// @return Number of correctly subscribed signal /// @@ -295,72 +289,153 @@ static int subscribe_unsubscribe_signals(afb_req_t request, 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(); + map_subscription& s = sm.get_subscribed_signals(); rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s, false); - rets += subscribe_unsubscribe_can_signals(request, subscribe, signals.can_signals, event_filter, s); + rets += subscribe_unsubscribe_signals(request, subscribe, signals.signals, event_filter, s); return rets; } -static int one_subscribe_unsubscribe(afb_req_t request, - bool subscribe, - const std::string& tag, - json_object* args) +static event_filter_t generate_filter(json_object* args) { - int ret = 0; - struct event_filter_t event_filter; + event_filter_t event_filter; struct json_object *filter, *obj; - struct utils::signals_found sf; - // computes the filter + // computes the 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))) - {event_filter.frequency = (float)json_object_get_double(obj);} + event_filter.frequency = (float)json_object_get_double(obj); 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);} + event_filter.min = (float)json_object_get_double(obj); 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);} + event_filter.max = (float)json_object_get_double(obj); + if (json_object_object_get_ex(filter, "rx_id", &obj) + && (json_object_is_type(obj, json_type_int))) + event_filter.rx_id = (canid_t) json_object_get_int(obj); + if (json_object_object_get_ex(filter, "tx_id", &obj) + && (json_object_is_type(obj, json_type_int))) + event_filter.tx_id = (canid_t) json_object_get_int(obj); } + return event_filter; +} + + +static int one_subscribe_unsubscribe_events(afb_req_t request, bool subscribe, const std::string& tag, json_object* args) +{ + int ret = 0; + struct utils::signals_found sf; // 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()) + + +#ifdef USE_FEATURE_ISOTP + if(sf.signals.size() > 1) + { + sf.signals.remove_if([](std::shared_ptr x){ + bool isotp = x->get_message()->is_isotp(); + if(isotp) + AFB_NOTICE("ISO TP messages need to be subscribed one by one (rx, tx)"); + + return isotp; + }); + } +#endif + + if (sf.signals.empty() && sf.diagnostic_messages.empty()) { AFB_NOTICE("No signal(s) found for %s.", tag.c_str()); ret = -1; } else - {ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);} + { + event_filter_t event_filter = generate_filter(args); + ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter); + } + return ret; +} + +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; + + if(message_definition) + sf.signals = list_ptr_signal_t(message_definition->get_signals().begin(), message_definition->get_signals().end()); + + 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 ret; } + + static int process_one_subscribe_args(afb_req_t request, bool subscribe, json_object *args) { int rc = 0, rc2=0; - json_object *x = nullptr, *event = nullptr; - if(args == NULL || - !json_object_object_get_ex(args, "event", &event)) - { - rc = one_subscribe_unsubscribe(request, subscribe, "*", args); - } - else if (json_object_get_type(event) != json_type_array) + json_object *x = nullptr, *event = nullptr, *id = nullptr; + + + // 2 cases : ID(PGN) and event + + json_object_object_get_ex(args,"event",&event); + json_object_object_get_ex(args,"id",&id) || json_object_object_get_ex(args,"pgn",&id); + + if( args == NULL || (id && ((std::string)json_object_get_string(id)).compare("*") == 0)) { - rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), args); + rc = one_subscribe_unsubscribe_events(request, subscribe, "*", args); } else { - for (int i = 0 ; i < json_object_array_length(event); i++) + if(event) + { + if (json_object_get_type(event) != json_type_array) // event is set before and check if it's an array + { + rc = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(event), args); + } + else // event is set and it's not