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 <algorithm>
  28 #include <wrap-json.h>
  29 #include <systemd/sd-event.h>
  30 #include <ctl-config.h>
  31 #include "openxc.pb.h"
  32 #include "application.hpp"
  33 #include "../can/can-encoder.hpp"
  34 #include "../can/can-bus.hpp"
  35 #include "../can/signals.hpp"
  36 #include "../can/message/message.hpp"
  37 #include "../utils/signals.hpp"
  38 #include "../diagnostic/diagnostic-message.hpp"
  39 #include "../utils/openxc-utils.hpp"
  40 #include "../utils/signals.hpp"
  41
  42 #ifdef USE_FEATURE_J1939
  43         #include "../can/message/j1939-message.hpp"
  44         #include <linux/can/j1939.h>
  45 #endif
  46
  47 ///*****************************************************************************
  48 ///
  49 ///             Controller Definitions and Callbacks
  50 ///
  51 ///****************************************************************************/
  52
  53 int config_low_can(afb_api_t apiHandle, CtlSectionT *section, json_object *json_obj)
  54 {
  55         AFB_DEBUG("Config %s", json_object_to_json_string(json_obj));
  56         CtlConfigT *ctrlConfig;
  57
  58         ctrlConfig = (CtlConfigT *) afb_api_get_userdata(apiHandle);
  59         if(! ctrlConfig)
  60                 return -1;
  61
  62         if(! ctrlConfig->external)
  63                 return -1;
  64
  65         application_t *application = (application_t*) ctrlConfig->external;
  66
  67         int active_message_set;
  68         json_object *dev_mapping = nullptr;
  69         const char *diagnotic_bus = nullptr;
  70
  71         if(wrap_json_unpack(json_obj, "{si, ss}",
  72                               "active_message_set", &active_message_set,
  73                               "diagnostic_bus", &diagnotic_bus))
  74                 return -1;
  75
  76         application->set_active_message_set((uint8_t)active_message_set);
  77
  78         if(wrap_json_unpack(json_obj, "{so}",
  79                             "dev-mapping", &dev_mapping))
  80                 return -1;
  81
  82         application->get_can_bus_manager().set_can_devices(dev_mapping);
  83
  84         /// Initialize Diagnostic manager that will handle obd2 requests.
  85         /// We pass by default the first CAN bus device to its Initialization.
  86         if(! application_t::instance().get_diagnostic_manager().initialize(diagnotic_bus))
  87         {
  88                 AFB_ERROR("Diagnostic Manager: error at initialization");
  89                 return -1;
  90         }
  91
  92         return 0;
  93 }
  94
  95 CtlSectionT ctlSections_[] = {
  96         [0]={.key="config" , .uid="config", .info=nullptr,
  97                  .loadCB=config_low_can,
  98                  .handle=nullptr,
  99                  .actions=nullptr},
 100         [1]={.key="plugins" , .uid="plugins", .info=nullptr,
 101                 .loadCB=PluginConfig,
 102                 .handle=nullptr,
 103                 .actions=nullptr},
 104         [2]={.key=nullptr , .uid=nullptr, .info=nullptr,
 105                 .loadCB=nullptr,
 106                 .handle=nullptr,
 107                 .actions=nullptr},
 108 };
 109
 110 ///*****************************************************************************
 111 ///
 112 ///             Subscription and unsubscription
 113 ///
 114 ///****************************************************************************/
 115
 116 /// @brief This will determine if an event handle needs to be created and checks if
 117 /// we got a valid afb_event to get subscribe or unsubscribe. After that launch the subscription or unsubscription
 118 /// against the application framework using that event handle.
 119 static int subscribe_unsubscribe_signal(afb_req_t request,
 120                                         bool subscribe,
 121                                         std::shared_ptr<low_can_subscription_t>& can_subscription,
 122                                         map_subscription& s)
 123 {
 124         int ret = 0;
 125         int sub_index = can_subscription->get_index();
 126         bool subscription_exists = s.count(sub_index);
 127
 128         // Susbcription part
 129         if(subscribe)
 130         {
 131                 /* There is no valid request to subscribe so this must be an
 132                  * internal permanent diagnostic request. Skip the subscription
 133                  * part and don't register it into the current "low-can"
 134                  * subsciptions.
