low-can-binding/binding/low-can-cb.cpp

   1 /*
   2  * Copyright (C) 2015, 2018 "IoT.bzh"
   3  * Author "Romain Forlot" <romain.forlot@iot.bzh>
   4  * Author "Loic Collignon" <loic.collignon@iot.bzh>
   5  *
   6  * Licensed under the Apache License, Version 2.0 (the "License");
   7  * you may not use this file except in compliance with the License.
   8  * You may obtain a copy of the License at
   9  *
  10  *       http://www.apache.org/licenses/LICENSE-2.0
  11  *
  12  * Unless required by applicable law or agreed to in writing, software
  13  * distributed under the License is distributed on an "AS IS" BASIS,
  14  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  15  * See the License for the specific language governing permissions and
  16  * limitations under the License.
  17  */
  18
  19 #include "low-can-hat.hpp"
  20 #include "low-can-apidef.h"
  21
  22 #include <map>
  23 #include <queue>
  24 #include <mutex>
  25 #include <vector>
  26 #include <thread>
  27 #include <wrap-json.h>
  28 #include <systemd/sd-event.h>
  29 #include <ctl-config.h>
  30 #include "openxc.pb.h"
  31 #include "application.hpp"
  32 #include "../can/can-encoder.hpp"
  33 #include "../can/can-bus.hpp"
  34 #include "../can/signals.hpp"
  35 #include "../can/message/message.hpp"
  36 #include "../utils/signals.hpp"
  37 #include "../diagnostic/diagnostic-message.hpp"
  38 #include "../utils/openxc-utils.hpp"
  39 #include "../utils/signals.hpp"
  40
  41 #ifdef USE_FEATURE_J1939
  42         #include "../can/message/j1939-message.hpp"
  43         #include <linux/can/j1939.h>
  44 #endif
  45
  46 ///*****************************************************************************
  47 ///
  48 ///             Controller Definitions and Callbacks
  49 ///
  50 ///****************************************************************************/
  51
  52 int config_low_can(afb_api_t apiHandle, CtlSectionT *section, json_object *json_obj)
  53 {
  54         AFB_DEBUG("Config %s", json_object_to_json_string(json_obj));
  55         CtlConfigT *ctrlConfig;
  56
  57         ctrlConfig = (CtlConfigT *) afb_api_get_userdata(apiHandle);
  58         if(!ctrlConfig)
  59                 return -1;
  60
  61         if(!section->handle)
  62                 return -1;
  63
  64         application_t *application = (application_t*) section->handle;
  65
  66
  67         int active_message_set;
  68         const char *diagnotic_bus = nullptr;
  69
  70         if(wrap_json_unpack(json_obj, "{si, ss}",
  71                               "active_message_set", &active_message_set,
  72                               "diagnostic_bus", &diagnotic_bus))
  73                 return -1;
  74
  75         application->set_active_message_set((uint8_t)active_message_set);
  76
  77         /// Initialize Diagnostic manager that will handle obd2 requests.
  78         /// We pass by default the first CAN bus device to its Initialization.
  79         if(! application_t::instance().get_diagnostic_manager().initialize(diagnotic_bus))
  80         {
  81                 AFB_ERROR("Diagnostic Manager: error at initialization");
  82                 return -1;
  83         }
  84
  85         return 0;
  86 }
  87
  88 CtlSectionT ctlSections_[] = {
  89         [0]={.key="config" , .uid="config", .info=nullptr,
  90                  .loadCB=config_low_can,
  91                  .handle=nullptr,
  92                  .actions=nullptr},
  93         [1]={.key="plugins" , .uid="plugins", .info=nullptr,
  94                 .loadCB=PluginConfig,
  95                 .handle=nullptr,
  96                 .actions=nullptr},
  97 };
  98
  99 ///*****************************************************************************
 100 ///
 101 ///             Subscription and unsubscription
 102 ///
 103 ///****************************************************************************/
 104
 105 /// @brief This will determine if an event handle needs to be created and checks if
 106 /// we got a valid afb_event to get subscribe or unsubscribe. After that launch the subscription or unsubscription
 107 /// against the application framework using that event handle.
