X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fbinding%2Flow-can-cb.cpp;h=9515424a0677d9202ec10a175b71d36469e73d3f;hb=refs%2Fchanges%2F08%2F21408%2F10;hp=bff5c935f9a330aeb658f1faec47e13a775402d3;hpb=985fe9e5689a8c411fdd69d044e5ba4d9e4955bf;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 bff5c935..9515424a 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" * @@ -24,7 +24,7 @@ #include #include #include -#include +#include #include #include "openxc.pb.h" @@ -32,7 +32,7 @@ #include "../can/can-encoder.hpp" #include "../can/can-bus.hpp" #include "../can/can-signals.hpp" -#include "../can/can-message.hpp" +#include "../can/message/message.hpp" #include "../utils/signals.hpp" #include "../diagnostic/diagnostic-message.hpp" #include "../utils/openxc-utils.hpp" @@ -70,12 +70,12 @@ void on_no_clients(std::shared_ptr can_subscription, std s.erase(it); } -static void push_n_notify(const can_message_t& cm) +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(cm); + cbm.push_new_can_message(m); } cbm.get_new_can_message_cv().notify_one(); } @@ -83,23 +83,27 @@ static void push_n_notify(const can_message_t& cm) 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; + std::shared_ptr s = can_subscription->get_socket(); + std::shared_ptr message = s->read_message(); // Sure we got a valid CAN message ? - if(! cm.get_id() == 0 && ! cm.get_length() == 0) - {push_n_notify(cm);} + if (! message->get_id() == 0 && ! message->get_length() == 0) + { + push_n_notify(message); + } } // check if error or hangup if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0) { sd_event_source_unref(event_source); - can_subscription->get_socket().close(); + can_subscription->get_socket()->close(); } + return 0; } @@ -109,68 +113,60 @@ int read_message(sd_event_source *event_source, int fd, uint32_t revents, void * /// ///*******************************************************************************/ -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 request contents are not null) */ - if(request.itf && request.closure && - ((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 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 +/// @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 /// against the application framework using that event handle. -static int subscribe_unsubscribe_signal(struct afb_req request, - bool subscribe, - std::shared_ptr& can_subscription, - std::map >& s) +static int subscribe_unsubscribe_signal(afb_req_t request, + bool subscribe, + std::shared_ptr& can_subscription, + std::map >& 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 (! subscription_exists && + (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 */ - can_subscription->set_event({nullptr, nullptr}); - 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; } - // Check whether or not the event handler has been correctly created and - // make the subscription/unsubscription operation is so. - if (ret < 0) + if( (ret = s[sub_index]->unsubscribe(request)) < 0) return ret; - return make_subscription_unsubscription(request, can_subscription, s, subscribe); + s.erase(sub_index); + + return ret; } static int add_to_event_loop(std::shared_ptr& can_subscription) @@ -178,18 +174,18 @@ 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())); } -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, - bool perm_rec_diag_req) +static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request, + bool subscribe, + std::vector > diagnostic_messages, + struct event_filter_t& event_filter, + std::map >& s, + bool perm_rec_diag_req) { int rets = 0; application_t& app = application_t::instance(); @@ -205,8 +201,8 @@ static int subscribe_unsubscribe_diagnostic_messages(struct afb_req request, 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 + // If the requested diagnostic message is not supported by the car then unsubcribe it + // no matter what we want, worst case will be a failed unsubscription but at least we won't // poll a PID for nothing. if(sig->get_supported() && subscribe) { @@ -245,11 +241,11 @@ static int subscribe_unsubscribe_diagnostic_messages(struct afb_req request, 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) +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) { int rets = 0; for(const auto& sig: can_signals) @@ -257,9 +253,7 @@ static int subscribe_unsubscribe_can_signals(struct afb_req request, 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)); @@ -273,7 +267,7 @@ static int subscribe_unsubscribe_can_signals(struct afb_req request, {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; } @@ -281,16 +275,16 @@ static int subscribe_unsubscribe_can_signals(struct afb_req request, /// /// @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] 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 /// /// @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 subscribe_unsubscribe_signals(afb_req_t 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(); @@ -304,10 +298,10 @@ static int subscribe_unsubscribe_signals(struct afb_req request, return rets; } -static int one_subscribe_unsubscribe(struct afb_req request, - bool subscribe, - const std::string& tag, - json_object* args) +static int one_subscribe_unsubscribe(afb_req_t request, + bool subscribe, + const std::string& tag, + json_object* args) { int ret = 0; struct event_filter_t event_filter; @@ -341,7 +335,7 @@ static int one_subscribe_unsubscribe(struct afb_req request, return ret; } -static int process_one_subscribe_args(struct afb_req request, bool subscribe, json_object *args) +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; @@ -367,7 +361,7 @@ static int process_one_subscribe_args(struct afb_req request, bool subscribe, js return rc; } -static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe) +static void do_subscribe_unsubscribe(afb_req_t request, bool subscribe) { int rc = 0; struct json_object *args, *x; @@ -392,149 +386,131 @@ static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe) afb_req_fail(request, "error", NULL); } -void auth(struct afb_req request) +void auth(afb_req_t request) { afb_req_session_set_LOA(request, 1); afb_req_success(request, NULL, NULL); } -void subscribe(struct afb_req request) +void subscribe(afb_req_t request) { do_subscribe_unsubscribe(request, true); } -void unsubscribe(struct afb_req request) +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) { - std::map >& cd = application_t::instance().get_can_devices(); + 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_socket_t());} + {cd[bus_name] = std::make_shared(low_can_subscription_t());} - return cd[bus_name]->tx_send(cf, bus_name); + return cd[bus_name]->tx_send(*cd[bus_name], cfd, bus_name); } -static int write_raw_frame(const std::string& bus_name, uint32_t can_id, uint8_t can_dlc, struct json_object* can_data) +static void write_raw_frame(afb_req_t request, const std::string& bus_name, json_object *json_value) { - int rc = 0; - struct can_frame cf; + struct canfd_frame cfd; + struct json_object *can_data = nullptr; - ::memset(&cf, 0, sizeof(cf)); + ::memset(&cfd, 0, sizeof(cfd)); - cf.can_id = can_id; - cf.can_dlc = can_dlc; + if(wrap_json_unpack(json_value, "{si, si, so !}", + "can_id", &cfd.can_id, + "can_dlc", &cfd.len, + "can_data", &can_data)) + { + afb_req_fail(request, "Invalid", "Frame object malformed"); + return; + } - struct json_object *x; - int n = json_object_array_length(can_data); - if(n <= 8) + if(cfd.len <= 8 && cfd.len > 0) { - for (int i = 0 ; i < n ; i++) + for (int i = 0 ; i < cfd.len ; i++) { - x = json_object_array_get_idx(can_data, i); - cf.data[i] = json_object_get_type(x) == json_type_int ? (uint8_t)json_object_get_int(x) : 0; + struct json_object *one_can_data = json_object_array_get_idx(can_data, i); + cfd.data[i] = (json_object_is_type(one_can_data, json_type_int)) ? + (uint8_t)json_object_get_int(one_can_data) : 0; } } - - const std::string found_device = application_t::instance().get_can_bus_manager().get_can_device_name(bus_name); - if( ! found_device.empty()) + else { - rc = send_frame(found_device, cf); + afb_req_fail(request, "Invalid", "Data array must hold 1 to 8 values."); + return; } - return rc; + if(! send_frame(cfd, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name))) + afb_req_success(request, nullptr, "Message correctly sent"); + else + afb_req_fail(request, "Error", "sending the message. See the log for more details."); } -static int write_signal(const std::string& name, uint64_t value) + +static void write_signal(afb_req_t request, const std::string& name, json_object *json_value) { - int rc = 0; - 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()) { - AFB_WARNING("No signal(s) found for %s. Message not sent.", name.c_str()); - rc = -1; + afb_req_fail_f(request, "No signal(s) found for %s. Message not sent.", name.c_str()); + return; } - else + + std::shared_ptr& sig = sf.can_signals[0]; + if(! sig->get_writable()) { - for(const auto& sig: sf.can_signals) - { - if(sig->get_writable()) - { - cf = encoder_t::build_frame(sig, value); - const std::string bus_name = sig->get_message()->get_bus_device_name(); - rc = send_frame(bus_name, cf); - } - else - { - AFB_WARNING("%s isn't writable. Message not sent.", sig->get_name().c_str()); - return -1; - } - } + afb_req_fail_f(request, "%s isn't writable. Message not sent.", sig->get_name().c_str()); + return; } - return rc; + uint64_t value = (encoder = sig->get_encoder()) ? + encoder(*sig, dynafield_value, &send) : + encoder_t::encode_DynamicField(*sig, dynafield_value, &send); + + cfd = encoder_t::build_frame(sig, value); + if(! send_frame(cfd, sig->get_message()->get_bus_device_name()) && send) + afb_req_success(request, nullptr, "Message correctly sent"); + else + afb_req_fail(request, "Error", "Sending the message. See the log for more details."); } -void write(struct afb_req request) +void write(afb_req_t request) { - int rc = 0; - struct json_object* args = nullptr, - *json_name = nullptr, - *json_value = nullptr; + struct json_object* args = nullptr, *json_value = nullptr; + const char *name = nullptr; args = afb_req_json(request); // Process about Raw CAN message on CAN bus directly - if (args != NULL && - (json_object_object_get_ex(args, "bus_name", &json_name) && json_object_is_type(json_name, json_type_string) ) && - (json_object_object_get_ex(args, "frame", &json_value) && json_object_is_type(json_value, json_type_object) )) - { - struct json_object* json_can_id = nullptr, - *json_can_dlc = nullptr, - *json_can_data = nullptr; + if (args != NULL && ! wrap_json_unpack(args, "{ss, so !}", + "bus_name", &name, + "frame", &json_value)) + write_raw_frame(request, name, json_value); - if( (json_object_object_get_ex(json_value, "can_id", &json_can_id) && (json_object_is_type(json_can_id, json_type_double) || json_object_is_type(json_can_id, json_type_int))) && - (json_object_object_get_ex(json_value, "can_dlc", &json_can_dlc) && (json_object_is_type(json_can_dlc, json_type_double) || json_object_is_type(json_can_dlc, json_type_int))) && - (json_object_object_get_ex(json_value, "can_data", &json_can_data) && json_object_is_type(json_can_data, json_type_array) )) - { - rc = write_raw_frame(json_object_get_string(json_name), - json_object_get_int(json_can_id), - (uint8_t)json_object_get_int(json_can_dlc), - json_can_data); - } - else - { - AFB_ERROR("Frame object malformed (must be \n \"frame\": {\"can_id\": int, \"can_dlc\": int, \"can_data\": [ int, int , int, int ,int , int ,int ,int]}"); - rc = -1; - } - } // Search signal then encode value. else if(args != NULL && - (json_object_object_get_ex(args, "signal_name", &json_name) && json_object_is_type(json_name, json_type_string)) && - (json_object_object_get_ex(args, "signal_value", &json_value) && (json_object_is_type(json_value, json_type_double) || json_object_is_type(json_value, json_type_int)))) - { - rc = write_signal(json_object_get_string(json_name), - (uint64_t)json_object_get_double(json_value)); - } - else - { - AFB_ERROR("Request argument malformed. Please use the following syntax:"); - rc = -1; - } - - if (rc >= 0) - afb_req_success(request, NULL, NULL); + ! wrap_json_unpack(args, "{ss, so !}", + "signal_name", &name, + "signal_value", &json_value)) + write_signal(request, std::string(name), json_value); else - afb_req_fail(request, "error", NULL); + afb_req_fail(request, "Error", "Request argument malformed"); } static struct json_object *get_signals_value(const std::string& name) @@ -561,7 +537,7 @@ static struct json_object *get_signals_value(const std::string& name) return ans; } -void get(struct afb_req request) +void get(afb_req_t request) { int rc = 0; struct json_object* args = nullptr, @@ -619,7 +595,7 @@ static struct json_object *list_can_message(const std::string& name) return ans; } -void list(struct afb_req request) +void list(afb_req_t request) { int rc = 0; json_object *ans = nullptr; @@ -652,7 +628,7 @@ void list(struct afb_req request) /// @param[in] service Structure which represent the Application Framework Binder. /// /// @return Exit code, zero if success. -int initv2() +int init_binding(afb_api_t api) { uint32_t ret = 1; can_bus_t& can_bus_manager = application_t::instance().get_can_bus_manager(); @@ -666,15 +642,13 @@ int initv2() if(application_t::instance().get_diagnostic_manager().initialize()) ret = 0; - // Add a recurring dignostic message request to get engine speed continuously + // 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.can_signals.empty() && sf.diagnostic_messages.size() == 1) { - struct afb_req request; - request.itf = nullptr; - request.closure = nullptr; + afb_req_t request = nullptr; struct event_filter_t event_filter; event_filter.frequency = sf.diagnostic_messages.front()->get_frequency();