X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Flow-can-binding.cpp;h=2fee11465d1beebece96e6b9037fc5b250555acd;hb=92bc628a7b7cbf141c2bbc7e4ea3eeac62cd30dd;hp=aaa9e54a6511710f786a851bcc8017e1122cd095;hpb=cba9b59fab054d3a33a4d58ed227fc3d4b6f6d9d;p=apps%2Fagl-service-can-low-level.git diff --git a/src/low-can-binding.cpp b/src/low-can-binding.cpp index aaa9e54a..2fee1146 100644 --- a/src/low-can-binding.cpp +++ b/src/low-can-binding.cpp @@ -18,12 +18,68 @@ #include "low-can-binding.hpp" +#include +#include +#include +#include +#include +#include +#include + +#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 + */ +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 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 @@ -34,6 +90,7 @@ static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, { int ret; + // TODO: lock the subscribed_signals when insert/remove const auto& ss_i = subscribed_signals.find(sig.genericName); if (ss_i != subscribed_signals.end()) { @@ -41,15 +98,15 @@ static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, { if(!subscribe) { - NOTICE(interface, "Event isn't valid, it can't be unsubscribed."); + NOTICE(binder_interface, "Event isn't valid, it can't be unsubscribed."); ret = 1; } else { - ss_i->second = afb_daemon_make_event(interface->daemon, ss_i->first.c_str()); + ss_i->second = afb_daemon_make_event(binder_interface->daemon, ss_i->first.c_str()); if (!afb_event_is_valid(ss_i->second)) { - ERROR(interface, "Can't create an event, something goes wrong."); + ERROR(binder_interface, "Can't create an event, something goes wrong."); ret = 0; } } @@ -57,17 +114,17 @@ static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, } else { - subscribed_signals[sig.genericName] = afb_daemon_make_event(interface->daemon, sig.genericName); + subscribed_signals[sig.genericName] = afb_daemon_make_event(binder_interface->daemon, sig.genericName); if (!afb_event_is_valid(ss_i->second)) { - ERROR(interface, "Can't create an event, something goes wrong."); + ERROR(binder_interface, "Can't create an event, something goes wrong."); ret = 0; } } if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, subscribed_signals[sig.genericName])) < 0) { - ERROR(interface, "Operation goes wrong for signal: %s", sig.genericName); + ERROR(binder_interface, "Operation goes wrong for signal: %s", sig.genericName); ret = 0; } else @@ -78,15 +135,15 @@ static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const std::vector& signals) { - 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; } + return ret; } static int subscribe_unsubscribe_all(struct afb_req request, bool subscribe) @@ -95,7 +152,7 @@ static int subscribe_unsubscribe_all(struct afb_req request, bool subscribe) //for (const auto& sig : SIGNALS) // e += !subscribe_unsubscribe_signals(request, subscribe, sig); - e += !subscribe_unsubscribe_signals(request, subscribe, SIGNALS[MESSAGE_SET_ID]); + e += !subscribe_unsubscribe_signals(request, subscribe, getSignals()); return e == 0; } @@ -155,21 +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) @@ -182,9 +224,24 @@ 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) { - interface = itf; + binder_interface = itf; return &binding_desc; } @@ -199,16 +256,19 @@ extern "C" int afbBindingV1ServiceInit(struct afb_service service) { int fd_conf; - fd_conf = afb_daemon_rootdir_open_locale(interface->daemon, "can_bus.json", O_RDONLY, NULL); + 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(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; } -}; \ No newline at end of file +};