 135                  */
 136                 if(! request)
 137                 {
 138                         return 0;
 139                 }
 140
 141                 // Event doesn't exist , so let's create it
 142                 if ((ret = can_subscription->subscribe(request)) < 0)
 143                         return ret;
 144
 145                 if(! subscription_exists)
 146                                 s[sub_index] = can_subscription;
 147
 148                 return ret;
 149         }
 150
 151         // Unsubscrition part
 152         if(! subscription_exists)
 153         {
 154                 AFB_NOTICE("There isn't any valid subscriptions for that request.");
 155                 return ret;
 156         }
 157         else if (subscription_exists &&
 158                  ! afb_event_is_valid(s[sub_index]->get_event()) )
 159         {
 160                 AFB_NOTICE("Event isn't valid, no need to unsubscribed.");
 161                 return ret;
 162         }
 163
 164         if( (ret = s[sub_index]->unsubscribe(request)) < 0)
 165                 return ret;
 166         s.find(sub_index)->second->set_index(-1);
 167         s.erase(sub_index);
 168         return ret;
 169 }
 170
 171 static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription)
 172 {
 173                 struct sd_event_source* event_source = nullptr;
 174                 return ( sd_event_add_io(afb_daemon_get_event_loop(),
 175                         &event_source,
 176                         can_subscription->get_socket()->socket(),
 177                         EPOLLIN,
 178                         read_message,
 179                         can_subscription.get()));
 180 }
 181
 182 static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request,
 183                                                      bool subscribe,
 184                                                      list_ptr_diag_msg_t diagnostic_messages,
 185                                                      struct event_filter_t& event_filter,
 186                                                      map_subscription& s,
 187                                                      bool perm_rec_diag_req)
 188 {
 189         int rets = 0;
 190         application_t& app = application_t::instance();
 191         diagnostic_manager_t& diag_m = app.get_diagnostic_manager();
 192
 193         for(const auto& sig : diagnostic_messages)
 194         {
 195                 DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request());
 196                 event_filter.frequency = event_filter.frequency == 0 ? sig->get_frequency() : event_filter.frequency;
 197                 std::shared_ptr<low_can_subscription_t> can_subscription;
 198
 199                 auto it =  std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
 200                 {
 201                         return (! sub.second->get_diagnostic_message().empty());
 202                 });
 203                 can_subscription = it != s.end() ?
 204                         it->second :
 205                         std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 206                 // If the requested diagnostic message is not supported by the car then unsubcribe it
 207                 // no matter what we want, worst case will be a failed unsubscription but at least we won't
 208                 // poll a PID for nothing.
 209                 if(sig->get_supported() && subscribe)
 210                 {
 211                         if (!app.is_engine_on())
 212                                 AFB_WARNING("signal: Engine is off, %s won't received responses until it's on",  sig->get_name().c_str());
 213
 214                         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);
 215                         if(can_subscription->create_rx_filter(sig) < 0)
 216                                 return -1;
 217                         AFB_DEBUG("Signal: %s subscribed", sig->get_name().c_str());
 218                         if(it == s.end() && add_to_event_loop(can_subscription) < 0)
 219                         {
 220                                 diag_m.cleanup_request(
 221                                         diag_m.find_recurring_request(*diag_req), true);
 222                                 AFB_WARNING("signal: %s isn't supported. Canceling operation.",  sig->get_name().c_str());
 223                                 return -1;
 224                         }
 225                 }
 226                 else
 227                 {
 228                         if(sig->get_supported())
 229                         {
 230                                 AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());
