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

   1 /*
   2  * Copyright (C) 2015, 2016 "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 <json-c/json.h>
  28 #include <systemd/sd-event.h>
  29
  30 #include "openxc.pb.h"
  31 #include "application.hpp"
  32 #include "../can/can-encoder.hpp"
  33 #include "../can/can-bus.hpp"
  34 #include "../can/can-signals.hpp"
  35 #include "../can/can-message.hpp"
  36 #include "../utils/signals.hpp"
  37 #include "../diagnostic/diagnostic-message.hpp"
  38 #include "../utils/openxc-utils.hpp"
  39
  40 ///******************************************************************************
  41 ///
  42 ///             SystemD event loop Callbacks
  43 ///
  44 ///*******************************************************************************/
  45
  46 void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
  47 {
  48         bool is_permanent_recurring_request = false;
  49
  50         if( ! can_subscription->get_diagnostic_message().empty() && can_subscription->get_diagnostic_message(pid) != nullptr)
  51         {
  52                 DiagnosticRequest diag_req = can_subscription->get_diagnostic_message(pid)->build_diagnostic_request();
  53                 active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
  54                 if( adr != nullptr)
  55                 {
  56                         is_permanent_recurring_request = adr->get_permanent();
  57
  58                         if(! is_permanent_recurring_request)
  59                                 application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
  60                 }
  61         }
  62
  63         if(! is_permanent_recurring_request)
  64                 on_no_clients(can_subscription, s);
  65 }
  66
  67 void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
  68 {
  69         auto it = s.find(can_subscription->get_index());
  70         s.erase(it);
  71 }
  72
  73 static void push_n_notify(const can_message_t& cm)
  74 {
  75         can_bus_t& cbm = application_t::instance().get_can_bus_manager();
  76         {
  77                 std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
  78                 cbm.push_new_can_message(cm);
  79         }
  80         cbm.get_new_can_message_cv().notify_one();
  81 }
  82
  83 int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata)
  84 {
  85         low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata;
  86         if ((revents & EPOLLIN) != 0)
  87         {
  88                 can_message_t cm;
  89                 utils::socketcan_bcm_t& s = can_subscription->get_socket();
  90                 s >> cm;
  91
  92                 // Sure we got a valid CAN message ?
  93                 if(! cm.get_id() == 0 && ! cm.get_length() == 0)
  94                         {push_n_notify(cm);}
  95         }
  96
  97         // check if error or hangup
  98         if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
  99         {
 100                 sd_event_source_unref(event_source);
 101                 can_subscription->get_socket().close();
 102         }
 103         return 0;
 104 }
 105
 106 ///******************************************************************************
 107 ///
 108 ///             Subscription and unsubscription
 109 ///
 110 ///*******************************************************************************/
 111
 112 static int make_subscription_unsubscription(struct afb_req request,
 113                                                                                         std::shared_ptr<low_can_subscription_t>& can_subscription,
 114                                                                                         std::map<int, std::shared_ptr<low_can_subscription_t> >& s,
 115                                                                                         bool subscribe)
 116 {
 117         /* Make the subscription or unsubscription to the event (if request contents are not null) */
 118         if(request.itf && request.closure &&
 119            ((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[can_subscription->get_index()]->get_event())) < 0)
 120         {
 121                 AFB_ERROR("Operation goes wrong for signal: %s", can_subscription->get_name().c_str());
 122                 return -1;
 123         }
 124         return 0;
 125 }
 126
 127 static int create_event_handle(std::shared_ptr<low_can_subscription_t>& can_subscription,
 128                                                         std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
 129 {
 130         int sub_index = can_subscription->get_index();
 131         can_subscription->set_event(afb_daemon_make_event(can_subscription->get_name().c_str()));
 132         s[sub_index] = can_subscription;
 133         if (!afb_event_is_valid(s[sub_index]->get_event()))
 134         {
 135                 AFB_ERROR("Can't create an event for %s, something goes wrong.", can_subscription->get_name().c_str());
 136                 return -1;
 137         }
 138         return 0;
 139 }
 140
 141 /// @brief This will determine if an event handle needs to be created and checks if
 142 /// we got a valid afb_event to get subscribe or unsubscribe. After that launch the subscription or unsubscription
 143 /// against the application framework using that event handle.
