X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Flow-can-binding.cpp;h=8ecf74243ee89deac7c4b40d83a8b42e6de43029;hb=63d31e29e366fb9dd85debc897fdbc91d9cb2e42;hp=21517903a8e7ea6d372bb06aa749c3a0d2ee3e4e;hpb=5c0c41e87ed5d1a2de7d336465c3beb3987a299f;p=apps%2Fagl-service-can-low-level.git diff --git a/src/low-can-binding.cpp b/src/low-can-binding.cpp index 21517903..8ecf7424 100644 --- a/src/low-can-binding.cpp +++ b/src/low-can-binding.cpp @@ -19,38 +19,33 @@ #include "low-can-binding.hpp" #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 "configuration.hpp" +#include "can/can-bus.hpp" +#include "can/can-signals.hpp" +#include "can/can-message.hpp" +#include "utils/timer.hpp" +#include "utils/signals.hpp" +#include "obd2/obd2-signals.hpp" +#include "utils/openxc-utils.hpp" extern "C" { - #include #include }; -/* - * Interface between the daemon and the binding - */ -const struct afb_binding_interface *binder_interface; +#define MICRO 1000000 -/* - * 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; +// Interface between the daemon and the binding +const struct afb_binding_interface *binder_interface; /******************************************************************************** * @@ -58,37 +53,36 @@ can_bus_t *can_bus_handler; * *********************************************************************************/ -static int make_subscription_unsubscription(struct afb_req request, std::map::iterator& ss_i, bool subscribe) +static int make_subscription_unsubscription(struct afb_req request, const std::string& sig_name, std::map& s, bool subscribe) { /* Make the subscription or unsubscription to the event */ - if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, ss_i->second)) < 0) + if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[sig_name.c_str()])) < 0) { - ERROR(binder_interface, "Operation goes wrong for signal: %s", ss_i->first); + ERROR(binder_interface, "Operation goes wrong for signal: %s", sig_name); return 0; } return 1; } -static int create_event_handle(std::map::iterator& ss_i) +static int create_event_handle(const std::string& sig_name, std::map& s) { - ss_i->second = afb_daemon_make_event(binder_interface->daemon, ss_i->first.c_str()); - if (!afb_event_is_valid(ss_i->second)) + s[sig_name] = afb_daemon_make_event(binder_interface->daemon, sig_name.c_str()); + if (!afb_event_is_valid(s[sig_name])) { ERROR(binder_interface, "Can't create an event, something goes wrong."); return 0; } - return 1; } -static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, const CanSignal& sig) +static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, const std::string& sig) { int ret; - // TODO: lock the subscribed_signals when insert/remove - auto ss_i = subscribed_signals.find(sig.genericName); - if (ss_i != subscribed_signals.end() && !afb_event_is_valid(ss_i->second)) + std::lock_guard subscribed_signals_lock(get_subscribed_signals_mutex()); + std::map& s = get_subscribed_signals(); + if (s.find(sig) != s.end() && !afb_event_is_valid(s[sig])) { if(!subscribe) { @@ -98,15 +92,15 @@ static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, else { /* Event it isn't valid annymore, recreate it */ - ret = create_event_handle(ss_i); + ret = create_event_handle(sig, s); } } else { - /* Event don't exist , so let's create it */ + /* Event doesn't exist , so let's create it */ struct afb_event empty_event = {nullptr, nullptr}; - auto ss_i = subscribed_signals.insert(std::make_pair(sig.genericName, empty_event)); - ret = create_event_handle(ss_i.first); + subscribed_signals[sig] = empty_event; + ret = create_event_handle(sig, s); } /* Check whether or not the event handler has been correctly created and @@ -114,56 +108,66 @@ static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, */ if (ret <= 0) return ret; - return make_subscription_unsubscription(request, ss_i, subscribe); + return make_subscription_unsubscription(request, sig, s, subscribe); } -static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const std::vector& signals) +/** + * @fn static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const std::vector& signals) + * @brief subscribe to all signals in the vector signals + * + * @param[in] afb_req request : contain original request use to subscribe or unsubscribe + * @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription + * @param[in] can_signal_t vector with can_signal_t to subscribe + * + * @return Number of correctly subscribed signal + */ +static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const std::vector& signals) { - int ret = 0; + int rets = 0; + sd_event_source *source; - for(const auto& signal_i : signals) + //TODO: Implement way to dynamically call the right function no matter + // how much signals types we have. + + for(const std::string& sig : signals) { - ret = subscribe_unsubscribe_signal(request, subscribe, signal_i); - if(ret == 0) - return ret; - } - return ret; -} + int ret; + if (active_diagnostic_request_t::is_diagnostic_signal(sig)) + { + std::vector found; + configuration_t::instance().find_obd2_signals(build_DynamicField(sig), found); + int frequency = found.front()->get_frequency(); + DiagnosticRequest* diag_req = new DiagnosticRequest(found.front()->build_diagnostic_request()); + configuration_t::instance().get_diagnostic_manager().add_recurring_request( + diag_req, sig.c_str(), false, obd2_signal_t::decode_obd2_response, nullptr, (float)frequency); + //TODO: Adding callback requesting ignition status: diag_req, sig.c_str(), false, obd2_signal_t::decode_obd2_response, obd2_signal_t::check_ignition_status, frequency); + sd_event_add_time(afb_daemon_get_event_loop(binder_interface->daemon), &source, CLOCK_MONOTONIC, frequency*MICRO, 0, + configuration_t::instance().get_diagnostic_manager().send_request, diag_req); + } -static int subscribe_unsubscribe_all(struct afb_req request, bool subscribe) -{ - int e = 0; + ret = subscribe_unsubscribe_signal(request, subscribe, sig); + if(ret <= 0) + return ret; - //for (const auto& sig : SIGNALS) - // e += !subscribe_unsubscribe_signals(request, subscribe, sig); - e += !subscribe_unsubscribe_signals(request, subscribe, getSignals()); - - return e == 0; + rets++; + DEBUG(binder_interface, "Signal: %s subscribed", sig.c_str()); + } + return rets; } static int subscribe_unsubscribe_name(struct afb_req request, bool subscribe, const char *name) { - std::vector sig; + std::vector signals; int ret = 0; - if (!::strcmp(name, "*")) - ret = subscribe_unsubscribe_all(request, subscribe); - else - { - //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); - } + openxc_DynamicField search_key = build_DynamicField(std::string(name)); + signals = find_signals(search_key); + if (signals.empty()) + ret = 0; + + ret = subscribe_unsubscribe_signals(request, subscribe, signals); + NOTICE(binder_interface, "Subscribed correctly to %d/%d signal(s).", ret, (int)signals.size()); + return ret; } @@ -175,7 +179,7 @@ static void subscribe_unsubscribe(struct afb_req request, bool subscribe) /* makes the subscription/unsubscription */ args = afb_req_json(request); if (args == NULL || !json_object_object_get_ex(args, "event", &a)) { - ok = subscribe_unsubscribe_all(request, subscribe); + ok = subscribe_unsubscribe_name(request, subscribe, "*"); } else if (json_object_get_type(a) != json_type_array) { ok = subscribe_unsubscribe_name(request, subscribe, json_object_get_string(a)); } else { @@ -217,8 +221,8 @@ extern "C" static const struct afb_binding binding_desc { AFB_BINDING_VERSION_1, { - "CAN bus service", - "can", + "Low level CAN bus service", + "low-can", verbs } }; @@ -239,19 +243,20 @@ extern "C" */ 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; + can_bus_t& can_bus_manager = configuration_t::instance().get_can_bus_manager(); - /* Open CAN socket */ - if(can_bus_handler->init_can_dev() == 0) + /// Initialize CAN socket + if(can_bus_manager.init_can_dev() == 0) { - can_bus_handler->start_threads(); + can_bus_manager.start_threads(); return 0; } + + /// Initialize Diagnostic manager that will handle obd2 requests. + /// We pass by default the first CAN bus device to its Initialization. + /// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus. + configuration_t::instance().get_diagnostic_manager().initialize(can_bus_manager.get_can_devices().front()); + ERROR(binder_interface, "There was something wrong with CAN device Initialization. Check your config file maybe"); return 1; }