+++ /dev/null
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#define _GNU_SOURCE
-
-#include <string.h>
-#include <stdbool.h>
-#include <unistd.h>
-#include <sys/types.h>
-#include <sys/socket.h>
-#include <sys/ioctl.h>
-#include <net/if.h>
-#include <sys/time.h>
-#include <linux/can.h>
-#include <linux/can/raw.h>
-#include <math.h>
-#include <fcntl.h>
-#include <systemd/sd-event.h>
-#include <errno.h>
-
-#include <json-c/json.h>
-#include <openxc.pb.h>
-
-#include <afb/afb-binding.h>
-#include <afb/afb-service-itf.h>
-
-/*****************************************************************************************/
-/*****************************************************************************************/
-/** **/
-/** **/
-/** SECTION: GLOBAL VARIABLES **/
-/** **/
-/** **/
-/*****************************************************************************************/
-/*****************************************************************************************/
-
-/* max. number of CAN interfaces given on the cmdline */
-#define MAXSOCK 16
-
-/* buffer sizes for CAN frame string representations */
-#define CL_ID (sizeof("12345678##1"))
-#define CL_DATA sizeof(".AA")
-#define CL_BINDATA sizeof(".10101010")
-
- /* CAN FD ASCII hex short representation with DATA_SEPERATORs */
-#define CL_CFSZ (2*CL_ID + 64*CL_DATA)
-
-#define CANID_DELIM '#'
-
-/*
- * the type of position expected
- *
- * here, this type is the selection of protocol
- */
-enum type {
- type_OBDII,
- type_CAN,
- type_DEFAULT = type_CAN,
- type_INVALID = -1
-};
-
-#define type_size sizeof(enum type)-2
-
-/*
- * each generated event
- */
-struct event {
- struct event *next; /* link for the same period */
- const char *name; /* name of the event */
- struct afb_event event; /* the event for the binder */
- enum type type; /* the type of data expected */
- int id; /* id of the event for unsubscribe */
-};
-
-/* CAN variable initialization */
-
-static __u32 dropcnt[MAXSOCK];
-static __u32 last_dropcnt[MAXSOCK];
-struct timeval tv;
-struct canfd_frame canfd_frame;
-
-struct can_handler {
- int socket;
- char *device;
- openxc_CanMessage *msg;
- struct sockaddr_can txAddress;
-};
-
-
-
-/*****************************************************************************************/
-/*****************************************************************************************/
-/** **/
-/** **/
-/** SECTION: UTILITY FUNCTIONS **/
-/** **/
-/** **/
-/*****************************************************************************************/
-/*****************************************************************************************/
-/*
- * Interface between the daemon and the binding
- */
-static const struct afb_binding_interface *interface;
-
-/*
- * @brief Retry a function 3 times
- *
- * @param int function(): function that return an int wihtout any parameter
- *
- * @ return : 0 if ok, -1 if failed
- *
- */
-static int retry( int(*func)());
-static int retry( int(*func)())
-{
- int i;
-
- for (i=0;i<4;i++)
- {
- if ( (*func)() >= 0)
- {
- return 0;
- }
- usleep(100000);
- }
- return -1;
-}
-
-/*****************************************************************************************/
-/*****************************************************************************************/
-/** **/
-/** **/
-/** SECTION: HANDLE CAN DEVICE **/
-/** **/
-/** **/
-/*****************************************************************************************/
-/*****************************************************************************************/
-const char hex_asc_upper[] = "0123456789ABCDEF";
-
-#define hex_asc_upper_lo(x) hex_asc_upper[((x) & 0x0F)]
-#define hex_asc_upper_hi(x) hex_asc_upper[((x) & 0xF0) >> 4]
-
-static inline void _put_id(char *buf, int end_offset, canid_t id)
-{
- /* build 3 (SFF) or 8 (EFF) digit CAN identifier */
- while (end_offset >= 0) {
- buf[end_offset--] = hex_asc_upper[id & 0xF];
- id >>= 4;
- }
-}
-
-#define put_sff_id(buf, id) _put_id(buf, 2, id)
-#define put_eff_id(buf, id) _put_id(buf, 7, id)
-
-static void canread_frame_parse(struct canfd_frame *canfd_frame, int maxdlen);
-
-/*
- * names of the types
- */
-static const char * const type_NAMES[type_size] = {
- "OBDII",
- "CAN"
-};
-
-
-// Initialize default can_handler values
-static struct can_handler can_handler = {
- .socket = -1,
- .device = "vcan0",
-};
-
-
-/*
- * open the can socket
- */
-static int open_can_dev()
-{
- const int canfd_on = 1;
- struct ifreq ifr;
- struct timeval timeout = {1,0};
- openxc_CanMessage *can_msg;
-
