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=fd57867c66263b25872188be8a87cfbb8a3ee7d2;hpb=ccf35c0dc912e9a29721fa04244fc7f932282d18;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 fd57867c..5e03c754 100644 --- a/low-can-binding/binding/low-can-cb.cpp +++ b/low-can-binding/binding/low-can-cb.cpp @@ -24,8 +24,10 @@ #include #include #include +#include #include #include +#include #include "openxc.pb.h" #include "application.hpp" #include "../can/can-encoder.hpp" @@ -41,90 +43,67 @@ #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, map_subscription& s) -{ - bool is_permanent_recurring_request = false; - - 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(! is_permanent_recurring_request) - application_t::instance().get_diagnostic_manager().cleanup_request(adr, true); - } - } +///****************************************************************************/ - if(! is_permanent_recurring_request) - on_no_clients(can_subscription, s); -} - -void on_no_clients(std::shared_ptr can_subscription, map_subscription& s) +int config_low_can(afb_api_t apiHandle, CtlSectionT *section, json_object *json_obj) { - auto it = s.find(can_subscription->get_index()); - s.erase(it); -} + 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; -static void push_n_notify(std::shared_ptr m) -{ - 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(m); - } - cbm.get_new_can_message_cv().notify_one(); -} + if(! ctrlConfig || ! ctrlConfig->external) + return -1; -int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata) -{ + application_t *application = (application_t*) ctrlConfig->external; - low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata; + if(wrap_json_unpack(json_obj, "{si, s?s}", + "active_message_set", &active_message_set, + "diagnostic_bus", &diagnotic_bus)) + return -1; + application->set_active_message_set((uint8_t)active_message_set); - if ((revents & EPOLLIN) != 0) - { - utils::signals_manager_t& sm = utils::signals_manager_t::instance(); - std::lock_guard subscribed_signals_lock(sm.get_subscribed_signals_mutex()); - if(can_subscription->get_index() != -1) - { - std::shared_ptr s = can_subscription->get_socket(); - if(s->socket() && s->socket() != -1) - { - std::shared_ptr message = s->read_message(); + if(wrap_json_unpack(json_obj, "{so}", + "dev-mapping", &dev_mapping)) + return -1; - // Sure we got a valid CAN message ? - if (! message->get_id() == 0 && ! message->get_length() == 0 && !(message->get_flags()&INVALID_FLAG)) - { - push_n_notify(message); - } - } - } - } + application->get_can_bus_manager().set_can_devices(dev_mapping); - // check if error or hangup - if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0) - { - sd_event_source_unref(event_source); - can_subscription->get_socket()->close(); - } + /// 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."); 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 /// -///*******************************************************************************/ +///****************************************************************************/ /// @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 @@ -193,11 +172,11 @@ static int add_to_event_loop(std::shared_ptr& can_subscr } static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request, - bool subscribe, - list_ptr_diag_msg_t diagnostic_messages, - struct event_filter_t& event_filter, - map_subscription& s, - bool perm_rec_diag_req) + bool subscribe, + list_ptr_diag_msg_t diagnostic_messages, + struct event_filter_t& event_filter, + map_subscription& s, + bool perm_rec_diag_req) { int rets = 0; application_t& app = application_t::instance(); @@ -209,7 +188,7 @@ 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) + auto it = std::find_if(s.begin(), s.end(), [&sig](std::pair > sub) { return (! sub.second->get_diagnostic_message().empty()); }); @@ -221,12 +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) { @@ -258,10 +237,10 @@ static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request, } 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) + bool subscribe, + list_ptr_signal_t signals, + struct event_filter_t& event_filter, + map_subscription& s) { int rets = 0; for(const auto& sig: signals) @@ -272,18 +251,18 @@ static int subscribe_unsubscribe_signals(afb_req_t request, }); 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)); 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("%s Signal: %s %ssubscribed", sig->get_message()->is_fd() ? "FD": "", sig->get_name().c_str(), subscribe ? "":"un"); @@ -328,19 +307,19 @@ static event_filter_t generate_filter(json_object* args) { 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);} + 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);} + event_filter.tx_id = (canid_t) json_object_get_int(obj); } return event_filter; } @@ -362,9 +341,8 @@ static int one_subscribe_unsubscribe_events(afb_req_t request, bool subscribe, c 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; }); } @@ -383,16 +361,14 @@ static int one_subscribe_unsubscribe_events(afb_req_t request, bool subscribe, c return ret; } -static int one_subscribe_unsubscribe_id(afb_req_t request, bool subscribe, const uint32_t& id ,json_object *args) +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()); - } + sf.signals = list_ptr_signal_t(message_definition->get_signals().begin(), message_definition->get_signals().end()); if(sf.signals.empty()) { @@ -404,6 +380,7 @@ static int one_subscribe_unsubscribe_id(afb_req_t request, bool subscribe, const event_filter_t event_filter = generate_filter(args); ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter); } + return ret; } @@ -417,13 +394,9 @@ static int process_one_subscribe_args(afb_req_t request, bool subscribe, json_ob // 2 cases : ID(PGN) and event json_object_object_get_ex(args,"event",&event); - json_bool test_id = json_object_object_get_ex(args,"id",&id); - if(!test_id) - { - test_id = json_object_object_get_ex(args,"pgn",&id); - } + 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)) + if( args == NULL || (id && ((std::string)json_object_get_string(id)).compare("*") == 0)) { rc = one_subscribe_unsubscribe_events(request, subscribe, "*", args); } @@ -541,45 +514,33 @@ static int send_frame(struct canfd_frame& cfd, const std::string& bus_name, sock 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); - if(flags&BCM_PROTOCOL) - { + 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 json_object *can_data, uint32_t flags, event_filter_t &event_filter) { struct utils::signals_found sf; @@ -588,13 +549,13 @@ static void write_raw_frame(afb_req_t request, const std::string& bus_name, mess if( !sf.signals.empty() ) { - AFB_DEBUG("ID WRITE RAW : %d",sf.signals.front()->get_message()->get_id()); - if(flags&BCM_PROTOCOL) + 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_FD_FRAME); + message->set_flags(CAN_PROTOCOL_WITH_FD_FRAME); message->set_maxdlen(CANFD_MAX_DLEN); } else @@ -612,9 +573,7 @@ static void write_raw_frame(afb_req_t request, const std::string& bus_name, mess #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()) @@ -630,33 +589,22 @@ static void write_raw_frame(afb_req_t request, const std::string& bus_name, mess } else { - if(flags&BCM_PROTOCOL) - { + 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_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 { @@ -668,20 +616,20 @@ static void write_raw_frame(afb_req_t request, const std::string& bus_name, mess 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; - int id; - int length; + 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)); + 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,(uint32_t)id,(uint32_t)length,false,0,data,0); - write_raw_frame(request,bus_name,message,can_data,BCM_PROTOCOL,event_filter); + 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 !}", @@ -689,8 +637,8 @@ static void write_frame(afb_req_t request, const std::string& bus_name, json_obj "length", &length, "data", &can_data)) { - message = new j1939_message_t((uint32_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); + 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 @@ -734,40 +682,28 @@ static void write_signal(afb_req_t request, const std::string& name, json_object 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 = BCM_PROTOCOL; - } + flags = CAN_PROTOCOL; // cfd = encoder_t::build_frame(sig, value); - message_t *message = encoder_t::build_message(sig,value,false,false); + 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) @@ -782,26 +718,19 @@ void write(afb_req_t request) 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 { + else + { afb_req_fail(request, "Error", "Request argument malformed"); } } @@ -903,26 +832,19 @@ 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) rc = -1; if (rc >= 0) - { afb_req_success(request, ans, NULL); - } else - { afb_req_fail(request, "error", NULL); - } + } /// @brief Initialize the binding. @@ -932,58 +854,61 @@ void list(afb_req_t request) /// @return Exit code, zero if success. int init_binding(afb_api_t api) { - int ret = 1; + int ret = 0; application_t& application = application_t::instance(); can_bus_t& can_bus_manager = application.get_can_bus_manager(); - can_bus_manager.set_can_devices(); + if(application.get_message_set().empty()) + { + AFB_ERROR("No message_set defined"); + return -1; + } + 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; - - // 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); - - if(sf.signals.empty() && sf.diagnostic_messages.size() == 1) + if (application.get_diagnostic_manager().is_initialized()) { - afb_req_t request = nullptr; + // 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); + + if(sf.signals.empty() && sf.diagnostic_messages.size() == 1) + { + afb_req_t request = nullptr; - struct event_filter_t event_filter; - event_filter.frequency = sf.diagnostic_messages.front()->get_frequency(); + struct event_filter_t event_filter; + event_filter.frequency = sf.diagnostic_messages.front()->get_frequency(); - map_subscription& s = sm.get_subscribed_signals(); + map_subscription& s = sm.get_subscribed_signals(); - subscribe_unsubscribe_diagnostic_messages(request, true, sf.diagnostic_messages, event_filter, s, true); + 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) { if(message_definition->is_j1939()) { - std::shared_ptr low_can_j1939 = std::make_shared(); + if (j1939_bus == message_definition->get_bus_device_name() ) + continue; + j1939_bus = message_definition->get_bus_device_name(); + std::shared_ptr low_can_j1939 = std::make_shared(); application.set_subscription_address_claiming(low_can_j1939); ret = low_can_subscription_t::open_socket(*low_can_j1939, - message_definition->get_bus_device_name(), - J1939_ADDR_CLAIM_PROTOCOL); + j1939_bus, + J1939_ADDR_CLAIM_PROTOCOL); + if(ret < 0) { AFB_ERROR("Error open socket address claiming for j1939 protocol"); return -1; } - -// std::shared_ptr saddrclaim = application.get_subscription_address_claiming(); - add_to_event_loop(low_can_j1939); break; } @@ -991,9 +916,45 @@ int init_binding(afb_api_t api) #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; }