--- /dev/null
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loic Collignon" <loic.collignon@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.
+ */
+
+#include <unistd.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+#include <net/if.h>
+#include <linux/can.h>
+#include <linux/can/raw.h>
+#include <fcntl.h>
+#include <systemd/sd-event.h>
+#include <errno.h>
+#include <vector>
+#include <map>
+#include <queue>
+#include <string>
+#include <functional>
+#include <memory>
+
+#include <json-c/json.h>
+#include <openxc.pb.h>
+
+#include <afb/afb-binding.h>
+#include <afb/afb-service-itf.h>
+
+#include "ll-can-binding.h"
+#include "obd2.h"
+
+/*************************************************************************/
+/*************************************************************************/
+/** **/
+/** **/
+/** SECTION: UTILITY FUNCTIONS **/
+/** **/
+/** **/
+/*************************************************************************/
+/*************************************************************************/
+
+/*
+ * Browse chained list and return the one with specified id
+ *
+ * param uint32_t id : can arbitration identifier
+ *
+ * return can_event
+ */
+static can_event *get_event_list_of_id(uint32_t id)
+{
+ can_event *current;
+
+ /* create and return if lists not exists */
+ if (!can_events_list)
+ {
+ can_events_list = (can_event*)calloc(1, sizeof(can_event));
+ can_events_list->id = id;
+ return can_events_list;
+ }
+
+ /* search for id */
+ current = can_events_list;
+ while(current)
+ {
+ if (current->id == id)
+ return current;
+ if (!current->next)
+ {
+ current->next = (can_event*)calloc(1, sizeof(can_event));
+ current->next->id = id;
+ return current->next;
+ }
+ current = current->next;
+ }
+
+ return nullptr;
+}
+
+/*
+ * Take an id and return it into a char array
+ */
+static char* create_name(uint32_t id)
+{
+ char name[32];
+ size_t nchar;
+
+ nchar = (size_t)sprintf(name, "can_%u", id);
+ if (nchar > 0)
+ {
+ char *result = (char*)malloc(nchar + 1);
+ memcpy(result, name, nchar);
+ result[nchar] = 0;
+ return result;
+ }
+
+ return nullptr;
+}
+
+/*
+ * Create json object that will be pushed through event_loop to any subscriber
+ *
+ * param : openxc_CanMessage structure complete with data to put into json
+ * object.
+ *
+ * return : json object
+ */
+static json_object* create_json_from_openxc_CanMessage(event *event)
+{
+ struct json_object *json;
+
+ /*
+ * TODO: process the openxc_CanMessage struct. Should be a call to a
+ * decoder function relative to that msg
+
+ openxc_CanMessage can_message;
+ can_message = event->can_message;
+ */
+
+ json = json_object_new_object();
+ json_object_object_add(json, "name", json_object_new_string(event->name));
+
+ return json;
+}
+
+/*************************************************************************/
+/*************************************************************************/
+/** **/
+/** **/
+/** SECTION: HANDLE CAN DEVICE **/
+/** **/
+/** **/
+/*************************************************************************/
+/*************************************************************************/
+
+/*
+ * open the can socket
+ */
+int CanBus::open()
+{
+ const int canfd_on = 1;
+ struct ifreq ifr;
+ struct timeval timeout = {1, 0};
+
+ DEBUG(interface, "open_can_dev: CAN Handler socket : %d", socket);
+ if (socket >= 0)
+ close(socket);
+
+ socket = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+ if (socket < 0)
+ {
+ ERROR(interface, "open_can_dev: socket could not be created");
+ }
+ else
+ {
+ /* Set timeout for read */
+ setsockopt(socket, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
+ /* try to switch the socket into CAN_FD mode */
+ if (setsockopt(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.");
+ is_fdmode_on = false;
+ } else {
+ is_fdmode_on = true;
+ }
+
+ /* Attempts to open a socket to CAN bus */
+ strcpy(ifr.ifr_name, device);
+ if(ioctl(socket, SIOCGIFINDEX, &ifr) < 0)
+ ERROR(interface, "open_can_dev: ioctl failed");
+ else
+ {
+ txAddress.can_family = AF_CAN;
+ txAddress.can_ifindex = ifr.ifr_ifindex;
+
+ /* And bind it to txAddress */
+ if (bind(socket, (struct sockaddr *)&txAddress, sizeof(txAddress)) < 0)
+ {
+ ERROR(interface, "open_can_dev: bind failed");
+ }
+ else
+ {