 108 static int subscribe_unsubscribe_signal(afb_req_t request,
 109                                         bool subscribe,
 110                                         std::shared_ptr<low_can_subscription_t>& can_subscription,
 111                                         map_subscription& s)
 112 {
 113         int ret = 0;
 114         int sub_index = can_subscription->get_index();
 115         bool subscription_exists = s.count(sub_index);
 116
 117         // Susbcription part
 118         if(subscribe)
 119         {
 120                 /* There is no valid request to subscribe so this must be an
 121                  * internal permanent diagnostic request. Skip the subscription
 122                  * part and don't register it into the current "low-can"
 123                  * subsciptions.
 124                  */
 125                 if(! request)
 126                 {
 127                         return 0;
 128                 }
 129
 130                 // Event doesn't exist , so let's create it
 131                 if ((ret = can_subscription->subscribe(request)) < 0)
 132                         return ret;
 133
 134                 if(! subscription_exists)
 135                                 s[sub_index] = can_subscription;
 136
 137                 return ret;
 138         }
 139
 140         // Unsubscrition part
 141         if(! subscription_exists)
 142         {
 143                 AFB_NOTICE("There isn't any valid subscriptions for that request.");
 144                 return ret;
 145         }
 146         else if (subscription_exists &&
 147                  ! afb_event_is_valid(s[sub_index]->get_event()) )
 148         {
 149                 AFB_NOTICE("Event isn't valid, no need to unsubscribed.");
 150                 return ret;
 151         }
 152
 153         if( (ret = s[sub_index]->unsubscribe(request)) < 0)
 154                 return ret;
 155         s.find(sub_index)->second->set_index(-1);
 156         s.erase(sub_index);
 157         return ret;
 158 }
 159
 160 static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription)
 161 {
 162                 struct sd_event_source* event_source = nullptr;
 163                 return ( sd_event_add_io(afb_daemon_get_event_loop(),
 164                         &event_source,
 165                         can_subscription->get_socket()->socket(),
 166                         EPOLLIN,
 167                         read_message,
 168                         can_subscription.get()));
 169 }
 170
 171 static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request,
 172                                                      bool subscribe,
 173                                                      list_ptr_diag_msg_t diagnostic_messages,
 174                                                      struct event_filter_t& event_filter,
 175                                                      map_subscription& s,
 176                                                      bool perm_rec_diag_req)
 177 {
 178         int rets = 0;
 179         application_t& app = application_t::instance();
 180         diagnostic_manager_t& diag_m = app.get_diagnostic_manager();
 181
 182         for(const auto& sig : diagnostic_messages)
 183         {
 184                 DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request());
 185                 event_filter.frequency = event_filter.frequency == 0 ? sig->get_frequency() : event_filter.frequency;
 186                 std::shared_ptr<low_can_subscription_t> can_subscription;
 187
 188                 auto it =  std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
 189                 {
 190                         return (! sub.second->get_diagnostic_message().empty());
 191                 });
 192                 can_subscription = it != s.end() ?
 193                         it->second :
 194                         std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 195                 // If the requested diagnostic message is not supported by the car then unsubcribe it
 196                 // no matter what we want, worst case will be a failed unsubscription but at least we won't
 197                 // poll a PID for nothing.
 198                 if(sig->get_supported() && subscribe)
 199                 {
 200                         if (!app.is_engine_on())
 201                                 AFB_WARNING("signal: Engine is off, %s won't received responses until it's on",  sig->get_name().c_str());
 202
 203                         diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), event_filter.frequency, perm_rec_diag_req);
 204                         if(can_subscription->create_rx_filter(sig) < 0)
 205                                 return -1;
 206                         AFB_DEBUG("Signal: %s subscribed", sig->get_name().c_str());
 207                         if(it == s.end() && add_to_event_loop(can_subscription) < 0)
 208                         {
 209                                 diag_m.cleanup_request(
 210                                         diag_m.find_recurring_request(*diag_req), true);
 211                                 AFB_WARNING("signal: %s isn't supported. Canceling operation.",  sig->get_name().c_str());
