X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fbinding%2Flow-can-cb.cpp;h=fd57867c66263b25872188be8a87cfbb8a3ee7d2;hb=7273de90fadc82f9a63336b0449e995bf32f76ed;hp=9c21b6751b3eb99626ef9bf6c909b3c75916e12d;hpb=88077fb4b383cf7f35093b6cc0d2d9d86c6f1bf3;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 9c21b675..fd57867c 100644 --- a/low-can-binding/binding/low-can-cb.cpp +++ b/low-can-binding/binding/low-can-cb.cpp @@ -26,7 +26,6 @@ #include #include #include - #include "openxc.pb.h" #include "application.hpp" #include "../can/can-encoder.hpp" @@ -36,14 +35,19 @@ #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 /// ///*******************************************************************************/ -void on_no_clients(std::shared_ptr can_subscription, uint32_t pid, std::map >& s) +void on_no_clients(std::shared_ptr can_subscription, uint32_t pid, map_subscription& s) { bool is_permanent_recurring_request = false; @@ -64,7 +68,7 @@ void on_no_clients(std::shared_ptr can_subscription, uin on_no_clients(can_subscription, s); } -void on_no_clients(std::shared_ptr can_subscription, std::map >& s) +void on_no_clients(std::shared_ptr can_subscription, map_subscription& s) { auto it = s.find(can_subscription->get_index()); s.erase(it); @@ -82,18 +86,27 @@ static void push_n_notify(std::shared_ptr m) 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) { - std::shared_ptr s = can_subscription->get_socket(); - std::shared_ptr message = s->read_message(); - - // Sure we got a valid CAN message ? - if (! message->get_id() == 0 && ! message->get_length() == 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) { - push_n_notify(message); + std::shared_ptr s = can_subscription->get_socket(); + if(s->socket() && s->socket() != -1) + { + std::shared_ptr message = s->read_message(); + + // 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); + } + } } } @@ -119,7 +132,7 @@ int read_message(sd_event_source *event_source, int fd, uint32_t revents, void * static int subscribe_unsubscribe_signal(afb_req_t request, bool subscribe, std::shared_ptr& can_subscription, - std::map >& s) + map_subscription& s) { int ret = 0; int sub_index = can_subscription->get_index(); @@ -139,8 +152,7 @@ static int subscribe_unsubscribe_signal(afb_req_t request, } // Event doesn't exist , so let's create it - if (! subscription_exists && - (ret = can_subscription->subscribe(request)) < 0) + if ((ret = can_subscription->subscribe(request)) < 0) return ret; if(! subscription_exists) @@ -164,8 +176,8 @@ static int subscribe_unsubscribe_signal(afb_req_t request, if( (ret = s[sub_index]->unsubscribe(request)) < 0) return ret; + s.find(sub_index)->second->set_index(-1); s.erase(sub_index); - return ret; } @@ -181,11 +193,11 @@ 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, - struct event_filter_t& event_filter, - std::map >& 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(); @@ -227,7 +239,9 @@ 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()); @@ -240,15 +254,14 @@ static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request, rets++; } - return rets; } static int subscribe_unsubscribe_signals(afb_req_t request, - bool subscribe, - std::vector > signals, - struct event_filter_t& event_filter, - std::map >& 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) @@ -284,6 +297,7 @@ static int subscribe_unsubscribe_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 signal_t and diagnostic_messages to subscribe +/// @param[in] event_filter - stuct containing filter on the signal /// /// @return Number of correctly subscribed signal /// @@ -296,7 +310,7 @@ 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_signals(request, subscribe, signals.signals, event_filter, s); @@ -321,6 +335,12 @@ static event_filter_t generate_filter(json_object* args) 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);} + 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; } @@ -334,6 +354,22 @@ static int one_subscribe_unsubscribe_events(afb_req_t request, bool subscribe, c // subscribe or unsubscribe openxc_DynamicField search_key = build_DynamicField(tag); sf = utils::signals_manager_t::instance().find_signals(search_key); + + +#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()); @@ -355,7 +391,7 @@ static int one_subscribe_unsubscribe_id(afb_req_t request, bool subscribe, const if(message_definition) { - sf.signals = message_definition->get_signals(); + sf.signals = list_ptr_signal_t(message_definition->get_signals().begin(),message_definition->get_signals().end()); } if(sf.signals.empty()) @@ -493,12 +529,16 @@ static int send_frame(struct canfd_frame& cfd, const std::string& bus_name, sock { 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, socket_type