- DEBUG(interface, "open_can_dev: CAN Handler socket : %d", can_handler.socket);
- close(can_handler.socket);
-
- can_handler.socket = socket(PF_CAN, SOCK_RAW, CAN_RAW);
- if (can_handler.socket < 0)
- {
- ERROR(interface, "open_can_dev: socket could not be created");
- }
- else
- {
- /* Set timeout for read */
- setsockopt(can_handler.socket, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
- /* try to switch the socket into CAN_FD mode */
- can_msg->has_frame_format = true;
- if (setsockopt(can_handler.socket, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
- {
- NOTICE(interface, "open_can_dev: Can not switch into CAN Extended frame format.");
- can_msg->frame_format = openxc_CanMessage_FrameFormat_STANDARD;
- } else {
- can_msg->frame_format = openxc_CanMessage_FrameFormat_EXTENDED;
- }
-
- /* Attempts to open a socket to CAN bus */
- strcpy(ifr.ifr_name, can_handler.device);
- if(ioctl(can_handler.socket, SIOCGIFINDEX, &ifr) < 0)
- {
- ERROR(interface, "open_can_dev: ioctl failed");
- }
- else
- {
- can_handler.txAddress.can_family = AF_CAN;
- can_handler.txAddress.can_ifindex = ifr.ifr_ifindex;
-
- /* And bind it to txAddress */
- if (bind(can_handler.socket, (struct sockaddr *)&can_handler.txAddress, sizeof(can_handler.txAddress)) < 0)
- {
- ERROR(interface, "open_can_dev: bind failed");
- }
- else
- {
- fcntl(can_handler.socket, F_SETFL, O_NONBLOCK);
- can_handler.msg = can_msg;
- return 0;
- }
- }
- close(can_handler.socket);
- can_handler.socket = -1;
- }
- return -1;
-}
-
-static int write_can()
-{
- int rc = 0;
-
- rc = can_handler.socket;
- if (rc >= 0)
- {
-/*
- * TODO change old hvac write can frame to generic on_event
- */
- rc = sendto(can_handler.socket, &canfd_frame, sizeof(struct canfd_frame), 0,
- (struct sockaddr*)&can_handler.txAddress, sizeof(can_handler.txAddress));
- if (rc < 0)
- {
- ERROR(interface, "Sending CAN frame failed.");
- }
- }
- else
- {
- ERROR(interface, "socket not initialized. Attempt to reopen can device socket.");
- retry(open_can_dev);
- }
- return rc;
-}
-
-/*
- * Read on CAN bus and return how much bytes has been read.
- */
-static int read_can()
-{
- int bytes_read, maxdlen;
-
- bytes_read = read(can_handler.socket, &canfd_frame, sizeof(struct canfd_frame));
-
- if (bytes_read < 0)
- {
- if (errno == ENETDOWN) {
- ERROR(interface, "%s: interface down", can_handler.device);
- }
- ERROR(interface, "Error reading CAN bus");
- return -1;
- }
-
- /* CAN frame integrity check */
- if ((size_t)bytes_read == CAN_MTU)
- maxdlen = CAN_MAX_DLEN;
- else if ((size_t)bytes_read == CANFD_MTU)
- maxdlen = CANFD_MAX_DLEN;
- else
- {
- ERROR(interface, "CAN frame incomplete");
- return -2;
- }
-
- canread_frame_parse(&canfd_frame, maxdlen);
-}
-
-/*
- * Parse the CAN frame data payload as a CAN packet
- * TODO: parse as an OpenXC Can Message
- */
-static void canread_frame_parse(struct canfd_frame *canfd_frame, int maxdlen)
-{
- int i,offset;
- int len = (canfd_frame->len > maxdlen) ? maxdlen : canfd_frame->len;
- char buf[CL_CFSZ];
-
- if (canfd_frame->can_id & CAN_ERR_FLAG) {
- put_eff_id(buf, canfd_frame->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG));
- buf[8] = '#';
- offset = 9;
- } else if (canfd_frame->can_id & CAN_EFF_FLAG) {
- put_eff_id(buf, canfd_frame->can_id & CAN_EFF_MASK);
- buf[8] = '#';
- offset = 9;
- } else {
- put_sff_id(buf, canfd_frame->can_id & CAN_SFF_MASK);
- buf[3] = '#';
- offset = 4;
- }
-
- /* standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
- if (maxdlen == CAN_MAX_DLEN && canfd_frame->can_id & CAN_RTR_FLAG) {
- buf[offset++] = 'R';
- /* print a given CAN 2.0B DLC if it's not zero */
- if (canfd_frame->len && canfd_frame->len <= CAN_MAX_DLC)
- buf[offset++] = hex_asc_upper[canfd_frame->len & 0xF];
-
- buf[offset] = 0;
- }
-
- if (maxdlen == CANFD_MAX_DLEN) {
- /* add CAN FD specific escape char and flags */
- buf[offset++] = '#';
- buf[offset++] = hex_asc_upper[canfd_frame->flags & 0xF];
- }
-/*
- for (i = 0; i < len; i++) {
- put_hex_byte(buf + offset, canfd_frame->data[i]);
- offset += 2;
- }
-
-buf[offset] = 0;
-
- can_message->has_id = true;
- can_message->id = msg.id; // TODO make the parsing to extract id from data and only return left data into msg.msg_iov
- can_message->has_data = true;
- can_message->data = msg.msg_iov;
- */
-}
-
-/***************************************************************************************/
-/***************************************************************************************/
-/** **/
-/** **/
-/** SECTION: MANAGING EVENTS **/
-/** **/
