X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Flow-can-binding.cpp;h=2fee11465d1beebece96e6b9037fc5b250555acd;hb=92bc628a7b7cbf141c2bbc7e4ea3eeac62cd30dd;hp=d5c116f8882d4c06701cbbac4ed9127e55e7f336;hpb=ec95cbf8d430f9616eff050f510268f9901944b6;p=apps%2Flow-level-can-service.git diff --git a/src/low-can-binding.cpp b/src/low-can-binding.cpp index d5c116f..2fee114 100644 --- a/src/low-can-binding.cpp +++ b/src/low-can-binding.cpp @@ -16,178 +16,174 @@ * 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 "timer.hpp" +#include "openxc.pb.h" +#include "can-utils.hpp" +#include "can-signals.hpp" +#include "openxc-utils.hpp" -#include -#include +extern "C" +{ + #include + #include +}; -#include "obd2.h" +/* + * Interface between the daemon and the binding + */ +const struct afb_binding_interface *binder_interface; /* - * Interface between the daemon and the binding + * 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. */ -static const struct afb_binding_interface *interface; +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_message = openxc_CanMessage_init_default; + can_bus_dev_t *can_bus_dev = (can_bus_dev_t*)userdata; - /* 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) -{ - sd_event *event_loop; - sd_event_source *source; - int rc; - - if (CanBus_handler.socket < 0) - { - return CanBus_handler.socket; - } - - 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 - { - NOTICE(interface, "Connected CAN bus %s to the event loop", CanBus_handler.device); - } - - return rc; -} - */ - /******************************************************************************** * * Subscription and unsubscription * *********************************************************************************/ -static int subscribe_unsubscribe_signal(struct afb_req request, int subscribe, std::map::iterator *s_sig) - { - if (!afb_event_is_valid(s_sig->second)) { - if (!subscribe) - return 1; - sig->event = afb_daemon_make_event(afbitf->daemon, s_sig->first->genericName); - if (!afb_event_is_valid(s_sig->second)) { - return 0; +static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, const CanSignal& sig) +{ + 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()) + { + 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; + } + } } } - - if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s_sig->second)) < 0) { - return 0; + else + { + 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 1; - } + if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, subscribed_signals[sig.genericName])) < 0) + { + ERROR(binder_interface, "Operation goes wrong for signal: %s", sig.genericName); + ret = 0; + } + else + ret = 1; + + return ret; +} -static int subscribe_unsubscribe_signals(struct afb_req request, int subscribe, 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; - - for(signal_i=signals.begin(); signal_i != signals.end(); signal_i++) + int ret = 0; + + for(const auto& signal_i : signals) { - s_signal_i = subscribed_signals.find(signal_i); - if(s_signal_i != subscribed_signals.end()) - subscribe_unsubscribe_signal(request, subscribe, s_signal_i); - else - { - std::map ::iterator it = subscribed_signals.begin(); - it = subscribed_signals.insert(it, std::pair(signal_i, NULL); - subscribe_unsubscribe_signal(request, subscribe, it); - } - return 0; + ret = subscribe_unsubscribe_signal(request, subscribe, signal_i); + if(ret == 0) + return ret; } + return ret; } -static int subscribe_unsubscribe_all(struct afb_req request, int subscribe) +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, int subscribe, const char *name) +static int subscribe_unsubscribe_name(struct afb_req request, bool subscribe, const char *name) { - std::vector *sig; - - if (0 == strcmp(name, "*")) - return subscribe_unsubscribe_all(request, subscribe); - - if(obd2_handler_c.is_obd2_signal(name)) + std::vector sig; + int ret = 0; + if (!::strcmp(name, "*")) + ret = subscribe_unsubscribe_all(request, subscribe); else - find_can_signals(name, sig); - if (sig == NULL) { - return 0; + { + //if(obd2_handler_c.is_obd2_signal(name)) + if(false) + { + // TODO + } + else + { + 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 subscribe_unsubscribe_sig(request, subscribe, sig); + return ret; } -static void subscribe_unsubscribe(struct afb_req request, int subscribe) +static void subscribe_unsubscribe(struct afb_req request, bool subscribe) { int ok, i, n; struct json_object *args, *a, *x; @@ -216,67 +212,63 @@ static void subscribe_unsubscribe(struct afb_req request, int subscribe) afb_req_fail(request, "error", NULL); } -static void subscribe(struct afb_req request) -{ - subscribe_unsubscribe(request, 1); -} - -static void unsubscribe(struct afb_req request) +extern "C" { - subscribe_unsubscribe(request, 0); -} -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 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; - std::string fd_conf_content; - json_object jo_canbus; + static const struct afb_binding binding_desc { + AFB_BINDING_VERSION_1, + { + "CAN bus service", + "can", + verbs + } + }; - /* Open JSON conf file */ - jo_canbus = json_object_new_object(); - fd_conf = afb_daemon_rootdir_open_locale(interface->daemon, "canbus.json", O_RDONLY, NULL); - if (fd_conf) + const struct afb_binding *afbBindingV1Register (const struct afb_binding_interface *itf) { - fd_conf.seekg(0, std::ios::end); - fd_conf_content.resize(fd_conf.tellg()); - fd_conf.seekg(0, std::ios::beg); - fd_conf.read(&fd_conf_content[0], fd_conf_content.size()); - fd_conf.close(); + binder_interface = itf; + + return &binding_desc; } - jo_canbus = json_tokener_parse(&fd_conf_content); + /** + * @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); - /* Open CAN socket */ - can_bus_t CanBus_handler(interface, json_object_get_string(json_object_object_get(jo_canbus, "deviceName")); - CanBus_handler.open(); - CanBus_handler.start_threads(); -} + /* 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; + } +};