 212                                 return -1;
 213                         }
 214                 }
 215                 else
 216                 {
 217                         if(sig->get_supported())
 218                         {
 219                                 AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());
 220                         }
 221                         else
 222                         {
 223                                 AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
 224                                 return -1;
 225                         }
 226                 }
 227                 int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s);
 228                 if(ret < 0)
 229                         return ret;
 230
 231                 rets++;
 232         }
 233         return rets;
 234 }
 235
 236 static int subscribe_unsubscribe_signals(afb_req_t request,
 237                                          bool subscribe,
 238                                          list_ptr_signal_t signals,
 239                                          struct event_filter_t& event_filter,
 240                                          map_subscription& s)
 241 {
 242         int rets = 0;
 243         for(const auto& sig: signals)
 244         {
 245                 auto it =  std::find_if(s.begin(), s.end(), [&sig, &event_filter](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
 246                 {
 247                         return sub.second->is_signal_subscription_corresponding(sig, event_filter) ;
 248                 });
 249                 std::shared_ptr<low_can_subscription_t> can_subscription;
 250                 if(it != s.end())
 251                         can_subscription = it->second;
 252                 else
 253                 {
 254                         can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 255                         if(can_subscription->create_rx_filter(sig) < 0)
 256                                 return -1;
 257                         if(add_to_event_loop(can_subscription) < 0)
 258                                 return -1;
 259                 }
 260
 261                 if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
 262                         return -1;
 263
 264                 rets++;
 265                 AFB_DEBUG("%s Signal: %s %ssubscribed", sig->get_message()->is_fd() ? "FD": "", sig->get_name().c_str(), subscribe ? "":"un");
 266         }
 267         return rets;
 268 }
 269
 270 ///
 271 /// @brief subscribe to all signals in the vector signals
 272 ///
 273 /// @param[in] afb_req request : contains original request use to subscribe or unsubscribe
 274 /// @param[in] subscribe boolean value, which chooses between a subscription operation or an unsubscription
 275 /// @param[in] signals -  struct containing vectors with signal_t and diagnostic_messages to subscribe
 276 /// @param[in] event_filter - stuct containing filter on the signal
 277 ///
 278 /// @return Number of correctly subscribed signal
 279 ///
 280 static int subscribe_unsubscribe_signals(afb_req_t request,
 281                                          bool subscribe,
 282                                          const struct utils::signals_found& signals,
 283                                          struct event_filter_t& event_filter)
 284 {
 285         int rets = 0;
 286         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 287
 288         std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 289         map_subscription& s = sm.get_subscribed_signals();
 290
 291         rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s, false);
 292         rets += subscribe_unsubscribe_signals(request, subscribe, signals.signals, event_filter, s);
 293
 294         return rets;
 295 }
 296
 297 static event_filter_t generate_filter(json_object* args)
 298 {
 299         event_filter_t event_filter;
 300         struct json_object  *filter, *obj;
 301
 302                 // computes the filter
 303         if (json_object_object_get_ex(args, "filter", &filter))
 304         {
 305                 if (json_object_object_get_ex(filter, "frequency", &obj)
 306                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 307                         event_filter.frequency = (float)json_object_get_double(obj);
 308                 if (json_object_object_get_ex(filter, "min", &obj)
 309                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 310                         event_filter.min = (float)json_object_get_double(obj);
 311                 if (json_object_object_get_ex(filter, "max", &obj)
 312                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 313                         event_filter.max = (float)json_object_get_double(obj);
 314                 if (json_object_object_get_ex(filter, "rx_id", &obj)
 315                 && (json_object_is_type(obj, json_type_int)))
 316                         event_filter.rx_id = (canid_t) json_object_get_int(obj);
 317                 if (json_object_object_get_ex(filter, "tx_id", &obj)
 318                 && (json_object_is_type(obj, json_type_int)))
 319                         event_filter.tx_id = (canid_t) json_object_get_int(obj);
 320         }