+ fcntl(socket, F_SETFL, O_NONBLOCK);
+ return 0;
+ }
+ }
+ close(socket);
+ socket = -1;
+ }
+ return -1;
+}
+
+/*
+ * TODO : test that socket is really opened
+ */
+static int write_can()
+{
+ ssize_t nbytes;
+ int rc;
+
+ rc = socket;
+ if (rc >= 0)
+ {
+/*
+ * TODO change old hvac write can frame to generic on_event
+ */
+ nbytes = sendto(socket, &canfd_frame, sizeof(struct canfd_frame), 0,
+ (struct sockaddr*)&txAddress, sizeof(txAddress));
+ if (nbytes < 0)
+ {
+ ERROR(interface, "write_can: Sending CAN frame failed.");
+ }
+ }
+ else
+ {
+ ERROR(interface, "write_can: socket not initialized. Attempt to reopen can device socket.");
+ open_can_dev();
+ }
+ return rc;
+}
+
+/*
+ * Parse the CAN frame data payload as a CAN packet
+ * TODO: parse as an OpenXC Can Message. Don't translate as ASCII and put bytes
+ * directly into openxc_CanMessage
+ */
+static int parse_can_frame(openxc_CanMessage *can_message, struct canfd_frame *canfd_frame, int maxdlen)
+{
+ int i, len;
+ //size_t n_msg;
+
+ len = (canfd_frame->len > maxdlen) ? maxdlen : canfd_frame->len;
+
+ can_message->has_id = true;
+ if (canfd_frame->can_id & CAN_ERR_FLAG)
+ can_message->id = canfd_frame->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+ else if (canfd_frame->can_id & CAN_EFF_FLAG)
+ {
+ can_message->has_frame_format = true;
+ can_message->frame_format = openxc_CanMessage_FrameFormat_EXTENDED;
+ can_message->id = canfd_frame->can_id & CAN_EFF_MASK;
+ } else
+ {
+ can_message->has_frame_format = true;
+ can_message->frame_format = openxc_CanMessage_FrameFormat_STANDARD;
+ can_message->id = canfd_frame->can_id & CAN_SFF_MASK;
+ }
+
+ /* Don't know what to do with that for now as we haven't
+ * len fields in openxc_CanMessage struct
+
+ * 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)
+ {
+ // 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;
+ return nullptr;
+ }
+ */
+
+ /* Doesn't handle real canfd_frame for now
+ if (maxdlen == CANFD_MAX_DLEN)
+ {
+ // add CAN FD specific escape char and flags
+ canfd_frame->flags & 0xF;
+ } */
+
+ if (sizeof(canfd_frame->data) <= sizeof(can_message->data.bytes))
+ {
+ for (i = 0; i < len; i++)
+ can_message->data.bytes[i] = canfd_frame->data[i];
+ return 0;
+ } else if (sizeof(canfd_frame->data) <= CAN_MAX_DLEN)
+ {
+ ERROR(interface, "parse_can_frame: can_frame data too long to be stored into openxc_CanMessage data field");
+ return -1;
+ /* TODO create as many as needed openxc_CanMessage into an array to store all data from canfd_frame
+ n_msg = CAN_MAX_DLEN / sizeof(canfd_frame->data.bytes);
+ for (i = 0; i < len; i++)
+ can_message->data.bytes[i] = canfd_frame->data[i]; */
+ } else
+ {
+ ERROR(interface, "parse_can_frame: can_frame is really too long here. Size of data greater than canfd maximum 64bytes size. Is it a CAN message ?");
+ return -2;
+ }
+
+ /* You should not reach this return statement */
+ return -3;
+}
+
+
+/*
+ * Read on CAN bus and return how much bytes has been read.
+ */
+static int read_can(openxc_CanMessage *can_message)
+{
+ ssize_t nbytes;
+ int maxdlen;
+
+ /* Test that socket is really opened */
+ if ( socket_test() < 0)
+ {
+ if (open_can_dev() < 0)
+ {
+ ERROR(interface, "read_can: Socket unavailable");
+ return -1;
+ }
+ }
+
+ nbytes = read(socket, &canfd_frame, CANFD_MTU);
+
+ if (nbytes == CANFD_MTU)
+ {
+ DEBUG(interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
+ }
+ else if (nbytes == CAN_MTU)
+ {
+ DEBUG(interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
+ }
+ else
+ {
+ if (errno == ENETDOWN)
+ ERROR(interface, "read_can: %s interface down", device);
+ ERROR(interface, "read_can: Error reading CAN bus");
+ return -2;
+ }
+
+ /* CAN frame integrity check */
+ if ((size_t)nbytes == CAN_MTU)
+ maxdlen = CAN_MAX_DLEN;
+ else if ((size_t)nbytes == CANFD_MTU)
+ maxdlen = CANFD_MAX_DLEN;
+ else
+ {
+ ERROR(interface, "read_can: CAN frame incomplete");
+ return -3;
+ }
+
+ if (parse_can_frame(can_message, &canfd_frame, maxdlen))
+ {
+ ERROR(interface, "read_can: Can't parse the can frame. ID: %i, DLC: %i, DATA: %s",
+ canfd_frame.can_id, canfd_frame.len, canfd_frame.data);
+ return -4;
+ }
+
+ return 0;
+}
+/*************************************************************************/
+/*************************************************************************/