 144 static int subscribe_unsubscribe_signal(struct afb_req request,
 145                                                                                 bool subscribe,
 146                                                                                 std::shared_ptr<low_can_subscription_t>& can_subscription,
 147                                                                                 std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
 148 {
 149         int ret = -1;
 150         int sub_index = can_subscription->get_index();
 151
 152         if (can_subscription && s.find(sub_index) != s.end())
 153         {
 154                 if (!afb_event_is_valid(s[sub_index]->get_event()) && !subscribe)
 155                 {
 156                         AFB_NOTICE("Event isn't valid, no need to unsubscribed.");
 157                         ret = -1;
 158                 }
 159                 ret = 0;
 160         }
 161         else
 162         {
 163                 /* Event doesn't exist , so let's create it */
 164                 can_subscription->set_event({nullptr, nullptr});
 165                 s[sub_index] = can_subscription;
 166                 ret = create_event_handle(can_subscription, s);
 167         }
 168
 169         // Checks if the event handler is correctly created, if it is, it
 170         // performs the subscription or unsubscription operations.
 171         if (ret < 0)
 172                 return ret;
 173         return make_subscription_unsubscription(request, can_subscription, s, subscribe);
 174 }
 175
 176 static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription)
 177 {
 178                 struct sd_event_source* event_source = nullptr;
 179                 return ( sd_event_add_io(afb_daemon_get_event_loop(),
 180                         &event_source,
 181                         can_subscription->get_socket().socket(),
 182                         EPOLLIN,
 183                         read_message,
 184                         can_subscription.get()));
 185 }
 186
 187 static int subscribe_unsubscribe_diagnostic_messages(struct afb_req request,
 188                                                                                                         bool subscribe,
 189                                                                                                         std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages,
 190                                                                                                         struct event_filter_t& event_filter,
 191                                                                                                         std::map<int, std::shared_ptr<low_can_subscription_t> >& s,
 192                                                                                                         bool perm_rec_diag_req)
 193 {
 194         int rets = 0;
 195         application_t& app = application_t::instance();
 196         diagnostic_manager_t& diag_m = app.get_diagnostic_manager();
 197
 198         for(const auto& sig : diagnostic_messages)
 199         {
 200                 DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request());
 201                 event_filter.frequency = event_filter.frequency == 0 ? sig->get_frequency() : event_filter.frequency;
 202                 std::shared_ptr<low_can_subscription_t> can_subscription;
 203
 204                 auto it =  std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub){ return (! sub.second->get_diagnostic_message().empty());});
 205                 can_subscription = it != s.end() ?
 206                         it->second :
 207                         std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 208                 // If the requested diagnostic message is not supported by the car then unsubcribe it
 209                 // no matter what we want, worst case will be a failed unsubscription but at least we won't
 210                 // poll a PID for nothing.