an array + { + for (int i = 0 ; i < json_object_array_length(event); i++) + { + x = json_object_array_get_idx(event, i); + rc2 = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(x), args); + if (rc >= 0) + rc = rc2 >= 0 ? rc + rc2 : rc2; + } + } + } + + if(id) { - 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; + if (json_object_get_type(id) != json_type_array) // id is set before and check if it's an array + { + rc = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(id), args); + } + else // event is set and it's not an array + { + for (int i = 0 ; i < json_object_array_length(id); i++) + { + x = json_object_array_get_idx(id, i); + rc2 = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(x), args); + if (rc >= 0) + rc = rc2 >= 0 ? rc + rc2 : rc2; + } + } } } return rc; @@ -407,80 +482,193 @@ void unsubscribe(afb_req_t request) do_subscribe_unsubscribe(request, false); } -static int send_frame(const std::string& bus_name, const struct can_frame& cf) +/* +static int send_frame(struct canfd_frame& cfd, const std::string& bus_name, socket_type type) { - if(bus_name.empty()) { + if(bus_name.empty()) + { return -1; } - std::map >& cd = application_t::instance().get_can_devices(); + std::map >& cd = application_t::instance().get_can_devices(); if( cd.count(bus_name) == 0) - {cd[bus_name] = std::make_shared(low_can_socket_t());} + { + cd[bus_name] = std::make_shared(low_can_subscription_t()); + } - return cd[bus_name]->tx_send(cf, bus_name); + + 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()) + 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(event_filter)); + + cd[bus_name]->set_signal(signal); -static void write_raw_frame(afb_req_t request, const std::string& bus_name, json_object *json_value) + + if(flags&CAN_PROTOCOL) + return low_can_subscription_t::tx_send(*cd[bus_name], message, bus_name); +#ifdef USE_FEATURE_ISOTP + else if(flags&ISOTP_PROTOCOL) + return low_can_subscription_t::isotp_send(*cd[bus_name], message, bus_name); +#endif +#ifdef USE_FEATURE_J1939 + else if(flags&J1939_PROTOCOL) + return low_can_subscription_t::j1939_send(*cd[bus_name], message, bus_name); +#endif + else + return -1; +} + + +static void write_raw_frame(afb_req_t request, const std::string& bus_name, message_t *message, + struct json_object *can_data, uint32_t flags, event_filter_t &event_filter) { - struct can_frame cf; - struct json_object *json_can_data = nullptr; - ::memset(&cf, 0, sizeof(cf)); + struct utils::signals_found sf; + + utils::signals_manager_t::instance().lookup_signals_by_id(message->get_id(), application_t::instance().get_all_signals(), sf.signals); - if(! wrap_json_unpack(json_value, "{sF, sF, so !}", - "can_id", &cf.can_id, - "can_dlc", &cf.can_dlc, - "can_data", &json_can_data)) + if( !sf.signals.empty() ) { - struct json_object *one_can_data; - size_t n = json_object_array_length(json_can_data); + AFB_DEBUG("ID WRITE RAW : %d", sf.signals.front()->get_message()->get_id()); + if(flags & CAN_PROTOCOL) + { + if(sf.signals.front()->get_message()->is_fd()) + { + AFB_DEBUG("CANFD_MAX_DLEN"); + message->set_flags(CAN_PROTOCOL_WITH_FD_FRAME); + message->set_maxdlen(CANFD_MAX_DLEN); + } + else + { + AFB_DEBUG("CAN_MAX_DLEN"); + message->set_maxdlen(CAN_MAX_DLEN); + } - if(n <= 8 && n > 0) + if(sf.signals.front()->get_message()->is_isotp()) + { + flags = ISOTP_PROTOCOL; + message->set_maxdlen(MAX_ISOTP_FRAMES * message->get_maxdlen()); + } + } + +#ifdef USE_FEATURE_J1939 + if(flags&J1939_PROTOCOL) + message->set_maxdlen(J1939_MAX_DLEN); +#endif + + if(message->get_length() > 0 && message->get_length() <= message->get_maxdlen()) { - for (int i = 0 ; i < n ; i++) + std::vector data; + for (int i = 0 ; i < message->get_length() ; i++) { - one_can_data = json_object_array_get_idx(json_can_data, i); - cf.data[i] = json_object_get_type(one_can_data) == json_type_int ? (uint8_t)json_object_get_int(one_can_data) : 0; + struct json_object *one_can_data = json_object_array_get_idx(can_data, i); + data.push_back((json_object_is_type(one_can_data, json_type_int)) ? + (uint8_t)json_object_get_int(one_can_data) : 0); } + message->set_data(data); } else { - afb_req_fail(request, "Error", "Data array must hold 1 to 8 values."); + if(flags&CAN_PROTOCOL) + afb_req_fail(request, "Invalid", "Frame BCM"); + else if(flags&J1939_PROTOCOL) + afb_req_fail(request, "Invalid", "Frame J1939"); + else if(flags&ISOTP_PROTOCOL) + afb_req_fail(request, "Invalid", "Frame ISOTP"); + else + afb_req_fail(request, "Invalid", "Frame"); + return; } - if(! send_frame(application_t::instance().get_can_bus_manager().get_can_device_name(bus_name), cf)) + if(! send_message(message, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name), flags, event_filter, sf.signals.front())) afb_req_success(request, nullptr, "Message correctly sent"); else afb_req_fail(request, "Error", "sending the message. See the log for more details."); + } + else + { + afb_req_fail(request, "Error", "no find id in signals. See the log for more details."); + } +} + +static void write_frame(afb_req_t request, const std::string& bus_name, json_object *json_value, event_filter_t &event_filter) +{ + message_t *message; + uint32_t id; + uint32_t length; + struct json_object *can_data = nullptr; + std::vector data; + + AFB_DEBUG("JSON content %s", json_object_get_string(json_value)); + + if(!wrap_json_unpack(json_value, "{si, si, so !}", + "can_id", &id, + "can_dlc", &length, + "can_data", &can_data)) + { + message = new can_message_t(0, id, length, false, 0, data, 0); + write_raw_frame(request, bus_name, message, can_data, CAN_PROTOCOL, event_filter); + } +#ifdef USE_FEATURE_J1939 + else if(!wrap_json_unpack(json_value, "{si, si, so !}", + "pgn", &id, + "length", &length, + "data", &can_data)) + { + message = new j1939_message_t(length, data, 0, J1939_NO_NAME, (pgn_t)id, J1939_NO_ADDR); + write_raw_frame(request, bus_name, message, can_data, J1939_PROTOCOL, event_filter); + } +#endif + else + { + afb_req_fail(request, "Invalid", "Frame object malformed"); return; } - - afb_req_fail(request, "Error", "Frame object malformed (must be \n \"frame\": {\"can_id\": int, \"can_dlc\": int, \"can_data\": [ int, int , int, int ,int , int ,int ,int]}"); + delete message; } -static void write_signal(afb_req_t request, const std::string& name, json_object *json_value) +static void write_signal(afb_req_t request, const std::string& name, json_object *json_value, event_filter_t &event_filter) { - struct can_frame cf; + struct canfd_frame cfd; struct utils::signals_found sf; signal_encoder encoder = nullptr; bool send = true; - ::memset(&cf, 0, sizeof(cf)); + ::memset(&cfd, 0, sizeof(cfd)); openxc_DynamicField search_key = build_DynamicField(name); sf = utils::signals_manager_t::instance().find_signals(search_key); openxc_DynamicField dynafield_value = build_DynamicField(json_value); - if (sf.can_signals.empty()) + if (sf.signals.empty()) { afb_req_fail_f(request, "No signal(s) found for %s. Message not sent.", name.c_str()); return; } - std::shared_ptr& sig = sf.can_signals[0]; + std::shared_ptr sig = sf.signals.front(); if(! sig->get_writable()) { afb_req_fail_f(request, "%s isn't writable. Message not sent.", sig->get_name().c_str()); @@ -491,34 +679,65 @@ static void write_signal(afb_req_t request, const std::string& name, json_object encoder(*sig, dynafield_value, &send) : encoder_t::encode_DynamicField(*sig, dynafield_value, &send); - if(! send_frame(sig->get_message()->get_bus_device_name(), encoder_t::build_frame(sig, value)) && - send) + uint32_t flags = INVALID_FLAG; + + if(sig->get_message()->is_j1939()) + flags = J1939_PROTOCOL; + else if(sig->get_message()->is_isotp()) + flags = ISOTP_PROTOCOL; + else + flags = CAN_PROTOCOL; + +// cfd = encoder_t::build_frame(sig, value); + message_t *message = encoder_t::build_message(sig, value, false, false); + + if(! send_message(message, sig->get_message()->get_bus_device_name(), flags, event_filter, sig) && send) afb_req_success(request, nullptr, "Message correctly sent"); else afb_req_fail(request, "Error", "Sending the message. See the log for more details."); + + if(sig->get_message()->is_j1939()) +#ifdef USE_FEATURE_J1939 + delete (j1939_message_t*) message; +#else + afb_req_fail(request, "Warning", "J1939 not implemented in your kernel."); +#endif + else + delete (can_message_t*) message; } void write(afb_req_t request) { - struct json_object* args = nullptr, *json_value = nullptr; - const char *name = nullptr; - + struct json_object* args = nullptr, *json_value = nullptr, *name = nullptr; args = afb_req_json(request); - // Process about Raw CAN message on CAN bus directly - if (args != NULL && ! wrap_json_unpack(args, "{ss, so !}", - "bus_name", &name, - "frame", &json_value)) - write_raw_frame(request, name, json_value); - - // Search signal then encode value. - else if(args != NULL && - ! wrap_json_unpack(args, "{ss, so !}", - "signal_name", &name, - "signal_value", &json_value)) - write_signal(request, std::string(name), json_value); + if(args != NULL) + { + event_filter_t event_filter = generate_filter(args); + + if(json_object_object_get_ex(args,"bus_name",&name)) + { + if(json_object_object_get_ex(args,"frame",&json_value)) + write_frame(request, (std::string)json_object_get_string(name), json_value, event_filter); + else + afb_req_fail(request, "Error", "Request argument malformed"); + } + else if(json_object_object_get_ex(args,"signal_name",&name)) + { + if(json_object_object_get_ex(args,"signal_value",&json_value)) + write_signal(request, (std::string)json_object_get_string(name), json_value, event_filter); + else + afb_req_fail(request, "Error", "Request argument malformed"); + } + else + { + afb_req_fail(request, "Error", "Request argument malformed"); + } + } else - afb_req_fail(request, "Error", "Request argument malformed"); + { + afb_req_fail(request, "Error", "Request argument null"); + } } static struct json_object *get_signals_value(const std::string& name) @@ -529,13 +748,13 @@ static struct json_object *get_signals_value(const std::string& name) openxc_DynamicField search_key = build_DynamicField(name); sf = utils::signals_manager_t::instance().find_signals(search_key); - if (sf.can_signals.empty()) + if (sf.signals.empty()) { AFB_WARNING("No signal(s) found for %s.", name.c_str()); return NULL; } ans = json_object_new_array(); - for(const auto& sig: sf.can_signals) + for(const auto& sig: sf.signals) { struct json_object *jobj = json_object_new_object(); json_object_object_add(jobj, "event", json_object_new_string(sig->get_name().c_str())); @@ -583,13 +802,13 @@ static struct json_object *list_can_message(const std::string& name) openxc_DynamicField search_key = build_DynamicField(name); sf = utils::signals_manager_t::instance().find_signals(search_key); - if (sf.can_signals.empty() && sf.diagnostic_messages.empty()) + if (sf.signals.empty() && sf.diagnostic_messages.empty()) { AFB_WARNING("No signal(s) found for %s.", name.c_str()); return NULL; } ans = json_object_new_array(); - for(const auto& sig: sf.can_signals) + for(const auto& sig: sf.signals) { json_object_array_add(ans, json_object_new_string(sig->get_name().c_str())); @@ -613,13 +832,9 @@ void list(afb_req_t request) const char *name; if ((args != nullptr) && (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string))) - { name = json_object_get_string(json_name); - } else - { name = "*"; - } ans = list_can_message(name); if (!ans) @@ -629,6 +844,7 @@ void list(afb_req_t request) afb_req_success(request, ans, NULL); else afb_req_fail(request, "error", NULL); + } /// @brief Initialize the binding. @@ -638,37 +854,107 @@ void list(afb_req_t request) /// @return Exit code, zero if success. int init_binding(afb_api_t api) { - uint32_t ret = 1; - can_bus_t& can_bus_manager = application_t::instance().get_can_bus_manager(); + int