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         if( ! can_subscription->get_diagnostic_message().empty() && can_subscription->get_diagnostic_message(pid) != nullptr)
  49         {
  50                 DiagnosticRequest diag_req = can_subscription->get_diagnostic_message(pid)->build_diagnostic_request();
  51                 active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
  52                 if( adr != nullptr)
  53                         application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
  54         }
  55
  56         on_no_clients(can_subscription, s);
  57 }
  58
  59 void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
  60 {
  61         auto it = s.find(can_subscription->get_index());
  62         s.erase(it);
  63 }
  64
  65 static void push_n_notify(const can_message_t& cm)
  66 {
  67         can_bus_t& cbm = application_t::instance().get_can_bus_manager();
  68         {
  69                 std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
  70                 cbm.push_new_can_message(cm);
  71         }
  72         cbm.get_new_can_message_cv().notify_one();
  73 }
  74
  75 int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata)
  76 {
  77         low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata;
  78         if ((revents & EPOLLIN) != 0)
  79         {
  80                 can_message_t cm;
  81                 utils::socketcan_bcm_t& s = can_subscription->get_socket();
  82                 s >> cm;
  83
  84                 // Sure we got a valid CAN message ?
  85                 if(! cm.get_id() == 0 && ! cm.get_length() == 0)
  86                         {push_n_notify(cm);}
  87         }
  88
  89         // check if error or hangup
  90         if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
  91         {
  92                 sd_event_source_unref(event_source);
  93                 can_subscription->get_socket().close();
  94         }
  95         return 0;
  96 }
  97
  98 ///******************************************************************************
  99 ///
 100 ///             Subscription and unsubscription
 101 ///
 102 ///*******************************************************************************/
 103
 104 static int make_subscription_unsubscription(struct afb_req request,
 105                                                                                         std::shared_ptr<low_can_subscription_t>& can_subscription,
 106                                                                                         std::map<int, std::shared_ptr<low_can_subscription_t> >& s,
 107                                                                                         bool subscribe)
 108 {
 109         /* Make the subscription or unsubscription to the event */
 110         if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[can_subscription->get_index()]->get_event())) < 0)
 111         {
 112                 AFB_ERROR("Operation goes wrong for signal: %s", can_subscription->get_name().c_str());
 113                 return -1;
 114         }
 115         return 0;
 116 }
 117
 118 static int create_event_handle(std::shared_ptr<low_can_subscription_t>& can_subscription,
 119                                                         std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
 120 {
 121         int sub_index = can_subscription->get_index();
 122         can_subscription->set_event(afb_daemon_make_event(can_subscription->get_name().c_str()));
 123         s[sub_index] = can_subscription;
 124         if (!afb_event_is_valid(s[sub_index]->get_event()))
 125         {
 126                 AFB_ERROR("Can't create an event for %s, something goes wrong.", can_subscription->get_name().c_str());
 127                 return -1;
 128         }
 129         return 0;
 130 }
 131
 132 /// @brief Will determine if it is needed or not to create the event handle and checks it to be sure that
 133 /// we got a valid afb_event to get subscribe or unsubscribe. Then launch the subscription or unsubscription
 134 /// against the application framework using that event handle.
 135 static int subscribe_unsubscribe_signal(struct afb_req request,
 136                                                                                 bool subscribe,
 137                                                                                 std::shared_ptr<low_can_subscription_t>& can_subscription,
 138                                                                                 std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
 139 {
 140         int ret = -1;
 141         int sub_index = can_subscription->get_index();
 142
 143         if (can_subscription && s.find(sub_index) != s.end())
 144         {
 145                 if (!afb_event_is_valid(s[sub_index]->get_event()) && !subscribe)
 146                 {
 147                         AFB_NOTICE("Event isn't valid, no need to unsubscribed.");
 148                         ret = -1;
 149                 }
 150                 ret = 0;
 151         }
 152         else
 153         {
 154                 /* Event doesn't exist , so let's create it */
 155                 can_subscription->set_event({nullptr, nullptr});
 156                 s[sub_index] = can_subscription;
 157                 ret = create_event_handle(can_subscription, s);
 158         }
 159
 160         // Check whether or not the event handler has been correctly created and
 161         // make the subscription/unsubscription operation is so.