 321         return event_filter;
 322 }
 323
 324
 325 static int one_subscribe_unsubscribe_events(afb_req_t request, bool subscribe, const std::string& tag, json_object* args)
 326 {
 327         int ret = 0;
 328         struct utils::signals_found sf;
 329
 330         // subscribe or unsubscribe
 331         openxc_DynamicField search_key = build_DynamicField(tag);
 332         sf = utils::signals_manager_t::instance().find_signals(search_key);
 333
 334
 335 #ifdef USE_FEATURE_ISOTP
 336         if(sf.signals.size() > 1)
 337         {
 338                 sf.signals.remove_if([](std::shared_ptr<signal_t> x){
 339                         bool isotp = x->get_message()->is_isotp();
 340                         if(isotp)
 341                                 AFB_NOTICE("ISO TP messages need to be subscribed one by one (rx, tx)");
 342
 343                         return isotp;
 344                 });
 345         }
 346 #endif
 347
 348         if (sf.signals.empty() && sf.diagnostic_messages.empty())
 349         {
 350                 AFB_NOTICE("No signal(s) found for %s.", tag.c_str());
 351                 ret = -1;
 352         }
 353         else
 354         {
 355                 event_filter_t event_filter = generate_filter(args);
 356                 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
 357         }
 358         return ret;
 359 }
 360
 361 static int one_subscribe_unsubscribe_id(afb_req_t request, bool subscribe, const uint32_t& id, json_object *args)
 362 {
 363         int ret = 0;
 364         std::shared_ptr<message_definition_t> message_definition = application_t::instance().get_message_definition(id);
 365         struct utils::signals_found sf;
 366
 367         if(message_definition)
 368                 sf.signals = list_ptr_signal_t(message_definition->get_signals().begin(), message_definition->get_signals().end());
 369
 370         if(sf.signals.empty())
 371         {
 372                 AFB_NOTICE("No signal(s) found for %d.", id);
 373                 ret = -1;
 374         }
 375         else
 376         {
 377                 event_filter_t event_filter = generate_filter(args);
 378                 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
 379         }
 380
 381         return ret;
 382 }
 383
 384
 385 static int process_one_subscribe_args(afb_req_t request, bool subscribe, json_object *args)
 386 {
 387         int rc = 0, rc2=0;
 388         json_object *x = nullptr, *event = nullptr, *id = nullptr;
 389
 390
 391         // 2 cases : ID(PGN) and event
 392
 393         json_object_object_get_ex(args,"event",&event);
 394         json_bool test_id = json_object_object_get_ex(args,"id",&id);
 395         if(!test_id)
 396                 test_id = json_object_object_get_ex(args,"pgn",&id);
 397
 398         if(     args == NULL || (id && ((std::string)json_object_get_string(id)).compare("*") == 0))
 399         {
 400                 rc = one_subscribe_unsubscribe_events(request, subscribe, "*", args);
 401         }
 402         else
 403         {
 404                 if(event)
 405                 {
 406                         if (json_object_get_type(event) != json_type_array) // event is set before and check if it's an array
 407                         {
 408                                 rc = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(event), args);
 409                         }
 410                         else // event is set and it's not an array
 411                         {
 412                                 for (int i = 0 ; i < json_object_array_length(event); i++)
 413                                 {
 414                                         x = json_object_array_get_idx(event, i);
 415                                         rc2 = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(x), args);
 416                                         if (rc >= 0)
 417                                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 418                                 }
 419                         }
 420                 }
 421
 422                 if(id)
 423                 {
 424                         if (json_object_get_type(id) != json_type_array) // id is set before and check if it's an array
 425                         {
 426                                 rc = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(id), args);
 427                         }
 428                         else // event is set and it's not an array
 429                         {
 430                                 for (int i = 0 ; i < json_object_array_length(id); i++)
 431                                 {
 432                                         x = json_object_array_get_idx(id, i);
 433                                         rc2 = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(x), args);
 434                                         if (rc >= 0)
 435                                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 436                                 }
 437                         }
 438                 }
 439         }
 440         return rc;
 441 }
 442
 443 static void do_subscribe_unsubscribe(afb_req_t request, bool subscribe)
 444 {
 445         int rc = 0;