 211                 if(sig->get_supported() && subscribe)
 212                 {
 213                         if (!app.isEngineOn())
 214                                 AFB_WARNING("signal: Engine is off, %s won't received responses until it's on",  sig->get_name().c_str());
 215
 216                         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);
 217                         if(can_subscription->create_rx_filter(sig) < 0)
 218                                 {return -1;}
 219                         AFB_DEBUG("Signal: %s subscribed", sig->get_name().c_str());
 220                         if(it == s.end() && add_to_event_loop(can_subscription) < 0)
 221                         {
 222                                 diag_m.cleanup_request(
 223                                         diag_m.find_recurring_request(*diag_req), true);
 224                                 AFB_WARNING("signal: %s isn't supported. Canceling operation.",  sig->get_name().c_str());
 225                                 return -1;
 226                         }
 227                 }
 228                 else
 229                 {
 230                         if(sig->get_supported())
 231                         {AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());}
 232                         else
 233                         {
 234                                 AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
 235                                 return -1;
 236                         }
 237                 }
 238                 int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s);
 239                 if(ret < 0)
 240                         return ret;
 241
 242                 rets++;
 243         }
 244
 245         return rets;
 246 }
 247
 248 static int subscribe_unsubscribe_can_signals(struct afb_req request,
 249                                                                                         bool subscribe,
 250                                                                                         std::vector<std::shared_ptr<can_signal_t> > can_signals,
 251                                                                                         struct event_filter_t& event_filter,
 252                                                                                         std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
 253 {
 254         int rets = 0;
 255         for(const auto& sig: can_signals)
 256         {
 257                 auto it =  std::find_if(s.begin(), s.end(), [&sig, &event_filter](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub){ return sub.second->is_signal_subscription_corresponding(sig, event_filter) ; });
 258                 std::shared_ptr<low_can_subscription_t> can_subscription;
 259                 if(it != s.end())
 260                 {
 261                          can_subscription = it->second;
 262                 }
 263                 else
 264                 {
 265                          can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 266                         if(can_subscription->create_rx_filter(sig) < 0)
 267                                 {return -1;}
 268                         if(add_to_event_loop(can_subscription) < 0)
 269                                 {return -1;}
 270                 }
 271
 272                 if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
 273                         {return -1;}
 274
 275                 rets++;
 276                 AFB_DEBUG("signal: %s subscribed", sig->get_name().c_str());
 277         }
 278         return rets;
 279 }
 280
 281 ///
 282 /// @brief subscribe to all signals in the vector signals
 283 ///
 284 /// @param[in] afb_req request : contains original request use to subscribe or unsubscribe
 285 /// @param[in] subscribe boolean value, which chooses between a subscription operation or an unsubscription
 286 /// @param[in] signals -  struct containing vectors with can_signal_t and diagnostic_messages to subscribe
 287 ///
 288 /// @return Number of correctly subscribed signal
 289 ///
 290 static int subscribe_unsubscribe_signals(struct afb_req request,
 291                                                                                 bool subscribe,
 292                                                                                 const struct utils::signals_found& signals,
 293                                                                                 struct event_filter_t& event_filter)
 294 {
 295         int rets = 0;
 296         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 297
 298         std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 299         std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
 300
 301         rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s, false);
 302         rets += subscribe_unsubscribe_can_signals(request, subscribe, signals.can_signals, event_filter, s);
 303
 304         return rets;
 305 }
 306
 307 static int one_subscribe_unsubscribe(struct afb_req request,
 308                                                                         bool subscribe,
 309                                                                         const std::string& tag,