 162         if (ret < 0)
 163                 return ret;
 164         return make_subscription_unsubscription(request, can_subscription, s, subscribe);
 165 }
 166
 167 static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription)
 168 {
 169                 struct sd_event_source* event_source = nullptr;
 170                 return ( sd_event_add_io(afb_daemon_get_event_loop(),
 171                         &event_source,
 172                         can_subscription->get_socket().socket(),
 173                         EPOLLIN,
 174                         read_message,
 175                         can_subscription.get()));
 176 }
 177
 178 static int subscribe_unsubscribe_diagnostic_messages(struct afb_req request,
 179                                                                                                         bool subscribe,
 180                                                                                                         std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages,
 181                                                                                                         struct event_filter_t& event_filter,
 182                                                                                                         std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
 183 {
 184         int rets = 0;
 185         application_t& app = application_t::instance();
 186         diagnostic_manager_t& diag_m = app.get_diagnostic_manager();
 187
 188         for(const auto& sig : diagnostic_messages)
 189         {
 190                 DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request());
 191                 event_filter.frequency = event_filter.frequency == 0 ? sig->get_frequency() : event_filter.frequency;
 192                 std::shared_ptr<low_can_subscription_t> can_subscription;
 193
 194                 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());});
 195                 can_subscription = it != s.end() ?
 196                         it->second :
 197                         std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 198                 // If the requested diagnostic message isn't supported by the car then unsubcribe it
 199                 // no matter what we want, worse case will be a fail unsubscription but at least we don't
 200                 // poll a PID for nothing.
 201                 //TODO: Adding callback requesting ignition status:     diag_req, sig.c_str(), false, diagnostic_message_t::decode_obd2_response, diagnostic_message_t::check_ignition_status, frequency);
 202                 if(sig->get_supported() && subscribe)
 203                 {
 204                         diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), event_filter.frequency);
 205                         if(can_subscription->create_rx_filter(sig) < 0)
 206                                 {return -1;}
 207                         AFB_DEBUG("Signal: %s subscribed", sig->get_name().c_str());
 208                         if(it == s.end() && add_to_event_loop(can_subscription) < 0)
 209                         {
 210                                 diag_m.cleanup_request(
 211                                         diag_m.find_recurring_request(*diag_req), true);
 212                                 AFB_WARNING("signal: %s isn't supported. Canceling operation.",  sig->get_name().c_str());
 213                                 return -1;
 214                         }
 215                 }
 216                 else
 217                 {
 218                         if(sig->get_supported())
 219                         {AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());}
 220                         else
 221                         {
 222                                 AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
 223                                 return -1;
 224                         }
 225                 }
 226                 int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s);
 227                 if(ret < 0)
 228                         return ret;
 229
 230                 rets++;
 231         }
 232
 233         return rets;
 234 }
 235
 236 static int subscribe_unsubscribe_can_signals(struct afb_req request,
 237                                                                                         bool subscribe,
 238                                                                                         std::vector<std::shared_ptr<can_signal_t> > can_signals,
 239                                                                                         struct event_filter_t& event_filter,
 240                                                                                         std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
 241 {
 242         int rets = 0;
 243         for(const auto& sig: can_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){ return sub.second->is_signal_subscription_corresponding(sig, event_filter) ; });
 246                 std::shared_ptr<low_can_subscription_t> can_subscription;
 247                 if(it != s.end())
 248                 {
 249                          can_subscription = it->second;
 250                 }
 251                 else
 252                 {