 231                         }
 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         return rets;
 245 }
 246
 247 static int subscribe_unsubscribe_signals(afb_req_t request,
 248                                          bool subscribe,
 249                                          list_ptr_signal_t signals,
 250                                          struct event_filter_t& event_filter,
 251                                          map_subscription& s)
 252 {
 253         int rets = 0;
 254         for(const auto& sig: signals)
 255         {
 256                 auto it =  std::find_if(s.begin(), s.end(), [&sig, &event_filter](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
 257                 {
 258                         return sub.second->is_signal_subscription_corresponding(sig, event_filter) ;
 259                 });
 260                 std::shared_ptr<low_can_subscription_t> can_subscription;
 261                 if(it != s.end())
 262                         can_subscription = it->second;
 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("%s Signal: %s %ssubscribed", sig->get_message()->is_fd() ? "FD": "", sig->get_name().c_str(), subscribe ? "":"un");
 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 signal_t and diagnostic_messages to subscribe
 287 /// @param[in] event_filter - stuct containing filter on the signal
 288 ///
 289 /// @return Number of correctly subscribed signal
 290 ///
 291 static int subscribe_unsubscribe_signals(afb_req_t request,
 292                                          bool subscribe,
 293                                          const struct utils::signals_found& signals,
 294                                          struct event_filter_t& event_filter)
 295 {
 296         int rets = 0;
 297         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 298
 299         std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 300         map_subscription& s = sm.get_subscribed_signals();
 301
 302         rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s, false);
 303         rets += subscribe_unsubscribe_signals(request, subscribe, signals.signals, event_filter, s);
 304
 305         return rets;
 306 }
 307
 308 static event_filter_t generate_filter(json_object* args)
 309 {
 310         event_filter_t event_filter;
 311         struct json_object  *filter, *obj;
 312
 313                 // computes the filter
 314         if (json_object_object_get_ex(args, "filter", &filter))
 315         {
 316                 if (json_object_object_get_ex(filter, "frequency", &obj)
 317                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 318                         event_filter.frequency = (float)json_object_get_double(obj);
 319                 if (json_object_object_get_ex(filter, "min", &obj)
 320                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 321                         event_filter.min = (float)json_object_get_double(obj);
 322                 if (json_object_object_get_ex(filter, "max", &obj)
 323                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 324                         event_filter.max = (float)json_object_get_double(obj);
 325                 if (json_object_object_get_ex(filter, "rx_id", &obj)
 326                 && (json_object_is_type(obj, json_type_int)))
 327                         event_filter.rx_id = (canid_t) json_object_get_int(obj);
 328                 if (json_object_object_get_ex(filter, "tx_id", &obj)
 329                 && (json_object_is_type(obj, json_type_int)))
 330                         event_filter.tx_id = (canid_t) json_object_get_int(obj);
 331         }
 332         return event_filter;
 333 }
 334
 335
 336 static int one_subscribe_unsubscribe_events(afb_req_t request, bool subscribe, const std::string& tag, json_object* args)
 337 {
 338         int ret = 0;
 339         struct utils::signals_found sf;
 340
 341         // subscribe or unsubscribe
 342         openxc_DynamicField search_key = build_DynamicField(tag);
 343         sf = utils::signals_manager_t::instance().find_signals(search_key);
 344
 345
 346 #ifdef USE_FEATURE_ISOTP
 347         if(sf.signals.size() > 1)
 348         {
 349                 sf.signals.remove_if([](std::shared_ptr<signal_t> x){
 350                         bool isotp = x->get_message()->is_isotp();
 351                         if(isotp)
 352                                 AFB_NOTICE("ISO TP messages need to be subscribed one by one (rx, tx)");
 353
 354                         return isotp;
 355                 });
 356         }
 357 #endif
 358
 359         if (sf.signals.empty() && sf.diagnostic_messages.empty())
 360         {