type) +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()) { @@ -509,14 +549,28 @@ static int send_message(message_t *message, const std::string& bus_name, socket_ 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(event_filter)); } + cd[bus_name]->set_signal(signal); - if(type == socket_type::BCM) + + if(flags&BCM_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; @@ -524,48 +578,94 @@ static int send_message(message_t *message, const std::string& bus_name, socket_ } -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) +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) { - 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 - ) + + 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( !sf.signals.empty() ) { + AFB_DEBUG("ID WRITE RAW : %d",sf.signals.front()->get_message()->get_id()); + if(flags&BCM_PROTOCOL) + { + if(sf.signals.front()->get_message()->is_fd()) + { + AFB_DEBUG("CANFD_MAX_DLEN"); + message->set_flags(CAN_FD_FRAME); + message->set_maxdlen(CANFD_MAX_DLEN); + } + else + { + AFB_DEBUG("CAN_MAX_DLEN"); + message->set_maxdlen(CAN_MAX_DLEN); + } - std::vector data; - for (int i = 0 ; i < message->get_length() ; i++) + 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) { - 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_maxdlen(J1939_MAX_DLEN); } - message->set_data(data); - } - else - { - if(type == socket_type::BCM) +#endif + + if(message->get_length() > 0 && message->get_length() <= message->get_maxdlen()) { - afb_req_fail(request, "Invalid", "Data array must hold 1 to 8 values."); + 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); + 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", "Invalid socket type"); + if(flags&BCM_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; } - return; - } - 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"); + 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", "sending the message. See the log for more details."); + 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) +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; @@ -576,13 +676,23 @@ static void write_frame(afb_req_t request, const std::string& bus_name, json_obj 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)) + "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); + 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); } +#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((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); + } +#endif else { afb_req_fail(request, "Invalid", "Frame object malformed"); @@ -591,7 +701,7 @@ static void write_frame(afb_req_t request, const std::string& bus_name, json_obj 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 canfd_frame cfd; struct utils::signals_found sf; @@ -610,7 +720,7 @@ static void write_signal(afb_req_t request, const std::string& name, json_object return; } - std::shared_ptr& sig = sf.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()); @@ -621,21 +731,25 @@ 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); - socket_type type = socket_type::INVALID; + uint32_t flags = INVALID_FLAG; if(sig->get_message()->is_j1939()) { - type = socket_type::J1939; + flags = J1939_PROTOCOL; + } + else if(sig->get_message()->is_isotp()) + { + flags = ISOTP_PROTOCOL; } else { - type = socket_type::BCM; + flags = BCM_PROTOCOL; } // cfd = encoder_t::build_frame(sig, value); - message_t *message = encoder_t::build_message(sig,value); + message_t *message = encoder_t::build_message(sig,value,false,false); - if(! send_message(message, sig->get_message()->get_bus_device_name(), type) && send) + if(! send_message(message, sig->get_message()->get_bus_device_name(), flags, event_filter, sig) && send) { afb_req_success(request, nullptr, "Message correctly sent"); } @@ -658,25 +772,43 @@ static void write_signal(afb_req_t request, const std::string& name, json_object 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_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) @@ -800,8 +932,9 @@ 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 = 1; + application_t& application = application_t::instance(); + can_bus_t& can_bus_manager = application.get_can_bus_manager(); can_bus_manager.set_can_devices(); can_bus_manager.start_threads(); @@ -824,13 +957,43 @@ int init_binding(afb_api_t api) struct event_filter_t event_filter; event_filter.frequency = sf.diagnostic_messages.front()->get_frequency(); - std::map >& 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); } + +#ifdef USE_FEATURE_J1939 + 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(); + + 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); + 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; + } + } +#endif + if(ret) + { AFB_ERROR("There was something wrong with CAN device Initialization."); + } return ret; }