X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Flow-can-binding.cpp;h=2fee11465d1beebece96e6b9037fc5b250555acd;hb=92bc628a7b7cbf141c2bbc7e4ea3eeac62cd30dd;hp=7899797bebd2aeec71bf84e9c730afbaf1583c4b;hpb=d9237e07858fb243eb35f78ded3664aec69f524d;p=apps%2Flow-level-can-service.git diff --git a/src/low-can-binding.cpp b/src/low-can-binding.cpp index 7899797..2fee114 100644 --- a/src/low-can-binding.cpp +++ b/src/low-can-binding.cpp @@ -16,192 +16,154 @@ * limitations under the License. */ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include "low-can-binding.hpp" + #include -#include -#include -#include +#include #include - +#include +#include #include -#include - -#include -#include +#include -//#include "obd2.hpp" +#include "timer.hpp" +#include "openxc.pb.h" #include "can-utils.hpp" #include "can-signals.hpp" +#include "openxc-utils.hpp" + +extern "C" +{ + #include + #include +}; /* - * Interface between the daemon and the binding + * Interface between the daemon and the binding */ -static const struct afb_binding_interface *interface; +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 * *********************************************************************************/ - -/* - * TBF TBF TBF - * called on an event on the CAN bus - static int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata) +int can_frame_received(sd_event_source *s, int fd, uint32_t revents, void *userdata) { - openxc_CanMessage can_message; + can_bus_dev_t *can_bus_dev = (can_bus_dev_t*)userdata; - can_message = openxc_CanMessage_init_default; - - /* read available data */ - /* - if ((revents & EPOLLIN) != 0) - { - read_can(&can_message); - send_event(); + /* Notify reading thread that there is something to read */ + if ((revents & EPOLLIN) != 0) { + new_can_frame.notify_one(); } -*/ - /* check if error or hangup */ -/* + + /* 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 can_frame_lock(can_frame_mutex); sd_event_source_unref(s); - close(fd); - connect_to_event_loop(); + can_bus_dev->close(); + can_bus_dev->open(); + can_bus_dev->start_reading(*can_bus_handler); + can_bus_dev->event_loop_connection(); } return 0; } -*/ -/* - * USELESS SINCE THREADS SEPARATION - * - * Get the event loop running. - * Will trigger on_event function on EPOLLIN event on socket - * - * Return 0 or positive value on success. Else negative value for failure. -static int connect_to_event_loop(CanBus &CanBus_handler) +/******************************************************************************** +* +* Subscription and unsubscription +* +*********************************************************************************/ + +static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, const CanSignal& sig) { - sd_event *event_loop; - sd_event_source *source; - int rc; + int ret; - if (CanBus_handler.socket < 0) + // TODO: lock the subscribed_signals when insert/remove + const auto& ss_i = subscribed_signals.find(sig.genericName); + if (ss_i != subscribed_signals.end()) { - return CanBus_handler.socket; + if(!afb_event_is_valid(ss_i->second)) + { + if(!subscribe) + { + NOTICE(binder_interface, "Event isn't valid, it can't be unsubscribed."); + ret = 1; + } + else + { + ss_i->second = afb_daemon_make_event(binder_interface->daemon, ss_i->first.c_str()); + if (!afb_event_is_valid(ss_i->second)) + { + ERROR(binder_interface, "Can't create an event, something goes wrong."); + ret = 0; + } + } + } } - - event_loop = afb_daemon_get_event_loop(interface->daemon); - rc = sd_event_add_io(event_loop, &source, CanBus_handler.socket, EPOLLIN, on_event, NULL); - if (rc < 0) - { - CanBus_handler.close(); - ERROR(interface, "Can't connect CAN bus %s to the event loop", CanBus_handler.device); - } else + else { - NOTICE(interface, "Connected CAN bus %s to the event loop", CanBus_handler.device); + subscribed_signals[sig.genericName] = afb_daemon_make_event(binder_interface->daemon, sig.genericName); + if (!afb_event_is_valid(ss_i->second)) + { + ERROR(binder_interface, "Can't create an event, something goes wrong."); + ret = 0; + } } - return rc; -} - */ - -/******************************************************************************** -* -* Subscription and unsubscription -* -*********************************************************************************/ - -static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, std::vector::const_iterator& sig_i) - { - int ret; - - const auto& ss_i = subscribed_signals.find(sig_i); - if (ss_i != subscribed_signals.end()) - { - if(!afb_event_is_valid(ss_i->second)) - { - if(!subscribe) - { - NOTICE(interface, "Event isn't valid, it can't be unsubscribed."); - ret = 1; - } - else - { - ss_i->second = afb_daemon_make_event(afbitf->daemon, ss_i->first.genericName); - if (!afb_event_is_valid(ss_i->second)) - { - ERROR(interface, "Can't create an event, something goes wrong."); - ret = 0; - } - } - } - } - else - { - subscribed_signals[sig_i] = afb_daemon_make_event(afbitf->daemon, sig_i.genericName); - if (!afb_event_is_valid(ss_i->second)) - { - ERROR(interface, "Can't create an event, something goes wrong."); - ret = 0; - } - } - - if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, subscribed_signals[sig_i])) < 0) + if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, subscribed_signals[sig.genericName])) < 0) { - ERROR(interface, "Operation goes wrong for signal: %s", sig_i.genericName); - ret = 0; + ERROR(binder_interface, "Operation goes wrong for signal: %s", sig.genericName); + ret = 0; } - else - ret = 1; + else + ret = 1; return ret; - } +} -static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const std:vector& signals) +static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const std::vector& signals) { - std::vector::iterator signal_i; - std::map ::iterator s_signal_i; - int ret; + int ret = 0; - // TODO: lock the subscribed_signals when insert/remove for(const auto& signal_i : signals) { - ret = subscribe_unsubscribe_signal(request, subscribe, signal_i); - if(ret == 0) - return ret; + ret = subscribe_unsubscribe_signal(request, subscribe, signal_i); + if(ret == 0) + return ret; } + return ret; } static int subscribe_unsubscribe_all(struct afb_req request, bool subscribe) { - int i, n, e; + int e = 0; - n = sizeof OBD2_PIDS / sizeof * OBD2_PIDS; - e = 0; - for (i = 0 ; i < n ; i++) - e += !subscribe_unsubscribe_sig(request, subscribe, &OBD2_PIDS[i]); + //for (const auto& sig : SIGNALS) + // e += !subscribe_unsubscribe_signals(request, subscribe, sig); + e += !subscribe_unsubscribe_signals(request, subscribe, getSignals()); + return e == 0; } static int subscribe_unsubscribe_name(struct afb_req request, bool subscribe, const char *name) { - std::vector sig; - int ret = 0; + std::vector sig; + int ret = 0; - if (!strcmp(name, "*")) - ret = subscribe_unsubscribe_all(request, subscribe); + if (!::strcmp(name, "*")) + ret = subscribe_unsubscribe_all(request, subscribe); else { //if(obd2_handler_c.is_obd2_signal(name)) @@ -211,12 +173,13 @@ static int subscribe_unsubscribe_name(struct afb_req request, bool subscribe, co } else { - sig = find_can_signals(name); - if (sig.empty()) - ret = 0; - } - ret = subscribe_unsubscribe_signals(request, subscribe, sig); - } + openxc_DynamicField search_key = build_DynamicField(name); + sig = find_can_signals(search_key); + if (sig.empty()) + ret = 0; + } + ret = subscribe_unsubscribe_signals(request, subscribe, sig); + } return ret; } @@ -249,52 +212,63 @@ static void subscribe_unsubscribe(struct afb_req request, bool subscribe) afb_req_fail(request, "error", NULL); } -static void subscribe(struct afb_req request) +extern "C" { - subscribe_unsubscribe(request, true); -} - -static void unsubscribe(struct afb_req request) -{ - 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." }, - {NULL} -}; + static void subscribe(struct afb_req request) + { + subscribe_unsubscribe(request, true); + } -static const struct afb_binding binding_desc = { - .type = AFB_BINDING_VERSION_1, - .v1 = { - .info = "CAN bus service", - .prefix = "can", - .verbs = verbs + static void unsubscribe(struct afb_req request) + { + subscribe_unsubscribe(request, false); } -}; -const struct afb_binding *afbBindingV1Register (const struct afb_binding_interface *itf) -{ - interface = itf; + 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." } + }; - return &binding_desc; -} + static const struct afb_binding binding_desc { + AFB_BINDING_VERSION_1, + { + "CAN bus service", + "can", + verbs + } + }; -/** - * @brief Initialize the binding. - * - * @param[in] service Structure which represent the Application Framework Binder. - * - * @return Exit code, zero if success. - */ -int afbBindingV1ServiceInit(struct afb_service service) -{ - std::ifstream fd_conf; - fd_conf = afb_daemon_rootdir_open_locale(interface->daemon, "can_bus.json", O_RDONLY, NULL); + const struct afb_binding *afbBindingV1Register (const struct afb_binding_interface *itf) + { + binder_interface = itf; - /* Open CAN socket */ - can_bus_t can_bus_handler(interface, )); - CanBus_handler.open(); - CanBus_handler.start_threads(); -} + return &binding_desc; + } + + /** + * @brief Initialize the binding. + * + * @param[in] service Structure which represent the Application Framework Binder. + * + * @return Exit code, zero if success. + */ + int afbBindingV1ServiceInit(struct afb_service service) + { + 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 */ + if(can_bus_handler->init_can_dev() == 0) + { + 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; + } +};