X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Flow-can-binding.cpp;h=2fee11465d1beebece96e6b9037fc5b250555acd;hb=92bc628a7b7cbf141c2bbc7e4ea3eeac62cd30dd;hp=c5fadbe30aa1d1aa24dad6cfa8a97c6fd11b5062;hpb=15250b2e51e8383a0df4b6e5a870c07e914d406d;p=apps%2Flow-level-can-service.git diff --git a/src/low-can-binding.cpp b/src/low-can-binding.cpp index c5fadbe..2fee114 100644 --- a/src/low-can-binding.cpp +++ b/src/low-can-binding.cpp @@ -16,73 +16,97 @@ * 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 -#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 */ -static const struct afb_binding_interface *interface; -static obd2_handler_t obd2_handler(); +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 * *********************************************************************************/ -static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, std::vector::const_iterator& sig_i) +static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, const CanSignal& sig) { int ret; - const auto& ss_i = subscribed_signals.find(sig_i); + // TODO: lock the subscribed_signals when insert/remove + const auto& ss_i = subscribed_signals.find(sig.genericName); 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."); + 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.genericName); + 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; } } @@ -90,17 +114,17 @@ static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, } else { - subscribed_signals[sig_i] = afb_daemon_make_event(interface->daemon, sig_i->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_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); + ERROR(binder_interface, "Operation goes wrong for signal: %s", sig.genericName); ret = 0; } else @@ -111,25 +135,24 @@ 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) { - int n, e; + int e = 0; - n = obd2_handler.OBD2_PIDS.size(); - e = 0; - for (const auto& pid : obd2_handler.OBD2_PIDS) - e += !subscribe_unsubscribe_signals(request, subscribe, pid); + //for (const auto& sig : SIGNALS) + // e += !subscribe_unsubscribe_signals(request, subscribe, sig); + e += !subscribe_unsubscribe_signals(request, subscribe, getSignals()); return e == 0; } @@ -150,7 +173,8 @@ static int subscribe_unsubscribe_name(struct afb_req request, bool subscribe, co } else { - sig = find_can_signals(name); + openxc_DynamicField search_key = build_DynamicField(name); + sig = find_can_signals(search_key); if (sig.empty()) ret = 0; } @@ -188,57 +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) -{ - subscribe_unsubscribe(request, true); -} - -static void unsubscribe(struct afb_req request) +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 = { - .type = AFB_BINDING_VERSION_1, - .v1 = { - .info = "CAN bus service", - .prefix = "can", - .verbs = verbs + static void subscribe(struct afb_req request) + { + subscribe_unsubscribe(request, true); } -}; -const struct afb_binding *afbBindingV1Register (const struct afb_binding_interface *itf) -{ - interface = itf; + static void unsubscribe(struct afb_req request) + { + subscribe_unsubscribe(request, false); + } - return &binding_desc; -} + 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." } + }; -/** - * @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); + static const struct afb_binding binding_desc { + AFB_BINDING_VERSION_1, + { + "CAN bus service", + "can", + verbs + } + }; - /* Open CAN socket */ - can_bus_t can_bus_handler(interface, fd_conf); - if(can_bus_handler.init_can_dev() == 0) + const struct afb_binding *afbBindingV1Register (const struct afb_binding_interface *itf) { - can_bus_handler.start_threads(); - return 0; + binder_interface = itf; + + return &binding_desc; } - return 1; -} + /** + * @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; + } +};