X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fbinding%2Flow-can-cb.cpp;h=9c21b6751b3eb99626ef9bf6c909b3c75916e12d;hb=68d8bc019fab3e73654a330baf6b8dd7c11859ca;hp=9515424a0677d9202ec10a175b71d36469e73d3f;hpb=d2d2620bbb8f0aad0181e67e9f6affc3d6cb4a51;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 9515424a..9c21b675 100644 --- a/low-can-binding/binding/low-can-cb.cpp +++ b/low-can-binding/binding/low-can-cb.cpp @@ -31,7 +31,7 @@ #include "application.hpp" #include "../can/can-encoder.hpp" #include "../can/can-bus.hpp" -#include "../can/can-signals.hpp" +#include "../can/signals.hpp" #include "../can/message/message.hpp" #include "../utils/signals.hpp" #include "../diagnostic/diagnostic-message.hpp" @@ -197,7 +197,10 @@ 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)); @@ -241,22 +244,25 @@ static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request, return rets; } -static int subscribe_unsubscribe_can_signals(afb_req_t request, +static int subscribe_unsubscribe_signals(afb_req_t request, bool subscribe, - std::vector > can_signals, + std::vector > signals, struct event_filter_t& event_filter, std::map >& 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;} 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;} if(add_to_event_loop(can_subscription) < 0) @@ -277,7 +283,7 @@ 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 /// /// @return Number of correctly subscribed signal /// @@ -293,22 +299,17 @@ static int subscribe_unsubscribe_signals(afb_req_t request, std::map >& 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) @@ -321,41 +322,111 @@ static int one_subscribe_unsubscribe(afb_req_t request, && (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);} } + 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()) + 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 = message_definition->get_signals(); + } + + 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)) + json_object *x = nullptr, *event = nullptr, *id = nullptr; + + + // 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) { - rc = one_subscribe_unsubscribe(request, subscribe, "*", args); + test_id = json_object_object_get_ex(args,"pgn",&id); } - else if (json_object_get_type(event) != json_type_array) + + 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; @@ -402,55 +473,122 @@ void unsubscribe(afb_req_t request) do_subscribe_unsubscribe(request, false); } -static int send_frame(struct canfd_frame& cfd, const std::string& bus_name) +/* +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(); if( cd.count(bus_name) == 0) - {cd[bus_name] = std::make_shared(low_can_subscription_t());} + { + cd[bus_name] = std::make_shared(low_can_subscription_t()); + } - return cd[bus_name]->tx_send(*cd[bus_name], cfd, bus_name); -} -static void write_raw_frame(afb_req_t request, const std::string& bus_name, json_object *json_value) + if(type == socket_type::BCM) + { + return low_can_subscription_t::tx_send(*cd[bus_name], cfd, bus_name); + } + else{ + return -1; + } +} +*/ +static int send_message(message_t *message, const std::string& bus_name, socket_type type) { - struct canfd_frame cfd; - struct json_object *can_data = nullptr; + if(bus_name.empty()) + { + return -1; + } - ::memset(&cfd, 0, sizeof(cfd)); + std::map >& cd = application_t::instance().get_can_devices(); - if(wrap_json_unpack(json_value, "{si, si, so !}", - "can_id", &cfd.can_id, - "can_dlc", &cfd.len, - "can_data", &can_data)) + if( cd.count(bus_name) == 0) { - afb_req_fail(request, "Invalid", "Frame object malformed"); - return; + 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], message, bus_name); } + else + { + return -1; + } +} + - if(cfd.len <= 8 && cfd.len > 0) +static void write_raw_frame(afb_req_t request, const std::string& bus_name, message_t *message, struct json_object *can_data, socket_type type) +{ + if((message->get_length() <= 8 && message->get_length() > 0 && type == socket_type::BCM) +#ifdef USE_FEATURE_J1939 + || (message->get_length() < J1939_MAX_DLEN && type == socket_type::J1939) +#endif + ) { - for (int i = 0 ; i < cfd.len ; i++) + + std::vector data; + for (int i = 0 ; i < message->get_length() ; i++) { 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; + 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, "Invalid", "Data array must hold 1 to 8 values."); + if(type == socket_type::BCM) + { + afb_req_fail(request, "Invalid", "Data array must hold 1 to 8 values."); + } + else + { + afb_req_fail(request, "Invalid", "Invalid socket type"); + } return; } - if(! send_frame(cfd, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name))) + if(! send_message(message, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name),type)) + { afb_req_success(request, nullptr, "Message correctly sent"); + } else + { afb_req_fail(request, "Error", "sending the message. See the log for more details."); + } +} + +static void write_frame(afb_req_t request, const std::string& bus_name, json_object *json_value) +{ + message_t *message; + int id; + int 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(CANFD_MAX_DLEN,(uint32_t)id,(uint32_t)length,message_format_t::STANDARD,false,0,data,0); + write_raw_frame(request,bus_name,message,can_data,socket_type::BCM); + } + else + { + afb_req_fail(request, "Invalid", "Frame object malformed"); + return; + } + delete message; } static void write_signal(afb_req_t request, const std::string& name, json_object *json_value) @@ -466,13 +604,13 @@ static void write_signal(afb_req_t request, const std::string& name, json_object 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[0]; if(! sig->get_writable()) { afb_req_fail_f(request, "%s isn't writable. Message not sent.", sig->get_name().c_str()); @@ -483,11 +621,39 @@ 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); - cfd = encoder_t::build_frame(sig, value); - if(! send_frame(cfd, sig->get_message()->get_bus_device_name()) && send) + socket_type type = socket_type::INVALID; + + if(sig->get_message()->is_j1939()) + { + type = socket_type::J1939; + } + else + { + type = socket_type::BCM; + } + +// cfd = encoder_t::build_frame(sig, value); + message_t *message = encoder_t::build_message(sig,value); + + if(! send_message(message, sig->get_message()->get_bus_device_name(), type) && 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; +#endif + } + else + { + delete (can_message_t*) message; + } } void write(afb_req_t request) @@ -501,7 +667,7 @@ void write(afb_req_t request) if (args != NULL && ! wrap_json_unpack(args, "{ss, so !}", "bus_name", &name, "frame", &json_value)) - write_raw_frame(request, name, json_value); + write_frame(request, name, json_value); // Search signal then encode value. else if(args != NULL && @@ -521,13 +687,13 @@ 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())); @@ -575,13 +741,13 @@ 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())); @@ -618,9 +784,13 @@ void list(afb_req_t request) rc = -1; if (rc >= 0) + { afb_req_success(request, ans, NULL); + } else + { afb_req_fail(request, "error", NULL); + } } /// @brief Initialize the binding. @@ -635,6 +805,7 @@ int init_binding(afb_api_t api) 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. @@ -644,16 +815,15 @@ int init_binding(afb_api_t api) // 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); + struct utils::signals_found sf = sm.find_signals(search_key); - if(sf.can_signals.empty() && sf.diagnostic_messages.size() == 1) + 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(); - utils::signals_manager_t& sm = utils::signals_manager_t::instance(); std::map >& s = sm.get_subscribed_signals(); subscribe_unsubscribe_diagnostic_messages(request, true, sf.diagnostic_messages, event_filter, s, true);