--- /dev/null
+###########################################################################
+# Copyright 2016 IoT.bzh
+#
+# author: José Bollo <jose.bollo@iot.bzh>
+# author: Stéphane Desneux <stephane.desneux@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.
+###########################################################################
+
+project(canLL)
+
+cmake_minimum_required(VERSION 3.3)
+
+include(GNUInstallDirs)
+
+set(PROJECT_VERSION "0.1")
+set(PROJECT_ICON "icon.png")
+set(PROJECT_LIBDIR "libs")
+
+set(CMAKE_BUILD_TYPE Debug)
+
+###########################################################################
+
+link_libraries(-Wl,--as-needed -Wl,--gc-sections)
+
+add_compile_options(-Wall -Wextra -Wconversion)
+add_compile_options(-Wno-unused-parameter) # frankly not using a parameter does it care?
+add_compile_options(-Werror=maybe-uninitialized)
+add_compile_options(-Werror=implicit-function-declaration)
+add_compile_options(-ffunction-sections -fdata-sections)
+add_compile_options(-Wl,--as-needed -Wl,--gc-sections)
+add_compile_options(-fPIC)
+
+set(CMAKE_C_FLAGS_PROFILING "-g -O0 -pg -Wp,-U_FORTIFY_SOURCE")
+set(CMAKE_C_FLAGS_DEBUG "-g -O0 -ggdb -Wp,-U_FORTIFY_SOURCE")
+set(CMAKE_C_FLAGS_RELEASE "-g -O2")
+set(CMAKE_C_FLAGS_CCOV "-g -O2 --coverage")
+
+###########################################################################
+
+include(FindPkgConfig)
+
+pkg_check_modules(EXTRAS REQUIRED json-c afb-daemon)
+add_compile_options(${EXTRAS_CFLAGS})
+include_directories(${EXTRAS_INCLUDE_DIRS} ${PROJECT_LIBDIR}/openxc-message-format/gen/cpp ${PROJECT_LIBDIR}/nanopb/)
+link_libraries(${EXTRAS_LIBRARIES})
+
+###########################################################################
+# the binding for afb
+
+message(STATUS "Creation of ${PROJECT_NAME} binding for AFB-DAEMON")
+###########################################################################
+add_library(${PROJECT_NAME}-binding MODULE ${PROJECT_NAME}-binding.c)
+
+set_target_properties(${PROJECT_NAME}-binding PROPERTIES
+ PREFIX ""
+ LINK_FLAGS "-Wl,--version-script=${CMAKE_CURRENT_SOURCE_DIR}/export.map"
+)
+
+###########################################################################
+# WGT packaging
+
+message(STATUS "Creation of ${PROJECT_NAME}.wgt package for AppFW")
+###############################################################
+configure_file(config.xml.in config.xml)
+
+add_custom_command(
+ OUTPUT ${PROJECT_NAME}.wgt
+ DEPENDS ${PROJECT_NAME}-binding
+ COMMAND rm -rf package
+ COMMAND mkdir -p package/${PROJECT_LIBDIR} package/htdocs
+ COMMAND cp config.xml package/
+ COMMAND cp ${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_ICON} package/icon.png
+ COMMAND cp ${PROJECT_NAME}-binding.so package
+ COMMAND wgtpkg-pack -f -o ${PROJECT_NAME}.wgt package
+)
+add_custom_target(widget ALL DEPENDS ${PROJECT_NAME}.wgt)
--- /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 '#'
+
+/*
+ * Interface between the daemon and the binding
+ */
+static const struct afb_binding_interface *interface;
+
+/*
+ * 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
+
+/* CAN variable initialization */
+struct canfd_frame canfd_frame;
+
+struct can_handler {
+ int socket;
+ char *device;
+ openxc_CanMessage *msg;
+ struct sockaddr_can txAddress;
+};
+
+/*
+ * 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 */
+};
+
+/*****************************************************************************************/
+/*****************************************************************************************/
+/** **/
+/** **/
+/** SECTION: UTILITY FUNCTIONS **/
+/** **/
+/** **/
+/*****************************************************************************************/
+/*****************************************************************************************/
+
+/*
+ * @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_hex_byte(char *buf, __u8 byte)
+{
+ buf[0] = hex_asc_upper_hi(byte);
+ buf[1] = hex_asc_upper_lo(byte);
+}
+
+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 = {
+ .has_bus = false,
+ .has_id = false,
+ .has_data = false,
+ .has_frame_format = false,
+ };
+
+ 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()
+{
+ ssize_t nbytes;
+ int rc;
+
+ rc = can_handler.socket;
+ if (rc >= 0)
+ {
+/*
+ * TODO change old hvac write can frame to generic on_event
+ */
+ nbytes = sendto(can_handler.socket, &canfd_frame, sizeof(struct canfd_frame), 0,
+ (struct sockaddr*)&can_handler.txAddress, sizeof(can_handler.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.");
+ retry(open_can_dev);
+ }
+ return rc;
+}
+
+/*
+ * Read on CAN bus and return how much bytes has been read.
+ */
+static int read_can()
+{
+ ssize_t nbytes;
+ int maxdlen;
+
+ nbytes = read(can_handler.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", can_handler.device);
+ }
+ ERROR(interface, "read_can: Error reading CAN bus");
+ return -1;
+ }
+
+ /* 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 -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;
+}
+
+/***************************************************************************************/
+/***************************************************************************************/
+/** **/
+/** **/
+/** 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 = afb_daemon_make_event(interface->daemon, type_NAMES[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 / agl-service-can-low-level.git / commitdiff