 361                 AFB_NOTICE("No signal(s) found for %s.", tag.c_str());
 362                 ret = -1;
 363         }
 364         else
 365         {
 366                 event_filter_t event_filter = generate_filter(args);
 367                 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
 368         }
 369         return ret;
 370 }
 371
 372 static int one_subscribe_unsubscribe_id(afb_req_t request, bool subscribe, const uint32_t& id, json_object *args)
 373 {
 374         int ret = 0;
 375         std::shared_ptr<message_definition_t> message_definition = application_t::instance().get_message_definition(id);
 376         struct utils::signals_found sf;
 377
 378         if(message_definition)
 379                 sf.signals = list_ptr_signal_t(message_definition->get_signals().begin(), message_definition->get_signals().end());
 380
 381         if(sf.signals.empty())
 382         {
 383                 AFB_NOTICE("No signal(s) found for %d.", id);
 384                 ret = -1;
 385         }
 386         else
 387         {
 388                 event_filter_t event_filter = generate_filter(args);
 389                 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
 390         }
 391
 392         return ret;
 393 }
 394
 395
 396 static int process_one_subscribe_args(afb_req_t request, bool subscribe, json_object *args)
 397 {
 398         int rc = 0, rc2=0;
 399         json_object *x = nullptr, *event = nullptr, *id = nullptr;
 400
 401
 402         // 2 cases : ID(PGN) and event
 403
 404         json_object_object_get_ex(args,"event",&event);
 405         json_bool test_id = json_object_object_get_ex(args,"id",&id);
 406         if(!test_id)
 407                 test_id = json_object_object_get_ex(args,"pgn",&id);
 408
 409         if(     args == NULL || (id && ((std::string)json_object_get_string(id)).compare("*") == 0))
 410         {
 411                 rc = one_subscribe_unsubscribe_events(request, subscribe, "*", args);
 412         }
 413         else
 414         {
 415                 if(event)
 416                 {
 417                         if (json_object_get_type(event) != json_type_array) // event is set before and check if it's an array
 418                         {
 419                                 rc = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(event), args);
 420                         }
 421                         else // event is set and it's not an array
 422                         {
 423                                 for (int i = 0 ; i < json_object_array_length(event); i++)
 424                                 {
 425                                         x = json_object_array_get_idx(event, i);
 426                                         rc2 = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(x), args);
 427                                         if (rc >= 0)
 428                                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 429                                 }
 430                         }
 431                 }
 432
 433                 if(id)
 434                 {
 435                         if (json_object_get_type(id) != json_type_array) // id is set before and check if it's an array
 436                         {
 437                                 rc = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(id), args);
 438                         }
 439                         else // event is set and it's not an array
 440                         {
 441                                 for (int i = 0 ; i < json_object_array_length(id); i++)
 442                                 {
 443                                         x = json_object_array_get_idx(id, i);
 444                                         rc2 = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(x), args);
 445                                         if (rc >= 0)
 446                                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 447                                 }
 448                         }
 449                 }
 450         }
 451         return rc;
 452 }
 453
 454 static void do_subscribe_unsubscribe(afb_req_t request, bool subscribe)
 455 {
 456         int rc = 0;
 457         struct json_object *args, *x;
 458
 459         args = afb_req_json(request);
 460         if (json_object_get_type(args) == json_type_array)
 461         {
 462                 for(int i = 0; i < json_object_array_length(args); i++)
 463                 {
 464                         x = json_object_array_get_idx(args, i);
 465                         rc += process_one_subscribe_args(request, subscribe, x);
 466                 }
 467         }
 468         else