 253                          can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 254                         if(can_subscription->create_rx_filter(sig) < 0)
 255                                 {return -1;}
 256                         if(add_to_event_loop(can_subscription) < 0)
 257                                 {return -1;}
 258                 }
 259
 260                 if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
 261                         {return -1;}
 262
 263                 rets++;
 264                 AFB_DEBUG("signal: %s subscribed", sig->get_name().c_str());
 265         }
 266         return rets;
 267 }
 268
 269 ///
 270 /// @brief subscribe to all signals in the vector signals
 271 ///
 272 /// @param[in] afb_req request : contain original request use to subscribe or unsubscribe
 273 /// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription
 274 /// @param[in] signals -  struct containing vectors with can_signal_t and diagnostic_messages to subscribe
 275 ///
 276 /// @return Number of correctly subscribed signal
 277 ///
 278 static int subscribe_unsubscribe_signals(struct afb_req request,
 279                                                                                 bool subscribe,
 280                                                                                 const struct utils::signals_found& signals,
 281                                                                                 struct event_filter_t& event_filter)
 282 {
 283         int rets = 0;
 284         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 285
 286         std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 287         std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
 288
 289         rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s);
 290         rets += subscribe_unsubscribe_can_signals(request, subscribe, signals.can_signals, event_filter, s);
 291
 292         return rets;
 293 }
 294
 295 static int one_subscribe_unsubscribe(struct afb_req request,
 296                                                                         bool subscribe,
 297                                                                         const std::string& tag,
 298                                                                         json_object* args)
 299 {
 300         int ret = 0;
 301         struct event_filter_t event_filter;
 302         struct json_object  *filter, *obj;
 303         struct utils::signals_found sf;
 304
 305         // computes the filter
 306         if (json_object_object_get_ex(args, "filter", &filter))
 307         {
 308                 if (json_object_object_get_ex(filter, "frequency", &obj)
 309                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 310                         {event_filter.frequency = (float)json_object_get_double(obj);}
 311                 if (json_object_object_get_ex(filter, "min", &obj)
 312                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 313                         {event_filter.min = (float)json_object_get_double(obj);}
 314                 if (json_object_object_get_ex(filter, "max", &obj)
 315                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 316                         {event_filter.max = (float)json_object_get_double(obj);}
 317         }
 318
 319         // subscribe or unsubscribe
 320         openxc_DynamicField search_key = build_DynamicField(tag);
 321         sf = utils::signals_manager_t::instance().find_signals(search_key);
 322         if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
 323         {
 324                 AFB_NOTICE("No signal(s) found for %s.", tag.c_str());
 325                 ret = -1;
 326         }
 327         else
 328                 {ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);}
 329
 330         return ret;
 331 }
 332 static int process_one_subscribe_args(struct afb_req request, bool subscribe, json_object *args)
 333 {
 334         int rc = 0, rc2=0;
 335         json_object *x = nullptr, *event = nullptr;
 336         if(args == NULL ||
 337                 !json_object_object_get_ex(args, "event", &event))
 338         {
 339                 rc = one_subscribe_unsubscribe(request, subscribe, "*", args);
 340         }
 341         else if (json_object_get_type(event) != json_type_array)
 342         {
 343                 rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), args);
 344         }
 345         else
 346         {
 347                 for (int i = 0 ; i < json_object_array_length(event); i++)
 348                 {
 349                         x = json_object_array_get_idx(event, i);
 350                         rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), args);
 351                         if (rc >= 0)
 352                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 353                 }
 354         }
 355         return rc;
 356 }
 357
 358 static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe)
 359 {
 360         int rc = 0;
 361         struct json_object *args, *x;
 362
 363         args = afb_req_json(request);
 364         if (json_object_get_type(args) == json_type_array)
 365         {
 366                 for(int i = 0; i < json_object_array_length(args); i++)
 367                 {
 368                         x = json_object_array_get_idx(args, i);
 369                         rc += process_one_subscribe_args(request, subscribe, x);