 310                                                                         json_object* args)
 311 {
 312         int ret = 0;
 313         struct event_filter_t event_filter;
 314         struct json_object  *filter, *obj;
 315         struct utils::signals_found sf;
 316
 317         // computes the filter
 318         if (json_object_object_get_ex(args, "filter", &filter))
 319         {
 320                 if (json_object_object_get_ex(filter, "frequency", &obj)
 321                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 322                         {event_filter.frequency = (float)json_object_get_double(obj);}
 323                 if (json_object_object_get_ex(filter, "min", &obj)
 324                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 325                         {event_filter.min = (float)json_object_get_double(obj);}
 326                 if (json_object_object_get_ex(filter, "max", &obj)
 327                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 328                         {event_filter.max = (float)json_object_get_double(obj);}
 329         }
 330
 331         // subscribe or unsubscribe
 332         openxc_DynamicField search_key = build_DynamicField(tag);
 333         sf = utils::signals_manager_t::instance().find_signals(search_key);
 334         if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
 335         {
 336                 AFB_NOTICE("No signal(s) found for %s.", tag.c_str());
 337                 ret = -1;
 338         }
 339         else
 340                 {ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);}
 341
 342         return ret;
 343 }
 344 static int process_one_subscribe_args(struct afb_req request, bool subscribe, json_object *args)
 345 {
 346         int rc = 0, rc2=0;
 347         json_object *x = nullptr, *event = nullptr;
 348         if(args == NULL ||
 349                 !json_object_object_get_ex(args, "event", &event))
 350         {
 351                 rc = one_subscribe_unsubscribe(request, subscribe, "*", args);
 352         }
 353         else if (json_object_get_type(event) != json_type_array)
 354         {
 355                 rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), args);
 356         }
 357         else
 358         {
 359                 for (int i = 0 ; i < json_object_array_length(event); i++)
 360                 {
 361                         x = json_object_array_get_idx(event, i);
 362                         rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), args);
 363                         if (rc >= 0)
 364                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 365                 }
 366         }
 367         return rc;
 368 }
 369
 370 static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe)
 371 {
 372         int rc = 0;
 373         struct json_object *args, *x;
 374
 375         args = afb_req_json(request);
 376         if (json_object_get_type(args) == json_type_array)
 377         {
 378                 for(int i = 0; i < json_object_array_length(args); i++)
 379                 {
 380                         x = json_object_array_get_idx(args, i);
 381                         rc += process_one_subscribe_args(request, subscribe, x);
 382                 }
 383         }
 384         else
 385         {
 386                 rc += process_one_subscribe_args(request, subscribe, args);
 387         }
 388
 389         if (rc >= 0)
 390                 afb_req_success(request, NULL, NULL);
 391         else
 392                 afb_req_fail(request, "error", NULL);
 393 }
 394
 395 void auth(struct afb_req request)
 396 {
 397         afb_req_session_set_LOA(request, 1);
 398         afb_req_success(request, NULL, NULL);
 399 }
 400
 401 void subscribe(struct afb_req request)
 402 {
 403         do_subscribe_unsubscribe(request, true);
 404 }
 405
 406 void unsubscribe(struct afb_req request)
 407 {
 408         do_subscribe_unsubscribe(request, false);
 409 }
 410
 411 static int send_frame(const std::string& bus_name, const struct can_frame& cf)
 412 {
 413         std::map<std::string, std::shared_ptr<low_can_socket_t> >& cd = application_t::instance().get_can_devices();
 414
 415         if( cd.count(bus_name) == 0)
 416                 {cd[bus_name] = std::make_shared<low_can_socket_t>(low_can_socket_t());}
 417
 418         return cd[bus_name]->tx_send(cf, bus_name);
 419 }
 420
 421 static int write_raw_frame(const std::string& bus_name, uint32_t can_id, uint8_t can_dlc, struct json_object* can_data)
 422 {
 423         int rc = 0;
 424         struct can_frame cf;
 425
 426         ::memset(&cf, 0, sizeof(cf));
 427
 428         cf.can_id = can_id;
 429         cf.can_dlc = can_dlc;
 430
 431         struct json_object *x;
 432         size_t n = json_object_array_length(can_data);
 433         if(n <= 8)
 434         {
 435                 for (int i = 0 ; i < n ; i++)
 436                 {
 437                         x = json_object_array_get_idx(can_data, i);
 438                         cf.data[i] = json_object_get_type(x) == json_type_int ? (uint8_t)json_object_get_int(x) : 0;
 439                 }
 440         }
 441
