X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fbinding%2Flow-can-hat.cpp;h=5a268745984da8e66c3ba4e309f478ccfdeecd34;hb=52b04b1c1022b50f9d23692bef6c61b3fdcc1ae0;hp=dae3a4afe2e4e512c1fcfe9add8eb8bb8da6266c;hpb=38f9b3de40b1d1d8e9ed5db0fee40bdaa763d577;p=apps%2Fagl-service-can-low-level.git

diff --git a/low-can-binding/binding/low-can-hat.cpp b/low-can-binding/binding/low-can-hat.cpp
index dae3a4af..5a268745 100644
--- a/low-can-binding/binding/low-can-hat.cpp
+++ b/low-can-binding/binding/low-can-hat.cpp
@@ -1,85 +1,88 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- * Author "Loic Collignon" <loic.collignon@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *	 http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "low-can-hat.hpp"
-#include "low-can-subscription.hpp"
-
-#include <map>
-#include <queue>
 #include <mutex>
-#include <vector>
-#include <json-c/json.h>
+#include <systemd/sd-event.h>
 
 #include "application.hpp"
+#include "../utils/signals.hpp"
+#include "low-can-hat.hpp"
+#include "../can/message/message.hpp"
 #include "../can/can-bus.hpp"
 
-extern "C"
-{
-	static int initv2();
 
-	static constexpr struct afb_auth loa_afb_auth(const unsigned loa)
+
+///******************************************************************************
+///
+///		SystemD event loop Callbacks
+///
+///*******************************************************************************/
+
+static void push_n_notify(std::shared_ptr<message_t> m)
+{
+	can_bus_t& cbm = application_t::instance().get_can_bus_manager();
 	{
-		struct afb_auth a = {};
-		a.type = afb_auth_LOA;
-		a.loa = loa;
-		return a;
+		std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
+	 	cbm.push_new_can_message(m);
 	}
+	cbm.get_new_can_message_cv().notify_one();
+}
 
-	static const struct afb_auth loa_1 = { loa_afb_auth(1) };
+void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+{
+	bool is_permanent_recurring_request = false;
 
-	static const struct afb_verb_v2 verbs[]=
+	if( ! can_subscription->get_diagnostic_message().empty() && can_subscription->get_diagnostic_message(pid) != nullptr)
 	{
-		{ .verb= "subscribe", .callback= subscribe, .auth= NULL, .info="Let subscribe to signals", .session= AFB_SESSION_NONE},
-		{ .verb= "unsubscribe", .callback= unsubscribe, .auth= NULL, .info="Let unsubscribe signals", .session= AFB_SESSION_NONE},
-		{ .verb= "swrite", .callback= swrite, .auth= &loa_1, .info="Write a single CAN message on a CAN bus", .session= AFB_SESSION_LOA_1},
-		{ .verb= NULL, .callback= NULL, .auth= NULL, .info=NULL, .session= 0}
-	};
-
-	const struct afb_binding_v2 afbBindingV2 {
-		.api = "low-can",
-		.specification = NULL,
-		.info = "API to Low level CAN service, read and decode the bus",
-		.verbs = verbs,
-		.preinit = NULL,
-		.init = initv2,
-		.onevent = NULL,
-		.noconcurrency = 0
-	};
-
-	/// @brief Initialize the binding.
-	///
-	/// @param[in] service Structure which represent the Application Framework Binder.
-	///
-	/// @return Exit code, zero if success.
-	static int initv2()
-	{
-		can_bus_t& can_bus_manager = application_t::instance().get_can_bus_manager();
+		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);
+		}
+	}
 
-		can_bus_manager.set_can_devices();
-		can_bus_manager.start_threads();
+	if(! is_permanent_recurring_request)
+		on_no_clients(can_subscription, s);
+}
 
-		/// 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())
-			return 0;
 
-		AFB_ERROR("There was something wrong with CAN device Initialization.");
-		return 1;
+void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+{
+	auto it = s.find(can_subscription->get_index());
+	s.erase(it);
+}
+
+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)
+	{
+		utils::signals_manager_t& sm = utils::signals_manager_t::instance();
+		std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
+		if(can_subscription->get_index() != -1)
+		{
+			std::shared_ptr<utils::socketcan_t> s = can_subscription->get_socket();
+			if(s->socket() > 0)
+			{
+				std::shared_ptr<message_t> message = s->read_message();
+
+				// Sure we got a valid CAN message ?
+				if (message->get_id() && message->get_length() && !(message->get_flags() & INVALID_FLAG))
+					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();
 	}
-};
+
+	return 0;
+}