 469         {
 470                 rc += process_one_subscribe_args(request, subscribe, args);
 471         }
 472
 473         if (rc >= 0)
 474                 afb_req_success(request, NULL, NULL);
 475         else
 476                 afb_req_fail(request, "error", NULL);
 477 }
 478
 479 void auth(afb_req_t request)
 480 {
 481         afb_req_session_set_LOA(request, 1);
 482         afb_req_success(request, NULL, NULL);
 483 }
 484
 485 void subscribe(afb_req_t request)
 486 {
 487         do_subscribe_unsubscribe(request, true);
 488 }
 489
 490 void unsubscribe(afb_req_t request)
 491 {
 492         do_subscribe_unsubscribe(request, false);
 493 }
 494
 495 /*
 496 static int send_frame(struct canfd_frame& cfd, const std::string& bus_name, socket_type type)
 497 {
 498         if(bus_name.empty())
 499         {
 500                 return -1;
 501         }
 502
 503         std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
 504
 505         if( cd.count(bus_name) == 0)
 506         {
 507                 cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t());
 508         }
 509
 510
 511         if(type == socket_type::BCM)
 512         {
 513                 return low_can_subscription_t::tx_send(*cd[bus_name], cfd, bus_name);
 514         }
 515         else if(type == socket_type::J1939)
 516         {
 517                 return low_can_subscription_t::j1939_send(*cd[bus_name], cfd, bus_name);
 518         }
 519         else{
 520                 return -1;
 521         }
 522 }
 523 */
 524 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)
 525 {
 526         if(bus_name.empty())
 527                 return -1;
 528
 529         std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
 530
 531         if( cd.count(bus_name) == 0)
 532                 cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 533
 534         cd[bus_name]->set_signal(signal);
 535
 536
 537         if(flags&CAN_PROTOCOL)
 538                 return low_can_subscription_t::tx_send(*cd[bus_name], message, bus_name);
 539 #ifdef USE_FEATURE_ISOTP
 540         else if(flags&ISOTP_PROTOCOL)
 541                 return low_can_subscription_t::isotp_send(*cd[bus_name], message, bus_name);
 542 #endif
 543 #ifdef USE_FEATURE_J1939
 544         else if(flags&J1939_PROTOCOL)
 545                 return low_can_subscription_t::j1939_send(*cd[bus_name], message, bus_name);
 546 #endif
 547         else
 548                 return -1;
 549 }
 550
 551
 552 static void write_raw_frame(afb_req_t request, const std::string& bus_name, message_t *message,
 553                             struct json_object *can_data, uint32_t flags, event_filter_t &event_filter)
 554 {
 555
 556         struct utils::signals_found sf;
 557
 558         utils::signals_manager_t::instance().lookup_signals_by_id(message->get_id(), application_t::instance().get_all_signals(), sf.signals);
 559
 560         if( !sf.signals.empty() )
 561         {
 562                 AFB_DEBUG("ID WRITE RAW : %d", sf.signals.front()->get_message()->get_id());
 563                 if(flags & CAN_PROTOCOL)
 564                 {
 565                         if(sf.signals.front()->get_message()->is_fd())
 566                         {
 567                                 AFB_DEBUG("CANFD_MAX_DLEN");
 568                                 message->set_flags(CAN_PROTOCOL_WITH_FD_FRAME);
 569                                 message->set_maxdlen(CANFD_MAX_DLEN);
 570                         }
 571                         else
 572                         {
 573                                 AFB_DEBUG("CAN_MAX_DLEN");
 574                                 message->set_maxdlen(CAN_MAX_DLEN);
 575                         }
 576
 577                         if(sf.signals.front()->get_message()->is_isotp())
 578                         {
 579                                 flags = ISOTP_PROTOCOL;
 580                                 message->set_maxdlen(MAX_ISOTP_FRAMES * message->get_maxdlen());
 581                         }
 582                 }
 583
 584 #ifdef USE_FEATURE_J1939
 585                 if(flags&J1939_PROTOCOL)
 586                         message->set_maxdlen(J1939_MAX_DLEN);
 587 #endif
 588
 589                 if(message->get_length() > 0 && message->get_length() <= message->get_maxdlen())
 590                 {
 591                         std::vector<uint8_t> data;
 592                         for (int i = 0 ; i < message->get_length() ; i++)
 593                         {
 594                                 struct json_object *one_can_data = json_object_array_get_idx(can_data, i);
 595                                 data.push_back((json_object_is_type(one_can_data, json_type_int)) ?