 442         const std::string found_device = application_t::instance().get_can_bus_manager().get_can_device_name(bus_name);
 443         if( ! found_device.empty())
 444         {
 445                 rc = send_frame(found_device, cf);
 446         }
 447
 448         return rc;
 449 }
 450 static int write_signal(const std::string& name, uint64_t value)
 451 {
 452         int rc = 0;
 453         struct can_frame cf;
 454         struct utils::signals_found sf;
 455
 456         ::memset(&cf, 0, sizeof(cf));
 457
 458         openxc_DynamicField search_key = build_DynamicField(name);
 459         sf = utils::signals_manager_t::instance().find_signals(search_key);
 460
 461         if (sf.can_signals.empty())
 462         {
 463                 AFB_WARNING("No signal(s) found for %s. Message not sent.", name.c_str());
 464                 rc = -1;
 465         }
 466         else
 467         {
 468                 for(const auto& sig: sf.can_signals)
 469                 {
 470                         if(sig->get_writable())
 471                         {
 472                                 cf = encoder_t::build_frame(sig, value);
 473                                 const std::string bus_name = sig->get_message()->get_bus_device_name();
 474                                 rc = send_frame(bus_name, cf);
 475                         }
 476                         else
 477                         {
 478                                 AFB_WARNING("%s isn't writable. Message not sent.", sig->get_name().c_str());
 479                                 return -1;
 480                         }
 481                 }
 482         }
 483
 484         return rc;
 485 }
 486
 487 void write(struct afb_req request)
 488 {
 489         int rc = 0;
 490         struct json_object* args = nullptr,
 491                 *json_name = nullptr,
 492                 *json_value = nullptr;
 493
 494         args = afb_req_json(request);
 495
 496         // Process about Raw CAN message on CAN bus directly
 497         if (args != NULL &&
 498                 (json_object_object_get_ex(args, "bus_name", &json_name) && json_object_is_type(json_name, json_type_string) ) &&
 499                 (json_object_object_get_ex(args, "frame", &json_value) && json_object_is_type(json_value, json_type_object) ))
 500         {
 501                 struct json_object* json_can_id = nullptr,
 502                         *json_can_dlc = nullptr,
 503                         *json_can_data = nullptr;
 504
 505                 if( (json_object_object_get_ex(json_value, "can_id", &json_can_id) && (json_object_is_type(json_can_id, json_type_double) || json_object_is_type(json_can_id, json_type_int))) &&
 506                         (json_object_object_get_ex(json_value, "can_dlc", &json_can_dlc) && (json_object_is_type(json_can_dlc, json_type_double) || json_object_is_type(json_can_dlc, json_type_int))) &&
 507                         (json_object_object_get_ex(json_value, "can_data", &json_can_data) && json_object_is_type(json_can_data, json_type_array) ))
 508                 {
 509                         rc = write_raw_frame(json_object_get_string(json_name),
 510                                 json_object_get_int(json_can_id),
 511                                 (uint8_t)json_object_get_int(json_can_dlc),
 512                                 json_can_data);
 513                 }
 514                 else
 515                 {
 516                         AFB_ERROR("Frame object malformed (must be \n \"frame\": {\"can_id\": int, \"can_dlc\": int, \"can_data\": [ int, int , int, int ,int , int ,int ,int]}");
 517                         rc = -1;
 518                 }
 519         }
 520         // Search signal then encode value.
 521         else if(args != NULL &&
 522                 (json_object_object_get_ex(args, "signal_name", &json_name) && json_object_is_type(json_name, json_type_string)) &&
 523                 (json_object_object_get_ex(args, "signal_value", &json_value) && (json_object_is_type(json_value, json_type_double) || json_object_is_type(json_value, json_type_int))))
 524         {
 525                 rc = write_signal(json_object_get_string(json_name),
 526                         (uint64_t)json_object_get_double(json_value));
 527         }
 528         else
 529         {
 530                 AFB_ERROR("Request argument malformed. Please use the following syntax:");
 531                 rc = -1;
 532         }
 533
 534         if (rc >= 0)
 535                 afb_req_success(request, NULL, NULL);
 536         else
 537                 afb_req_fail(request, "error", NULL);
 538 }
 539
 540 static struct json_object *get_signals_value(const std::string& name)
 541 {
 542         struct utils::signals_found sf;
 543         struct json_object *ans = nullptr;
 544
 545         openxc_DynamicField search_key = build_DynamicField(name);
 546         sf = utils::signals_manager_t::instance().find_signals(search_key);
 547
 548         if (sf.can_signals.empty())
 549         {
 550                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 551                 return NULL;
 552         }
 553         ans = json_object_new_array();
 554         for(const auto& sig: sf.can_signals)