 446         struct json_object *args, *x;
 447
 448         args = afb_req_json(request);
 449         if (json_object_get_type(args) == json_type_array)
 450         {
 451                 for(int i = 0; i < json_object_array_length(args); i++)
 452                 {
 453                         x = json_object_array_get_idx(args, i);
 454                         rc += process_one_subscribe_args(request, subscribe, x);
 455                 }
 456         }
 457         else
 458         {
 459                 rc += process_one_subscribe_args(request, subscribe, args);
 460         }
 461
 462         if (rc >= 0)
 463                 afb_req_success(request, NULL, NULL);
 464         else
 465                 afb_req_fail(request, "error", NULL);
 466 }
 467
 468 void auth(afb_req_t request)
 469 {
 470         afb_req_session_set_LOA(request, 1);
 471         afb_req_success(request, NULL, NULL);
 472 }
 473
 474 void subscribe(afb_req_t request)
 475 {
 476         do_subscribe_unsubscribe(request, true);
 477 }
 478
 479 void unsubscribe(afb_req_t request)
 480 {
 481         do_subscribe_unsubscribe(request, false);
 482 }
 483
 484 /*
 485 static int send_frame(struct canfd_frame& cfd, const std::string& bus_name, socket_type type)
 486 {
 487         if(bus_name.empty())
 488         {
 489                 return -1;
 490         }
 491
 492         std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
 493
 494         if( cd.count(bus_name) == 0)
 495         {
 496                 cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t());
 497         }
 498
 499
 500         if(type == socket_type::BCM)
 501         {
 502                 return low_can_subscription_t::tx_send(*cd[bus_name], cfd, bus_name);
 503         }
 504         else if(type == socket_type::J1939)
 505         {
 506                 return low_can_subscription_t::j1939_send(*cd[bus_name], cfd, bus_name);
 507         }
 508         else{
 509                 return -1;
 510         }
 511 }
 512 */
 513 static int send_message(message_t *message, const std::string& bus_name, uint32_t flags, event_filter_t &event_filter, std::shared_ptr<signal_t> signal)
 514 {
 515         if(bus_name.empty())
 516                 return -1;
 517
 518         std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
 519
 520         if( cd.count(bus_name) == 0)
 521                 cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 522
 523         cd[bus_name]->set_signal(signal);
 524
 525
 526         if(flags&BCM_PROTOCOL)
 527                 return low_can_subscription_t::tx_send(*cd[bus_name], message, bus_name);
 528 #ifdef USE_FEATURE_ISOTP
 529         else if(flags&ISOTP_PROTOCOL)
 530                 return low_can_subscription_t::isotp_send(*cd[bus_name], message, bus_name);
 531 #endif
 532 #ifdef USE_FEATURE_J1939
 533         else if(flags&J1939_PROTOCOL)
 534                 return low_can_subscription_t::j1939_send(*cd[bus_name], message, bus_name);
 535 #endif
 536         else
 537                 return -1;
 538 }
 539
 540
 541 static void write_raw_frame(afb_req_t request, const std::string& bus_name, message_t *message,
 542                             struct json_object *can_data, uint32_t flags, event_filter_t &event_filter)
 543 {
 544
 545         struct utils::signals_found sf;
 546
 547         utils::signals_manager_t::instance().lookup_signals_by_id(message->get_id(), application_t::instance().get_all_signals(), sf.signals);
 548
 549         if( !sf.signals.empty() )
 550         {
 551                 AFB_DEBUG("ID WRITE RAW : %d", sf.signals.front()->get_message()->get_id());
 552                 if(flags & BCM_PROTOCOL)
 553                 {
 554                         if(sf.signals.front()->get_message()->is_fd())
 555                         {
 556                                 AFB_DEBUG("CANFD_MAX_DLEN");
 557                                 message->set_flags(CAN_FD_FRAME);
 558                                 message->set_maxdlen(CANFD_MAX_DLEN);
 559                         }
 560                         else
 561                         {
 562                                 AFB_DEBUG("CAN_MAX_DLEN");
 563                                 message->set_maxdlen(CAN_MAX_DLEN);
 564                         }
 565
 566                         if(sf.signals.front()->get_message()->is_isotp())
 567                         {
 568                                 flags = ISOTP_PROTOCOL;
 569                                 message->set_maxdlen(MAX_ISOTP_FRAMES * message->get_maxdlen());
 570                         }
 571                 }
 572
 573 #ifdef USE_FEATURE_J1939
 574                 if(flags&J1939_PROTOCOL)
 575                         message->set_maxdlen(J1939_MAX_DLEN);
 576 #endif
 577
 578                 if(message->get_length() > 0 && message->get_length() <= message->get_maxdlen())
 579                 {
 580                         std::vector<uint8_t> data;
 581                         for (int i = 0 ; i < message->get_length() ; i++)
 582                         {
 583                                 struct json_object *one_can_data = json_object_array_get_idx(can_data, i);
 584                                 data.push_back((json_object_is_type(one_can_data, json_type_int)) ?