 596                                                 (uint8_t)json_object_get_int(one_can_data) : 0);
 597                         }
 598                         message->set_data(data);
 599                 }
 600                 else
 601                 {
 602                         if(flags&CAN_PROTOCOL)
 603                                 afb_req_fail(request, "Invalid", "Frame BCM");
 604                         else if(flags&J1939_PROTOCOL)
 605                                 afb_req_fail(request, "Invalid", "Frame J1939");
 606                         else if(flags&ISOTP_PROTOCOL)
 607                                 afb_req_fail(request, "Invalid", "Frame ISOTP");
 608                         else
 609                                 afb_req_fail(request, "Invalid", "Frame");
 610
 611                         return;
 612                 }
 613
 614                 if(! send_message(message, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name), flags, event_filter, sf.signals.front()))
 615                         afb_req_success(request, nullptr, "Message correctly sent");
 616                 else
 617                         afb_req_fail(request, "Error", "sending the message. See the log for more details.");
 618         }
 619         else
 620         {
 621                 afb_req_fail(request, "Error", "no find id in signals. See the log for more details.");
 622         }
 623
 624 }
 625
 626 static void write_frame(afb_req_t request, const std::string& bus_name, json_object *json_value, event_filter_t &event_filter)
 627 {
 628         message_t *message;
 629         uint32_t id;
 630         uint32_t length;
 631         struct json_object *can_data = nullptr;
 632         std::vector<uint8_t> data;
 633
 634         AFB_DEBUG("JSON content %s", json_object_get_string(json_value));
 635
 636         if(!wrap_json_unpack(json_value, "{si, si, so !}",
 637                                   "can_id", &id,
 638                                   "can_dlc", &length,
 639                                   "can_data", &can_data))
 640         {
 641                 message = new can_message_t(0, id, length, false, 0, data, 0);
 642                 write_raw_frame(request, bus_name, message, can_data, CAN_PROTOCOL, event_filter);
 643         }
 644 #ifdef USE_FEATURE_J1939
 645         else if(!wrap_json_unpack(json_value, "{si, si, so !}",
 646                                   "pgn", &id,
 647                                   "length", &length,
 648                                   "data", &can_data))
 649         {
 650                 message = new j1939_message_t(length, data, 0, J1939_NO_NAME, (pgn_t)id, J1939_NO_ADDR);
 651                 write_raw_frame(request, bus_name, message, can_data, J1939_PROTOCOL, event_filter);
 652         }
 653 #endif
 654         else
 655         {
 656                 afb_req_fail(request, "Invalid", "Frame object malformed");
 657                 return;
 658         }
 659         delete message;
 660 }
 661
 662 static void write_signal(afb_req_t request, const std::string& name, json_object *json_value, event_filter_t &event_filter)
 663 {
 664         struct canfd_frame cfd;
 665         struct utils::signals_found sf;
 666         signal_encoder encoder = nullptr;
 667         bool send = true;
 668
 669         ::memset(&cfd, 0, sizeof(cfd));
 670
 671         openxc_DynamicField search_key = build_DynamicField(name);
 672         sf = utils::signals_manager_t::instance().find_signals(search_key);
 673         openxc_DynamicField dynafield_value = build_DynamicField(json_value);
 674
 675         if (sf.signals.empty())
 676         {
 677                 afb_req_fail_f(request, "No signal(s) found for %s. Message not sent.", name.c_str());
 678                 return;
 679         }
 680
 681         std::shared_ptr<signal_t> sig = sf.signals.front();
 682         if(! sig->get_writable())
 683         {
 684                 afb_req_fail_f(request, "%s isn't writable. Message not sent.", sig->get_name().c_str());
 685                 return;
 686         }
 687
 688         uint64_t value = (encoder = sig->get_encoder()) ?
 689                         encoder(*sig, dynafield_value, &send) :
 690                         encoder_t::encode_DynamicField(*sig, dynafield_value, &send);
 691
 692         uint32_t flags = INVALID_FLAG;
 693
 694         if(sig->get_message()->is_j1939())
 695                 flags = J1939_PROTOCOL;
 696         else if(sig->get_message()->is_isotp())
 697                 flags = ISOTP_PROTOCOL;
 698         else
 699                 flags = CAN_PROTOCOL;
 700
 701 //      cfd = encoder_t::build_frame(sig, value);
 702         message_t *message = encoder_t::build_message(sig, value, false, false);
 703
 704         if(! send_message(message, sig->get_message()->get_bus_device_name(), flags, event_filter, sig) && send)
 705                 afb_req_success(request, nullptr, "Message correctly sent");
 706         else
 707                 afb_req_fail(request, "Error", "Sending the message. See the log for more details.");
 708
 709         if(sig->get_message()->is_j1939())
 710 #ifdef USE_FEATURE_J1939
 711                 delete (j1939_message_t*) message;
 712 #else
 713                 afb_req_fail(request, "Warning", "J1939 not implemented in your kernel.");
 714 #endif
 715         else
 716                 delete (can_message_t*) message;