 370                 }
 371         }
 372         else
 373         {
 374                 rc += process_one_subscribe_args(request, subscribe, args);
 375         }
 376
 377         if (rc >= 0)
 378                 afb_req_success(request, NULL, NULL);
 379         else
 380                 afb_req_fail(request, "error", NULL);
 381 }
 382
 383 void auth(struct afb_req request)
 384 {
 385         afb_req_session_set_LOA(request, 1);
 386         afb_req_success(request, NULL, NULL);
 387 }
 388
 389 void subscribe(struct afb_req request)
 390 {
 391         do_subscribe_unsubscribe(request, true);
 392 }
 393
 394 void unsubscribe(struct afb_req request)
 395 {
 396         do_subscribe_unsubscribe(request, false);
 397 }
 398
 399 static int send_frame(const std::string& bus_name, const struct can_frame& cf)
 400 {
 401         std::map<std::string, std::shared_ptr<low_can_socket_t> >& cd = application_t::instance().get_can_devices();
 402
 403         if( cd.count(bus_name) == 0)
 404                 {cd[bus_name] = std::make_shared<low_can_socket_t>(low_can_socket_t());}
 405
 406         return cd[bus_name]->tx_send(cf, bus_name);
 407 }
 408
 409 static int write_raw_frame(const std::string& bus_name, uint32_t can_id, uint8_t can_dlc, struct json_object* can_data)
 410 {
 411         int rc = 0;
 412         struct can_frame cf;
 413
 414         ::memset(&cf, 0, sizeof(cf));
 415
 416         cf.can_id = can_id;
 417         cf.can_dlc = can_dlc;
 418
 419         struct json_object *x;
 420         int n = json_object_array_length(can_data);
 421         if(n <= 8)
 422         {
 423                 for (int i = 0 ; i < n ; i++)
 424                 {
 425                         x = json_object_array_get_idx(can_data, i);
 426                         cf.data[i] = json_object_get_type(x) == json_type_int ? (uint8_t)json_object_get_int(x) : 0;
 427                 }
 428         }
 429
 430         const std::string found_device = application_t::instance().get_can_bus_manager().get_can_device_name(bus_name);
 431         if( ! found_device.empty())
 432         {
 433                 rc = send_frame(found_device, cf);
 434         }
 435
 436         return rc;
 437 }
 438 static int write_signal(const std::string& name, uint64_t value)
 439 {
 440         int rc = 0;
 441         struct can_frame cf;
 442         struct utils::signals_found sf;
 443
 444         ::memset(&cf, 0, sizeof(cf));
 445
 446         openxc_DynamicField search_key = build_DynamicField(name);
 447         sf = utils::signals_manager_t::instance().find_signals(search_key);
 448
 449         if (sf.can_signals.empty())
 450         {
 451                 AFB_WARNING("No signal(s) found for %s. Message not sent.", name.c_str());
 452                 rc = -1;
 453         }
 454         else
 455         {
 456                 for(const auto& sig: sf.can_signals)
 457                 {
 458                         if(sig->get_writable())
 459                         {
 460                                 cf = encoder_t::build_frame(sig, value);
 461                                 const std::string bus_name = sig->get_message()->get_bus_device_name();
 462                                 rc = send_frame(bus_name, cf);
 463                         }
 464                         else
 465                         {
 466                                 AFB_WARNING("%s isn't writable. Message not sent.", sig->get_name().c_str());
 467                                 return -1;
 468                         }
 469                 }
 470         }
 471
 472         return rc;
 473 }
 474
 475 void write(struct afb_req request)
 476 {
 477         int rc = 0;
 478         struct json_object* args = nullptr,
 479                 *json_name = nullptr,
 480                 *json_value = nullptr;
 481
 482         args = afb_req_json(request);
 483
 484         // Process about Raw CAN message on CAN bus directly
 485         if (args != NULL &&
 486                 (json_object_object_get_ex(args, "bus_name", &json_name) && json_object_is_type(json_name, json_type_string) ) &&
 487                 (json_object_object_get_ex(args, "frame", &json_value) && json_object_is_type(json_value, json_type_object) ))
 488         {
 489                 struct json_object* json_can_id = nullptr,
 490                         *json_can_dlc = nullptr,
 491                         *json_can_data = nullptr;
 492
 493                 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))) &&
 494                         (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))) &&
 495                         (json_object_object_get_ex(json_value, "can_data", &json_can_data) && json_object_is_type(json_can_data, json_type_array) ))
 496                 {
 497                         rc = write_raw_frame(json_object_get_string(json_name),
 498                                 json_object_get_int(json_can_id),
 499                                 (uint8_t)json_object_get_int(json_can_dlc),
 500                                 json_can_data);
 501                 }
 502                 else
 503                 {
 504                         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]}");
 505                         rc = -1;
 506                 }
 507         }
 508         // Search signal then encode value.