-/** **/
-/***************************************************************************************/
-/***************************************************************************************/
-static int connect_to_event_loop();
-
-/*
- * called on an event on the CAN bus
- */
-static int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata)
-{
- openxc_CanMessage can_message;
-
- /* read available data */
- if ((revents & EPOLLIN) != 0)
- {
- read_can(&can_message);
-// event_send();
- }
-
- /* check if error or hangup */
- if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
- {
- sd_event_source_unref(s);
- close(fd);
- connect_to_event_loop();
- }
-
- return 0;
-}
-
-/*
- * get or create an event handler for the type
- * TODO: implement function and handle retrieve or create an event as needed
- */
-static struct event *event_get(enum type type)
-{
-
-}
-
-static struct event *event_of_id(int id)
-{
-
-}
-
-/*****************************************************************************************/
-/*****************************************************************************************/
-/** **/
-/** **/
-/** SECTION: BINDING VERBS IMPLEMENTATION **/
-/** **/
-/** **/
-/*****************************************************************************************/
-/*****************************************************************************************/
-/*
- * Returns the type corresponding to the given name
- */
-static enum type type_of_name(const char *name)
-{
- enum type result;
- if (name == NULL)
- return type_DEFAULT;
- for (result = 0 ; result < type_size; result++)
- if (strcmp(type_NAMES[result], name) == 0)
- return result;
- return type_INVALID;
-}
-
-/*
- * extract a valid type from the request
- */
-static int get_type_for_req(struct afb_req req, enum type *type)
-{
- if ((*type = type_of_name(afb_req_value(req, "type"))) != type_INVALID)
- return 1;
- afb_req_fail(req, "unknown-type", NULL);
- return 0;
-}
-
-/*
- * subscribe to notification of new CAN messages
- *
- * parameters of the subscription are:
- *
- * TODO type: string: choose between CAN and OBDII messages formats.
- *
- * returns an object with 2 fields:
- *
- * name: string: the name of the event without its prefix
- * id: integer: a numeric identifier of the event to be used for unsubscribing
- */
-static void subscribe(struct afb_req req)
-{
- enum type type;
- const char *period;
- struct event *event;
- struct json_object *json;
-
- if (get_type_for_req(req, &type))
- {
- event = event_get(type);
- if (event == NULL)
- afb_req_fail(req, "out-of-memory", NULL);
- else if (afb_req_subscribe(req, event->event) != 0)
- afb_req_fail_f(req, "failed", "afb_req_subscribe returned an error: %m");
- else
- {
- json = json_object_new_object();
- json_object_object_add(json, "name", json_object_new_string(event->name));
- json_object_object_add(json, "id", json_object_new_int(event->id));
- afb_req_success(req, json, NULL);
- }
- }
-}
-
-/*
- * unsubscribe a previous subscription
- *
- * parameters of the unsubscription are:
- *
- * id: integer: the numeric identifier of the event as returned when subscribing
- */
-static void unsubscribe(struct afb_req req)
-{
- const char *id;
- struct event *event;
-
- id = afb_req_value(req, "id");
- if (id == NULL)
- afb_req_fail(req, "missing-id", NULL);
- else
- {
- event = event_of_id(atoi(id));
- if (event == NULL)
- afb_req_fail(req, "bad-id", NULL);
- else
- {
- afb_req_unsubscribe(req, event->event);
- afb_req_success(req, NULL, NULL);
- }
- }
-}
-
-static int connect_to_event_loop()
-{
- sd_event_source *source;
- int rc;
-
- retry(open_can_dev);
-
- if (can_handler.socket < 0)
- {
- return can_handler.socket;
- }
-
- rc = sd_event_add_io(afb_daemon_get_event_loop(interface->daemon), &source, can_handler.socket, EPOLLIN, on_event, NULL);
- if (rc < 0)
- {
- close(can_handler.socket);
- ERROR(interface, "Can't connect CAN bus %s to the event loop", can_handler.device);
- } else
- {
- NOTICE(interface, "Connected CAN bus %s to the event loop", can_handler.device);
- }
-
- return rc;
-}
-
-
-// TODO: Have to change session management flag to AFB_SESSION_CHECK to use token auth
-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
- }
-};
-
-const struct afb_binding *afbBindingV1Register (const struct afb_binding_interface *itf)
-{
- interface = itf;
-
- return &binding_desc;
-}
-
-int afbBindingV1ServiceInit(struct afb_service service)
-{
- return connect_to_event_loop();
-}
Code Review / apps / low-level-can-service.git / commitdiff