 585                                                 (uint8_t)json_object_get_int(one_can_data) : 0);
 586                         }
 587                         message->set_data(data);
 588                 }
 589                 else
 590                 {
 591                         if(flags&BCM_PROTOCOL)
 592                                 afb_req_fail(request, "Invalid", "Frame BCM");
 593                         else if(flags&J1939_PROTOCOL)
 594                                 afb_req_fail(request, "Invalid", "Frame J1939");
 595                         else if(flags&ISOTP_PROTOCOL)
 596                                 afb_req_fail(request, "Invalid", "Frame ISOTP");
 597                         else
 598                                 afb_req_fail(request, "Invalid", "Frame");
 599
 600                         return;
 601                 }
 602
 603                 if(! send_message(message, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name), flags, event_filter, sf.signals.front()))
 604                         afb_req_success(request, nullptr, "Message correctly sent");
 605                 else
 606                         afb_req_fail(request, "Error", "sending the message. See the log for more details.");
 607         }
 608         else
 609         {
 610                 afb_req_fail(request, "Error", "no find id in signals. See the log for more details.");
 611         }
 612
 613 }
 614
 615 static void write_frame(afb_req_t request, const std::string& bus_name, json_object *json_value, event_filter_t &event_filter)
 616 {
 617         message_t *message;
 618         uint32_t id;
 619         uint32_t length;
 620         struct json_object *can_data = nullptr;
 621         std::vector<uint8_t> data;
 622
 623         AFB_DEBUG("JSON content %s", json_object_get_string(json_value));
 624
 625         if(!wrap_json_unpack(json_value, "{si, si, so !}",
 626                                   "can_id", &id,
 627                                   "can_dlc", &length,
 628                                   "can_data", &can_data))
 629         {
 630                 message = new can_message_t(0, id, length, false, 0, data, 0);
 631                 write_raw_frame(request, bus_name, message, can_data, BCM_PROTOCOL, event_filter);
 632         }
 633 #ifdef USE_FEATURE_J1939
 634         else if(!wrap_json_unpack(json_value, "{si, si, so !}",
 635                                   "pgn", &id,
 636                                   "length", &length,
 637                                   "data", &can_data))
 638         {
 639                 message = new j1939_message_t(length, data, 0, J1939_NO_NAME, (pgn_t)id, J1939_NO_ADDR);
 640                 write_raw_frame(request, bus_name, message, can_data, J1939_PROTOCOL, event_filter);
 641         }
 642 #endif
 643         else
 644         {
 645                 afb_req_fail(request, "Invalid", "Frame object malformed");
 646                 return;
 647         }
 648         delete message;
 649 }
 650
 651 static void write_signal(afb_req_t request, const std::string& name, json_object *json_value, event_filter_t &event_filter)
 652 {
 653         struct canfd_frame cfd;
 654         struct utils::signals_found sf;
 655         signal_encoder encoder = nullptr;
 656         bool send = true;
 657
 658         ::memset(&cfd, 0, sizeof(cfd));
 659
 660         openxc_DynamicField search_key = build_DynamicField(name);
 661         sf = utils::signals_manager_t::instance().find_signals(search_key);
 662         openxc_DynamicField dynafield_value = build_DynamicField(json_value);
 663
 664         if (sf.signals.empty())
 665         {
 666                 afb_req_fail_f(request, "No signal(s) found for %s. Message not sent.", name.c_str());
 667                 return;
 668         }
 669
 670         std::shared_ptr<signal_t> sig = sf.signals.front();
 671         if(! sig->get_writable())
 672         {
 673                 afb_req_fail_f(request, "%s isn't writable. Message not sent.", sig->get_name().c_str());
 674                 return;
 675         }
 676
 677         uint64_t value = (encoder = sig->get_encoder()) ?