 509         else if(args != NULL &&
 510                 (json_object_object_get_ex(args, "signal_name", &json_name) && json_object_is_type(json_name, json_type_string)) &&
 511                 (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))))
 512         {
 513                 rc = write_signal(json_object_get_string(json_name),
 514                         (uint64_t)json_object_get_double(json_value));
 515         }
 516         else
 517         {
 518                 AFB_ERROR("Request argument malformed. Please use the following syntax:");
 519                 rc = -1;
 520         }
 521
 522         if (rc >= 0)
 523                 afb_req_success(request, NULL, NULL);
 524         else
 525                 afb_req_fail(request, "error", NULL);
 526 }
 527
 528 static struct json_object *get_signals_value(const std::string& name)
 529 {
 530         struct utils::signals_found sf;
 531         struct json_object *ans = nullptr;
 532
 533         openxc_DynamicField search_key = build_DynamicField(name);
 534         sf = utils::signals_manager_t::instance().find_signals(search_key);
 535
 536         if (sf.can_signals.empty())
 537         {
 538                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 539                 return NULL;
 540         }
 541         ans = json_object_new_array();
 542         for(const auto& sig: sf.can_signals)
 543         {
 544                 struct json_object *jobj = json_object_new_object();
 545                 json_object_object_add(jobj, "event", json_object_new_string(sig->get_name().c_str()));
 546                 json_object_object_add(jobj, "value", json_object_new_double(sig->get_last_value()));
 547                 json_object_array_add(ans, jobj);
 548         }
 549
 550         return ans;
 551 }
 552 void get(struct afb_req request)
 553 {
 554         int rc = 0;
 555         struct json_object* args = nullptr,
 556                 *json_name = nullptr;
 557         json_object *ans = nullptr;
 558
 559         args = afb_req_json(request);
 560
 561         // Process about Raw CAN message on CAN bus directly
 562         if (args != nullptr &&
 563                 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string) ))
 564         {
 565                 ans = get_signals_value(json_object_get_string(json_name));
 566                 if (!ans)
 567                         rc = -1;
 568         }
 569         else
 570         {
 571                 AFB_ERROR("Request argument malformed. Please use the following syntax:");
 572                 rc = -1;
 573         }
 574
 575         if (rc >= 0)
 576                 afb_req_success(request, ans, NULL);
 577         else
 578                 afb_req_fail(request, "error", NULL);
 579 }
 580
 581
 582 static struct json_object *list_can_message(const std::string& name)
 583 {
 584         struct utils::signals_found sf;
 585         struct json_object *ans = nullptr;
 586
 587         openxc_DynamicField search_key = build_DynamicField(name);
 588         sf = utils::signals_manager_t::instance().find_signals(search_key);
 589
 590         if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
 591         {
 592                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 593                 return NULL;
 594         }
 595         ans = json_object_new_array();
 596         for(const auto& sig: sf.can_signals)
 597         {
 598                 json_object_array_add(ans,
 599                         json_object_new_string(sig->get_name().c_str()));
 600         }
 601         for(const auto& sig: sf.diagnostic_messages)
 602         {
 603                 json_object_array_add(ans,
 604                         json_object_new_string(sig->get_name().c_str()));
 605         }
 606
 607         return ans;
 608 }
 609
 610 void list(struct afb_req request)
 611 {
 612         int rc = 0;
 613         json_object *ans = nullptr;
 614         struct json_object* args = nullptr,
 615                 *json_name = nullptr;
 616         args = afb_req_json(request);
 617         const char *name;
 618         if ((args != nullptr) &&
 619                 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string)))
 620         {
 621                 name = json_object_get_string(json_name);
 622         }
 623         else
 624         {
 625                 name = "*";
 626         }
 627
 628         ans = list_can_message(name);
 629         if (!ans)
 630                 rc = -1;
 631
 632         if (rc >= 0)
 633                 afb_req_success(request, ans, NULL);
 634         else
 635                 afb_req_fail(request, "error", NULL);
 636 }
 637
 638 /// @brief Initialize the binding.
 639 ///
 640 /// @param[in] service Structure which represent the Application Framework Binder.
 641 ///
 642 /// @return Exit code, zero if success.
 643 int initv2()
 644 {
 645         can_bus_t& can_bus_manager = application_t::instance().get_can_bus_manager();
 646
 647         can_bus_manager.set_can_devices();
 648         can_bus_manager.start_threads();
 649
 650         /// Initialize Diagnostic manager that will handle obd2 requests.
 651         /// We pass by default the first CAN bus device to its Initialization.
 652         /// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus.
 653         if(application_t::instance().get_diagnostic_manager().initialize())
 654                 return 0;
 655
 656         AFB_ERROR("There was something wrong with CAN device Initialization.");
 657         return 1;
 658 }