 717 }
 718
 719 void write(afb_req_t request)
 720 {
 721         struct json_object* args = nullptr, *json_value = nullptr, *name = nullptr;
 722         args = afb_req_json(request);
 723
 724         if(args != NULL)
 725         {
 726                 event_filter_t event_filter = generate_filter(args);
 727
 728                 if(json_object_object_get_ex(args,"bus_name",&name))
 729                 {
 730                         if(json_object_object_get_ex(args,"frame",&json_value))
 731                                 write_frame(request, (std::string)json_object_get_string(name), json_value, event_filter);
 732                         else
 733                                 afb_req_fail(request, "Error", "Request argument malformed");
 734                 }
 735                 else if(json_object_object_get_ex(args,"signal_name",&name))
 736                 {
 737                         if(json_object_object_get_ex(args,"signal_value",&json_value))
 738                                 write_signal(request, (std::string)json_object_get_string(name), json_value, event_filter);
 739                         else
 740                                 afb_req_fail(request, "Error", "Request argument malformed");
 741                 }
 742                 else
 743                 {
 744                         afb_req_fail(request, "Error", "Request argument malformed");
 745                 }
 746         }
 747         else
 748         {
 749                 afb_req_fail(request, "Error", "Request argument null");
 750         }
 751 }
 752
 753 static struct json_object *get_signals_value(const std::string& name)
 754 {
 755         struct utils::signals_found sf;
 756         struct json_object *ans = nullptr;
 757
 758         openxc_DynamicField search_key = build_DynamicField(name);
 759         sf = utils::signals_manager_t::instance().find_signals(search_key);
 760
 761         if (sf.signals.empty())
 762         {
 763                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 764                 return NULL;
 765         }
 766         ans = json_object_new_array();
 767         for(const auto& sig: sf.signals)
 768         {
 769                 struct json_object *jobj = json_object_new_object();
 770                 json_object_object_add(jobj, "event", json_object_new_string(sig->get_name().c_str()));
 771                 json_object_object_add(jobj, "value", json_object_new_double(sig->get_last_value()));
 772                 json_object_array_add(ans, jobj);
 773         }
 774
 775         return ans;
 776 }
 777 void get(afb_req_t request)
 778 {
 779         int rc = 0;
 780         struct json_object* args = nullptr,
 781                 *json_name = nullptr;
 782         json_object *ans = nullptr;
 783
 784         args = afb_req_json(request);
 785
 786         // Process about Raw CAN message on CAN bus directly
 787         if (args != nullptr &&
 788                 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string) ))
 789         {
 790                 ans = get_signals_value(json_object_get_string(json_name));
 791                 if (!ans)
 792                         rc = -1;
 793         }
 794         else
 795         {
 796                 AFB_ERROR("Request argument malformed. Please use the following syntax:");
 797                 rc = -1;
 798         }
 799
 800         if (rc >= 0)
 801                 afb_req_success(request, ans, NULL);
 802         else
 803                 afb_req_fail(request, "error", NULL);
 804 }
 805
 806
 807 static struct json_object *list_can_message(const std::string& name)
 808 {
 809         struct utils::signals_found sf;
 810         struct json_object *ans = nullptr;
 811
 812         openxc_DynamicField search_key = build_DynamicField(name);
 813         sf = utils::signals_manager_t::instance().find_signals(search_key);
 814
 815         if (sf.signals.empty() && sf.diagnostic_messages.empty())
 816         {
 817                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 818                 return NULL;
 819         }
 820         ans = json_object_new_array();
 821         for(const auto& sig: sf.signals)
 822         {
 823                 json_object_array_add(ans,
 824                         json_object_new_string(sig->get_name().c_str()));
 825         }
 826         for(const auto& sig: sf.diagnostic_messages)
 827         {
 828                 json_object_array_add(ans,
 829                         json_object_new_string(sig->get_name().c_str()));
 830         }
 831
 832         return ans;
 833 }
 834
 835 void list(afb_req_t request)
 836 {
 837         int rc = 0;
 838         json_object *ans = nullptr;
 839         struct json_object* args = nullptr,
 840                 *json_name = nullptr;
 841         args = afb_req_json(request);
 842         const char *name;
 843         if ((args != nullptr) &&
 844                 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string)))
 845                 name = json_object_get_string(json_name);
 846         else
 847                 name = "*";
 848
 849         ans = list_can_message(name);
 850         if (!ans)
 851                 rc = -1;
 852
 853         if (rc >= 0)
 854                 afb_req_success(request, ans, NULL);
 855         else
 856                 afb_req_fail(request, "error", NULL);
 857
 858 }
 859
 860 /// @brief Initialize the binding.