 678                         encoder(*sig, dynafield_value, &send) :
 679                         encoder_t::encode_DynamicField(*sig, dynafield_value, &send);
 680
 681         uint32_t flags = INVALID_FLAG;
 682
 683         if(sig->get_message()->is_j1939())
 684                 flags = J1939_PROTOCOL;
 685         else if(sig->get_message()->is_isotp())
 686                 flags = ISOTP_PROTOCOL;
 687         else
 688                 flags = BCM_PROTOCOL;
 689
 690 //      cfd = encoder_t::build_frame(sig, value);
 691         message_t *message = encoder_t::build_message(sig, value, false, false);
 692
 693         if(! send_message(message, sig->get_message()->get_bus_device_name(), flags, event_filter, sig) && send)
 694                 afb_req_success(request, nullptr, "Message correctly sent");
 695         else
 696                 afb_req_fail(request, "Error", "Sending the message. See the log for more details.");
 697
 698         if(sig->get_message()->is_j1939())
 699 #ifdef USE_FEATURE_J1939
 700                 delete (j1939_message_t*) message;
 701 #else
 702                 afb_req_fail(request, "Warning", "J1939 not implemented in your kernel.");
 703 #endif
 704         else
 705                 delete (can_message_t*) message;
 706 }
 707
 708 void write(afb_req_t request)
 709 {
 710         struct json_object* args = nullptr, *json_value = nullptr, *name = nullptr;
 711         args = afb_req_json(request);
 712
 713         if(args != NULL)
 714         {
 715                 event_filter_t event_filter = generate_filter(args);
 716
 717                 if(json_object_object_get_ex(args,"bus_name",&name))
 718                 {
 719                         if(json_object_object_get_ex(args,"frame",&json_value))
 720                                 write_frame(request, (std::string)json_object_get_string(name), json_value, event_filter);
 721                         else
 722                                 afb_req_fail(request, "Error", "Request argument malformed");
 723                 }
 724                 else if(json_object_object_get_ex(args,"signal_name",&name))
 725                 {
 726                         if(json_object_object_get_ex(args,"signal_value",&json_value))
 727                                 write_signal(request, (std::string)json_object_get_string(name), json_value, event_filter);
 728                         else
 729                                 afb_req_fail(request, "Error", "Request argument malformed");
 730                 }
 731                 else
 732                 {
 733                         afb_req_fail(request, "Error", "Request argument malformed");
 734                 }
 735         }
 736         else
 737         {
 738                 afb_req_fail(request, "Error", "Request argument null");
 739         }
 740 }
 741
 742 static struct json_object *get_signals_value(const std::string& name)
 743 {
 744         struct utils::signals_found sf;
 745         struct json_object *ans = nullptr;
 746
 747         openxc_DynamicField search_key = build_DynamicField(name);
 748         sf = utils::signals_manager_t::instance().find_signals(search_key);
 749
 750         if (sf.signals.empty())
 751         {
 752                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 753                 return NULL;
 754         }
 755         ans = json_object_new_array();
 756         for(const auto& sig: sf.signals)
 757         {
 758                 struct json_object *jobj = json_object_new_object();
 759                 json_object_object_add(jobj, "event", json_object_new_string(sig->get_name().c_str()));
 760                 json_object_object_add(jobj, "value", json_object_new_double(sig->get_last_value()));
 761                 json_object_array_add(ans, jobj);
 762         }
 763
 764         return ans;
 765 }
 766 void get(afb_req_t request)
 767 {
 768         int rc = 0;
 769         struct json_object* args = nullptr,
 770                 *json_name = nullptr;
 771         json_object *ans = nullptr;
 772
 773         args = afb_req_json(request);
 774
 775         // Process about Raw CAN message on CAN bus directly
 776         if (args != nullptr &&
 777                 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string) ))
 778         {
 779                 ans = get_signals_value(json_object_get_string(json_name));
 780                 if (!ans)
 781                         rc = -1;
 782         }
 783         else
 784         {
 785                 AFB_ERROR("Request argument malformed. Please use the following syntax:");
 786                 rc = -1;
 787         }
 788
 789         if (rc >= 0)
 790                 afb_req_success(request, ans, NULL);
 791         else
 792                 afb_req_fail(request, "error", NULL);
 793 }
 794
 795
 796 static struct json_object *list_can_message(const std::string& name)
 797 {
 798         struct utils::signals_found sf;
 799         struct json_object *ans = nullptr;
 800
 801         openxc_DynamicField search_key = build_DynamicField(name);
 802         sf = utils::signals_manager_t::instance().find_signals(search_key);
 803
 804         if (sf.signals.empty() && sf.diagnostic_messages.empty())
 805         {
 806                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 807                 return NULL;
 808         }
 809         ans = json_object_new_array();
 810         for(const auto& sig: sf.signals)
 811         {
 812                 json_object_array_add(ans,
 813                         json_object_new_string(sig->get_name().c_str()));
 814         }
 815         for(const auto& sig: sf.diagnostic_messages)
 816         {
 817                 json_object_array_add(ans,
 818                         json_object_new_string(sig->get_name().c_str()));
 819         }
 820
 821         return ans;
 822 }
 823
 824 void list(afb_req_t request)
 825 {
 826         int rc = 0;
 827         json_object *ans = nullptr;
 828         struct json_object* args = nullptr,
 829                 *json_name = nullptr;
 830         args = afb_req_json(request);
 831         const char *name;
 832         if ((args != nullptr) &&
 833                 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string)))
 834                 name = json_object_get_string(json_name);
 835         else
 836                 name = "*";
 837
 838         ans = list_can_message(name);
 839         if (!ans)
 840                 rc = -1;
 841
 842         if (rc >= 0)
 843                 afb_req_success(request, ans, NULL);
 844         else
 845                 afb_req_fail(request, "error", NULL);
 846
 847 }
 848
 849 /// @brief Initialize the binding.