+/** **/
+/** **/
+/** SECTION: MANAGING EVENTS **/
+/** **/
+/** **/
+/*************************************************************************/
+/*************************************************************************/
+static int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata);
+
+/*
+ * 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;
+}
+/*
+ * Send all events
+ */
+static void send_event()
+{
+ can_event *current;
+ event *events;
+ json_object *object;
+
+ /* Browse can_events */
+ current = can_events_list;
+ while(current)
+ {
+ /* Browse event for each can_events no matter what the id */
+ events = current->events;
+ while(events)
+ {
+ object = create_json_from_openxc_CanMessage(events);
+ afb_event_push(events->afb_event, object);
+ events = events->next;
+ }
+ current = current->next;
+ }
+}
+
+/*
+ * called on event on the CAN bus
+ */
+static int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata)
+{
+ openxc_CanMessage can_message;
+
+ can_message = openxc_CanMessage_init_default;
+
+ /* read available data */
+ if ((revents & EPOLLIN) != 0)
+ {
+ read_can(&can_message);
+ send_event();
+ }
+
+ /* 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
+ */
+static event *get_event(uint32_t id, enum type type)
+{
+ event *event_elt;
+ can_event *list;
+
+ /* find the can list by id */
+ list = get_event_list_of_id(id);
+
+ /* make the new event */
+ event_elt = (event*)calloc(1, sizeof(event));
+ event_elt->next = event_elt;
+ list->events = event_elt;
+ event_elt->name = create_name(id);
+ event_elt->afb_event = afb_daemon_make_event(interface->daemon, event_elt->name);
+
+ return event_elt;
+}
+
+/*************************************************************************/
+/*************************************************************************/
+/** **/
+/** **/
+/** 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 ; (size_t)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;
+}
+
+static int subscribe_unsubscribe_sig(struct afb_req request, int subscribe, struct signal *sig)
+{
+ if (!afb_event_is_valid(sig->event)) {
+ if (!subscribe)
+ return 1;
+ sig->event = afb_daemon_make_event(afbitf->daemon, sig->name);
+ if (!afb_event_is_valid(sig->event)) {
+ return 0;
+ }
+ }
+
+ if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, sig->event)) < 0) {
+ return 0;
+ }
+
+ return 1;
+}
+
+static int subscribe_unsubscribe_all(struct afb_req request, int subscribe)
+{
+ int i, n, e;
+
+ n = sizeof OBD2_PIDS / sizeof * OBD2_PIDS;
+ e = 0;
+ for (i = 0 ; i < n ; i++)
+ e += !subscribe_unsubscribe_sig(request, subscribe, &OBD2_PIDS[i]);
+ return e == 0;
+}
+
+static int subscribe_unsubscribe_name(struct afb_req request, int subscribe, const char *name)
+{
+ struct signal *sig;
+
+ if (0 == strcmp(name, "*"))
+ return subscribe_unsubscribe_all(request, subscribe);
+
+ sig = get_signals(name);
+ if (sig == NULL) {
+ return 0;
+ }
+
+ return subscribe_unsubscribe_sig(request, subscribe, sig);
+}
+
+static void subscribe_unsubscribe(struct afb_req request, int subscribe)
+{
+ int ok, i, n;
+ struct json_object *args, *a, *x;
+
+ /* 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);
+ } else if (json_object_get_type(a) != json_type_array) {
+ ok = subscribe_unsubscribe_name(request, subscribe, json_object_get_string(a));
+ } else {
+ n = json_object_array_length(a);
+ ok = 0;
+ for (i = 0 ; i < n ; i++) {
+ x = json_object_array_get_idx(a, i);
+ if (subscribe_unsubscribe_name(request, subscribe, json_object_get_string(x)))
+ ok++;
+ }
+ ok = (ok == n);
+ }
+
+ /* send the report */
+ if (ok)
+ afb_req_success(request, NULL, NULL);
+ else
+ afb_req_fail(request, "error", NULL);
+}
+
+static void subscribe(struct afb_req request)
+{
+ subscribe_unsubscribe(request, 1);
+}
+
+static void unsubscribe(struct afb_req request)
+{
+ 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
+ }
+};
+
+const struct afb_binding *afbBindingV1Register (const struct afb_binding_interface *itf)
+{
+ interface = itf;
+
+ return &binding_desc;
+}
+
+int afbBindingV1ServiceInit(struct afb_service service)
+{
+ /* Open JSON conf file */
+
+ /* Open CAN socket */
+ CanBus_handler.open();
+
+ return connect_to_event_loop(CanBus_handler);
+}
Code Review / apps / low-level-can-service.git / commitdiff