 555         {
 556                 struct json_object *jobj = json_object_new_object();
 557                 json_object_object_add(jobj, "event", json_object_new_string(sig->get_name().c_str()));
 558                 json_object_object_add(jobj, "value", json_object_new_double(sig->get_last_value()));
 559                 json_object_array_add(ans, jobj);
 560         }
 561
 562         return ans;
 563 }
 564 void get(struct afb_req request)
 565 {
 566         int rc = 0;
 567         struct json_object* args = nullptr,
 568                 *json_name = nullptr;
 569         json_object *ans = nullptr;
 570
 571         args = afb_req_json(request);
 572
 573         // Process about Raw CAN message on CAN bus directly
 574         if (args != nullptr &&
 575                 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string) ))
 576         {
 577                 ans = get_signals_value(json_object_get_string(json_name));
 578                 if (!ans)
 579                         rc = -1;
 580         }
 581         else
 582         {
 583                 AFB_ERROR("Request argument malformed. Please use the following syntax:");
 584                 rc = -1;
 585         }
 586
 587         if (rc >= 0)
 588                 afb_req_success(request, ans, NULL);
 589         else
 590                 afb_req_fail(request, "error", NULL);
 591 }
 592
 593
 594 static struct json_object *list_can_message(const std::string& name)
 595 {
 596         struct utils::signals_found sf;
 597         struct json_object *ans = nullptr;
 598
 599         openxc_DynamicField search_key = build_DynamicField(name);
 600         sf = utils::signals_manager_t::instance().find_signals(search_key);
 601
 602         if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
 603         {
 604                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 605                 return NULL;
 606         }
 607         ans = json_object_new_array();
 608         for(const auto& sig: sf.can_signals)
 609         {
 610                 json_object_array_add(ans,
 611                         json_object_new_string(sig->get_name().c_str()));
 612         }
 613         for(const auto& sig: sf.diagnostic_messages)
 614         {
 615                 json_object_array_add(ans,
 616                         json_object_new_string(sig->get_name().c_str()));
 617         }
 618
 619         return ans;
 620 }
 621
 622 void list(struct afb_req request)
 623 {
 624         int rc = 0;
 625         json_object *ans = nullptr;
 626         struct json_object* args = nullptr,
 627                 *json_name = nullptr;
 628         args = afb_req_json(request);
 629         const char *name;
 630         if ((args != nullptr) &&
 631                 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string)))
 632         {
 633                 name = json_object_get_string(json_name);
 634         }
 635         else
 636         {
 637                 name = "*";
 638         }
 639
 640         ans = list_can_message(name);
 641         if (!ans)
 642                 rc = -1;
 643
 644         if (rc >= 0)
 645                 afb_req_success(request, ans, NULL);
 646         else
 647                 afb_req_fail(request, "error", NULL);
 648 }
 649
 650 /// @brief Initialize the binding.
 651 ///
 652 /// @param[in] service Structure which represent the Application Framework Binder.
 653 ///
 654 /// @return Exit code, zero if success.
 655 int initv2()
 656 {
 657         uint32_t ret = 1;
 658         can_bus_t& can_bus_manager = application_t::instance().get_can_bus_manager();
 659
 660         can_bus_manager.set_can_devices();
 661         can_bus_manager.start_threads();
 662
 663         /// Initialize Diagnostic manager that will handle obd2 requests.
 664         /// We pass by default the first CAN bus device to its Initialization.
 665         /// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus.
 666         if(application_t::instance().get_diagnostic_manager().initialize())
 667                 ret = 0;
 668
 669         // Add a recurring dignostic message request to get engine speed at all times.
 670         openxc_DynamicField search_key = build_DynamicField("diagnostic_messages.engine.speed");
 671         struct utils::signals_found sf = utils::signals_manager_t::instance().find_signals(search_key);
 672
 673         if(sf.can_signals.empty() && sf.diagnostic_messages.size() == 1)
 674         {
 675                 struct afb_req request;
 676                 request.itf = nullptr;
 677                 request.closure = nullptr;
 678
 679                 struct event_filter_t event_filter;
 680                 event_filter.frequency = sf.diagnostic_messages.front()->get_frequency();
 681
 682                 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 683                 std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
 684
 685                 subscribe_unsubscribe_diagnostic_messages(request, true, sf.diagnostic_messages, event_filter, s, true);
 686         }
 687
 688         if(ret)
 689                 AFB_ERROR("There was something wrong with CAN device Initialization.");
 690
 691         return ret;
 692 }