 861 ///
 862 /// @param[in] service Structure which represent the Application Framework Binder.
 863 ///
 864 /// @return Exit code, zero if success.
 865 int init_binding(afb_api_t api)
 866 {
 867         int ret = 1;
 868         application_t& application = application_t::instance();
 869         can_bus_t& can_bus_manager = application.get_can_bus_manager();
 870
 871         if(application.get_message_set().empty())
 872         {
 873                 AFB_ERROR("No message_set defined");
 874                 return -1;
 875         }
 876
 877         can_bus_manager.start_threads();
 878         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 879
 880         // Add a recurring dignostic message request to get engine speed at all times.
 881         openxc_DynamicField search_key = build_DynamicField("diagnostic_messages.engine.speed");
 882         struct utils::signals_found sf = sm.find_signals(search_key);
 883
 884         if(sf.signals.empty() && sf.diagnostic_messages.size() == 1)
 885         {
 886                 afb_req_t request = nullptr;
 887
 888                 struct event_filter_t event_filter;
 889                 event_filter.frequency = sf.diagnostic_messages.front()->get_frequency();
 890
 891                 map_subscription& s = sm.get_subscribed_signals();
 892
 893                 subscribe_unsubscribe_diagnostic_messages(request, true, sf.diagnostic_messages, event_filter, s, true);
 894         }
 895
 896
 897 #ifdef USE_FEATURE_J1939
 898         std::string j1939_bus;
 899         vect_ptr_msg_def_t current_messages_definition = application.get_messages_definition();
 900         for(std::shared_ptr<message_definition_t> message_definition: current_messages_definition)
 901         {
 902                 if(message_definition->is_j1939())
 903                 {
 904                         if (j1939_bus == message_definition->get_bus_device_name() )
 905                                 continue;
 906                         j1939_bus = message_definition->get_bus_device_name();
 907
 908                         std::shared_ptr<low_can_subscription_t> low_can_j1939 = std::make_shared<low_can_subscription_t>();
 909                         application.set_subscription_address_claiming(low_can_j1939);
 910
 911                         ret = low_can_subscription_t::open_socket(*low_can_j1939,
 912                                                                   j1939_bus,
 913                                                                   J1939_ADDR_CLAIM_PROTOCOL);
 914
 915                         if(ret < 0)
 916                         {
 917                                 AFB_ERROR("Error open socket address claiming for j1939 protocol");
 918                                 return -1;
 919                         }
 920                         add_to_event_loop(low_can_j1939);
 921                         break;
 922                 }
 923         }
 924 #endif
 925
 926         if(ret)
 927                 AFB_ERROR("There was something wrong with CAN device Initialization.");
 928
 929         return ret;
 930 }
 931
 932 int load_config(afb_api_t api)
 933 {
 934         int ret = 0;
 935         CtlConfigT *ctlConfig;
 936         const char *dirList = getenv("CONTROL_CONFIG_PATH");
 937         std::string bindingDirPath = GetBindingDirPath(api);
 938         std::string filepath = bindingDirPath + "/etc";
 939
 940         if (!dirList)
 941                 dirList=CONTROL_CONFIG_PATH;
 942
 943         filepath.append(":");
 944         filepath.append(dirList);
 945         const char *configPath = CtlConfigSearch(api, filepath.c_str(), "control");
 946
 947         if (!configPath)
 948         {
 949                 AFB_ERROR_V3("CtlPreInit: No control-* config found invalid JSON %s ", filepath.c_str());
 950                 return -1;
 951         }
 952
 953         // create one API per file
 954         ctlConfig = CtlLoadMetaData(api, configPath);
 955         if (!ctlConfig)
 956         {
 957                 AFB_ERROR_V3("CtrlPreInit No valid control config file in:\n-- %s", configPath);
 958                 return -1;
 959         }
 960
 961         // Save the config in the api userdata field
 962         afb_api_set_userdata(api, ctlConfig);
 963
 964         setExternalData(ctlConfig, (void*) &application_t::instance());
 965         ret= CtlLoadSections(api, ctlConfig, ctlSections_);
 966
 967         return ret;
 968 }