X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Flow-can-binding.cpp;h=2fee11465d1beebece96e6b9037fc5b250555acd;hb=92bc628a7b7cbf141c2bbc7e4ea3eeac62cd30dd;hp=1545c6d1a941fb2f0c119e548a293677b1cb8567;hpb=ae8db2457e484f0d63aaf6dc04382555f47d21e7;p=apps%2Fagl-service-can-low-level.git

diff --git a/src/low-can-binding.cpp b/src/low-can-binding.cpp
index 1545c6d1..2fee1146 100644
--- a/src/low-can-binding.cpp
+++ b/src/low-can-binding.cpp
@@ -16,36 +16,22 @@
  * limitations under the License.
  */
 
-#include <map>
+#include "low-can-binding.hpp"
+
 #include <queue>
 #include <vector>
-#include <string>
-#include <memory>
 #include <thread>
 #include <fcntl.h>
-#include <errno.h>
-#include <unistd.h>
-#include <net/if.h>
-#include <functional>
-#include <sys/ioctl.h>
 #include <linux/can.h>
-#include <openxc.pb.h>
-#include <sys/timeb.h>
-#include <sys/types.h>
-#include <sys/socket.h>
 #include <json-c/json.h>
-#include <linux/can/raw.h>
 #include <systemd/sd-event.h>
 
 #include "timer.hpp"
 #include "openxc.pb.h"
 #include "can-utils.hpp"
 #include "can-signals.hpp"
-#include "can-decoder.hpp"
 #include "openxc-utils.hpp"
 
-#include "low-can-binding.hpp"
-
 extern "C"
 {
 	#include <afb/afb-binding.h>
@@ -57,12 +43,43 @@ extern "C"
  */
 const struct afb_binding_interface *binder_interface;
 
+/*
+ * CAN bus handler pointer. This is the object that will be use to
+ * initialize each CAN devices specified into the configuration file
+ *
+ * It is used by the reading thread also because of its can_message_q_ queue
+ * that store CAN messages read from the socket.
+ */
+can_bus_t *can_bus_handler;
+
 /********************************************************************************
 *
 *		Event management
 *
 *********************************************************************************/
+int can_frame_received(sd_event_source *s, int fd, uint32_t revents, void *userdata)
+{
+	can_bus_dev_t *can_bus_dev = (can_bus_dev_t*)userdata;
+
+	/* Notify reading thread that there is something to read */
+	if ((revents & EPOLLIN) != 0) {
+		new_can_frame.notify_one();
+	}
 
+	/* check if error or hangup and reopen the socket and event_loop. 
+	 * socket is protected by a mutex */
+	if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
+	{
+		std::lock_guard<std::mutex> can_frame_lock(can_frame_mutex);
+		sd_event_source_unref(s);
+		can_bus_dev->close();
+		can_bus_dev->open();
+		can_bus_dev->start_reading(*can_bus_handler);
+		can_bus_dev->event_loop_connection();
+	}
+
+	return 0;
+}
 /********************************************************************************
 *
 *		Subscription and unsubscription
@@ -157,7 +174,7 @@ static int subscribe_unsubscribe_name(struct afb_req request, bool subscribe, co
 		else
 		{
 			openxc_DynamicField search_key = build_DynamicField(name);
-			sig = find_can_signals(binder_interface, search_key);
+			sig = find_can_signals(search_key);
 			if (sig.empty())
 				ret = 0;
 		}
@@ -195,21 +212,6 @@ static void subscribe_unsubscribe(struct afb_req request, bool subscribe)
 		afb_req_fail(request, "error", NULL);
 }
 
-static const struct afb_verb_desc_v1 verbs[]=
-{
-	{ .name= "subscribe",	.session= AFB_SESSION_NONE, .callback= subscribe,	.info= "subscribe to notification of CAN bus messages." },
-	{ .name= "unsubscribe",	.session= AFB_SESSION_NONE, .callback= unsubscribe,	.info= "unsubscribe a previous subscription." }
-};
-
-static const struct afb_binding binding_desc {
-	AFB_BINDING_VERSION_1,
-	{
-		"CAN bus service",
-		"can",
-		verbs
-	}
-};
-
 extern "C"
 {
 	static void subscribe(struct afb_req request)
@@ -222,6 +224,21 @@ extern "C"
 		subscribe_unsubscribe(request, false);
 	}
 
+	static const struct afb_verb_desc_v1 verbs[]=
+	{
+		{ .name= "subscribe",	.session= AFB_SESSION_NONE, .callback= subscribe,	.info= "subscribe to notification of CAN bus messages." },
+		{ .name= "unsubscribe",	.session= AFB_SESSION_NONE, .callback= unsubscribe,	.info= "unsubscribe a previous subscription." }
+	};
+
+	static const struct afb_binding binding_desc {
+		AFB_BINDING_VERSION_1,
+		{
+			"CAN bus service",
+			"can",
+			verbs
+		}
+	};
+
 	const struct afb_binding *afbBindingV1Register (const struct afb_binding_interface *itf)
 	{
 		binder_interface = itf;
@@ -241,14 +258,17 @@ extern "C"
 		int fd_conf;
 		fd_conf = afb_daemon_rootdir_open_locale(binder_interface->daemon, "can_bus.json", O_RDONLY, NULL);
 
+		/* Initialize the CAN bus handler */
+		can_bus_t cbh(fd_conf);
+		can_bus_handler = &cbh;
+
 		/* Open CAN socket */
-		can_bus_t can_bus_handler(binder_interface, fd_conf);
-		if(can_bus_handler.init_can_dev() == 0)
+		if(can_bus_handler->init_can_dev() == 0)
 		{
-			can_bus_handler.start_threads();
+			can_bus_handler->start_threads();
 			return 0;
 		}
-
+		ERROR(binder_interface, "There was something wrong with CAN device Initialization. Check your config file maybe");
 		return 1;
 	}
 };