 850 ///
 851 /// @param[in] service Structure which represent the Application Framework Binder.
 852 ///
 853 /// @return Exit code, zero if success.
 854 int init_binding(afb_api_t api)
 855 {
 856         int ret = 1;
 857         application_t& application = application_t::instance();
 858         can_bus_t& can_bus_manager = application.get_can_bus_manager();
 859
 860         if(application.get_message_set().empty())
 861         {
 862                 AFB_ERROR("No message_set defined");
 863                 return -1;
 864         }
 865
 866
 867         can_bus_manager.set_can_devices();
 868         can_bus_manager.start_threads();
 869         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 870
 871         // Add a recurring dignostic message request to get engine speed at all times.
 872         openxc_DynamicField search_key = build_DynamicField("diagnostic_messages.engine.speed");
 873         struct utils::signals_found sf = sm.find_signals(search_key);
 874
 875         if(sf.signals.empty() && sf.diagnostic_messages.size() == 1)
 876         {
 877                 afb_req_t request = nullptr;
 878
 879                 struct event_filter_t event_filter;
 880                 event_filter.frequency = sf.diagnostic_messages.front()->get_frequency();
 881
 882                 map_subscription& s = sm.get_subscribed_signals();
 883
 884                 subscribe_unsubscribe_diagnostic_messages(request, true, sf.diagnostic_messages, event_filter, s, true);
 885         }
 886
 887
 888 #ifdef USE_FEATURE_J1939
 889         std::string j1939_bus;
 890         vect_ptr_msg_def_t current_messages_definition = application.get_messages_definition();
 891         for(std::shared_ptr<message_definition_t> message_definition: current_messages_definition)
 892         {
 893                 if(message_definition->is_j1939())
 894                 {
 895                         if (j1939_bus == message_definition->get_bus_device_name() )
 896                                 continue;
 897                         j1939_bus = message_definition->get_bus_device_name();
 898
 899                         std::shared_ptr<low_can_subscription_t> low_can_j1939 = std::make_shared<low_can_subscription_t>();
 900                         application.set_subscription_address_claiming(low_can_j1939);
 901
 902                         ret = low_can_subscription_t::open_socket(*low_can_j1939,
 903                                                                   j1939_bus,
 904                                                                   J1939_ADDR_CLAIM_PROTOCOL);
 905
 906                         if(ret < 0)
 907                         {
 908                                 AFB_ERROR("Error open socket address claiming for j1939 protocol");
 909                                 return -1;
 910                         }
 911                         add_to_event_loop(low_can_j1939);
 912                         break;
 913                 }
 914         }
 915 #endif
 916
 917         if(ret)
 918                 AFB_ERROR("There was something wrong with CAN device Initialization.");
 919
 920         return ret;
 921 }
 922
 923 int load_conf(afb_api_t api)
 924 {
 925         int ret = 0;
 926         CtlConfigT *ctlConfig;
 927         const char *dirList = getenv("CONTROL_CONFIG_PATH");
 928         std::string bindingDirPath = GetBindingDirPath(api);
 929         std::string filepath = bindingDirPath + "/etc";
 930
 931         if (!dirList)
 932                 dirList=CONTROL_CONFIG_PATH;
 933
 934         filepath.append(":");
 935         filepath.append(dirList);
 936         const char *configPath = CtlConfigSearch(api, filepath.c_str(), "control");
 937
 938         if (!configPath)
 939         {
 940                 AFB_ERROR_V3("CtlPreInit: No control-* config found invalid JSON %s ", filepath.c_str());
 941                 return -1;
 942         }
 943
 944         // create one API per file
 945         ctlConfig = CtlLoadMetaData(api, configPath);
 946         if (!ctlConfig)
 947         {
 948                 AFB_ERROR_V3("CtrlPreInit No valid control config file in:\n-- %s", configPath);
 949                 return -1;
 950         }
 951
 952         // Save the config in the api userdata field
 953         afb_api_set_userdata(api, ctlConfig);
 954
 955         setExternalData(ctlConfig, (void*) &application_t::instance());
 956         ret= CtlLoadSections(api, ctlConfig, ctlSections_);
 957
 958         return ret;
 959 }