ret = 0; + application_t& application = application_t::instance(); + can_bus_t& can_bus_manager = application.get_can_bus_manager(); + + if(application.get_message_set().empty()) + { + AFB_ERROR("No message_set defined"); + return -1; + } - can_bus_manager.set_can_devices(); can_bus_manager.start_threads(); + utils::signals_manager_t& sm = utils::signals_manager_t::instance(); - /// Initialize Diagnostic manager that will handle obd2 requests. - /// We pass by default the first CAN bus device to its Initialization. - /// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus. - if(application_t::instance().get_diagnostic_manager().initialize()) - ret = 0; + if (application.get_diagnostic_manager().is_initialized()) + { + // Add a recurring dignostic message request to get engine speed at all times. + openxc_DynamicField search_key = build_DynamicField("diagnostic_messages.engine.speed"); + struct utils::signals_found sf = sm.find_signals(search_key); - // Add a recurring dignostic message request to get engine speed at all times. - openxc_DynamicField search_key = build_DynamicField("diagnostic_messages.engine.speed"); - struct utils::signals_found sf = utils::signals_manager_t::instance().find_signals(search_key); + if(sf.signals.empty() && sf.diagnostic_messages.size() == 1) + { + afb_req_t request = nullptr; - if(sf.can_signals.empty() && sf.diagnostic_messages.size() == 1) + struct event_filter_t event_filter; + event_filter.frequency = sf.diagnostic_messages.front()->get_frequency(); + + map_subscription& s = sm.get_subscribed_signals(); + + subscribe_unsubscribe_diagnostic_messages(request, true, sf.diagnostic_messages, event_filter, s, true); + } + } + +#ifdef USE_FEATURE_J1939 + std::string j1939_bus; + vect_ptr_msg_def_t current_messages_definition = application.get_messages_definition(); + for(std::shared_ptr message_definition: current_messages_definition) { - afb_req_t request = nullptr; + if(message_definition->is_j1939()) + { + if (j1939_bus == message_definition->get_bus_device_name() ) + continue; + j1939_bus = message_definition->get_bus_device_name(); - struct event_filter_t event_filter; - event_filter.frequency = sf.diagnostic_messages.front()->get_frequency(); + std::shared_ptr low_can_j1939 = std::make_shared(); + application.set_subscription_address_claiming(low_can_j1939); - utils::signals_manager_t& sm = utils::signals_manager_t::instance(); - std::map >& s = sm.get_subscribed_signals(); + ret = low_can_subscription_t::open_socket(*low_can_j1939, + j1939_bus, + J1939_ADDR_CLAIM_PROTOCOL); - subscribe_unsubscribe_diagnostic_messages(request, true, sf.diagnostic_messages, event_filter, s, true); + if(ret < 0) + { + AFB_ERROR("Error open socket address claiming for j1939 protocol"); + return -1; + } + add_to_event_loop(low_can_j1939); + break; + } } +#endif if(ret) AFB_ERROR("There was something wrong with CAN device Initialization."); return ret; } + +int load_config(afb_api_t api) +{ + int ret = 0; + CtlConfigT *ctlConfig; + const char *dirList = getenv("CONTROL_CONFIG_PATH"); + std::string bindingDirPath = GetBindingDirPath(api); + std::string filepath = bindingDirPath + "/etc"; + + if (!dirList) + dirList=CONTROL_CONFIG_PATH; + + filepath.append(":"); + filepath.append(dirList); + const char *configPath = CtlConfigSearch(api, filepath.c_str(), "control"); + + if (!configPath) + { + AFB_ERROR_V3("CtlPreInit: No control-%s* config found invalid JSON %s ", GetBinderName(), filepath.c_str()); + return -1; + } + + // create one API per file + ctlConfig = CtlLoadMetaData(api, configPath); + if (!ctlConfig) + { + AFB_ERROR_V3("CtrlPreInit No valid control config file in:\n-- %s", configPath); + return -1; + } + + // Save the config in the api userdata field + afb_api_set_userdata(api, ctlConfig); + + setExternalData(ctlConfig, (void*) &application_t::instance()); + ret= CtlLoadSections(api, ctlConfig, ctlSections_); + + return ret; +}