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

   1 /*
   2  * Copyright (C) 2015, 2018 "IoT.bzh"
   3  * Copyright (C) 2021 Konsulko Group
   4  * Author "Romain Forlot" <romain.forlot@iot.bzh>
   5  * Author "Loic Collignon" <loic.collignon@iot.bzh>
   6  *
   7  * Licensed under the Apache License, Version 2.0 (the "License");
   8  * you may not use this file except in compliance with the License.
   9  * You may obtain a copy of the License at
  10  *
  11  *       http://www.apache.org/licenses/LICENSE-2.0
  12  *
  13  * Unless required by applicable law or agreed to in writing, software
  14  * distributed under the License is distributed on an "AS IS" BASIS,
  15  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  16  * See the License for the specific language governing permissions and
  17  * limitations under the License.
  18  */
  19
  20 #include "low-can-hat.hpp"
  21 #include "low-can-apidef.h"
  22
  23 #include <map>
  24 #include <queue>
  25 #include <mutex>
  26 #include <vector>
  27 #include <set>
  28 #include <thread>
  29 #include <algorithm>
  30 #include <wrap-json.h>
  31 #include <systemd/sd-event.h>
  32 #include <ctl-config.h>
  33 #include "openxc.pb.h"
  34 #include "application.hpp"
  35 #include "../can/can-encoder.hpp"
  36 #include "../can/can-bus.hpp"
  37 #include "../can/signals.hpp"
  38 #include "../can/message/message.hpp"
  39 #include "../utils/signals.hpp"
  40 #include "../diagnostic/diagnostic-message.hpp"
  41 #include "../utils/openxc-utils.hpp"
  42 #include "../utils/config-parser.hpp"
  43
  44 #ifdef USE_FEATURE_J1939
  45         #include "../can/message/j1939-message.hpp"
  46         #include <linux/can/j1939.h>
  47 #endif
  48
  49 ///*****************************************************************************
  50 ///
  51 ///             Controller Definitions and Callbacks
  52 ///
  53 ///****************************************************************************/
  54
  55 int config_low_can(afb_api_t apiHandle, CtlSectionT *section, json_object *json_obj)
  56 {
  57         AFB_DEBUG("Config %s", json_object_to_json_string(json_obj));
  58         CtlConfigT *ctrlConfig = (CtlConfigT *) afb_api_get_userdata(apiHandle);
  59         int active_message_set = 0;
  60         json_object *dev_mapping = nullptr;
  61         const char *diagnostic_bus = nullptr;
  62
  63         if(! ctrlConfig || ! ctrlConfig->external)
  64                 return -1;
  65
  66         application_t *application = (application_t*) ctrlConfig->external;
  67
  68         if(wrap_json_unpack(json_obj, "{si, s?s}",
  69                             "active_message_set", &active_message_set,
  70                             "diagnostic_bus", &diagnostic_bus)) {
  71                 AFB_ERROR("active_message_set and/or diagnostic_bus missing in controller JSON");
  72                 return -1;
  73         }
  74
  75         if(active_message_set < 0 ||
  76            active_message_set > (application->get_messages_definition().size() - 1)) {
  77                 AFB_ERROR("Invalid active message set %d", active_message_set);
  78                 return -1;
  79         }
  80         application->set_active_message_set((uint8_t) active_message_set);
  81
  82         utils::config_parser_t conf_file("/etc/dev-mapping.conf");
  83         if(conf_file.check_conf())
  84         {
  85                 // If a mapping file in /etc exists, use it
  86                 AFB_INFO("Using /etc/dev-mapping.conf");
  87                 application->get_can_bus_manager().set_can_devices(conf_file.get_devices_name());
  88         } else {
  89                 // Use whatever configuration is in the controller JSON
  90                 if(wrap_json_unpack(json_obj, "{so}",
  91                                     "dev-mapping", &dev_mapping)) {
  92                         AFB_ERROR("No device mapping in controller JSON");
  93                         return -1;
  94                 }
  95
  96                 application->get_can_bus_manager().set_can_devices(dev_mapping);
  97         }
  98
  99         // Find all required buses
 100         std::set<std::string> buses;
 101         std::set<std::string> j1939_buses;
 102         vect_ptr_msg_def_t msg_defs = application->get_messages_definition();
 103         for(std::shared_ptr<message_definition_t> &msg_def : msg_defs) {
 104                 if(!msg_def->is_j1939())
 105                         buses.insert(msg_def->get_bus_name());
 106                 else
 107                         j1939_buses.insert(msg_def->get_bus_name());
 108         }
 109 #ifdef USE_FEATURE_J1939
 110         // NOTE: With C++17 just: buses.merge(j1939_buses)
 111         for(auto it = begin(j1939_buses); it != end(j1939_buses); ++it)
 112                 buses.insert(*it);
 113 #endif
 114
 115         // Check that required buses have device mappings
 116         for(auto it = begin(buses); it != end(buses); ++it) {
 117                 std::string dev = application->get_can_bus_manager().get_can_device_name(*it);
 118                 if(dev == "") {
 119                         AFB_ERROR("No CAN device defined for bus \"%s\"", it->c_str());
 120                         return -1;
 121                 }
 122                 AFB_INFO("Using CAN device %s for bus \"%s\"", dev.c_str(), it->c_str());
 123         }
 124
 125         // Check that diagnostic bus is one of the configured buses
 126         if(diagnostic_bus && buses.count(diagnostic_bus) == 0) {
 127                 AFB_ERROR("No CAN device mapping defined for diagnostic bus \"%s\"", diagnostic_bus);
 128                 return -1;
 129
 130         }
 131
 132         /// Initialize Diagnostic manager that will handle obd2 requests.
 133         /// We pass by default the first CAN bus device to its Initialization.
 134         if(! diagnostic_bus || application_t::instance().get_diagnostic_manager().initialize(diagnostic_bus))
 135                 AFB_WARNING("Diagnostic Manager: not initialized. No diagnostic messages will be processed.");
 136
 137         return 0;
 138 }
 139
 140 CtlSectionT ctlSections_[] = {
 141         [0]={.key="plugins" , .uid="plugins", .info=nullptr,
 142                 .loadCB=PluginConfig,
 143                 .handle=nullptr,
 144                 .actions=nullptr},
 145         [1]={.key="config" , .uid="config", .info=nullptr,
 146                  .loadCB=config_low_can,
 147                  .handle=nullptr,
 148                  .actions=nullptr},
 149         [2]={.key=nullptr , .uid=nullptr, .info=nullptr,
 150                 .loadCB=nullptr,
 151                 .handle=nullptr,
 152                 .actions=nullptr},
 153 };
 154
 155 ///*****************************************************************************
 156 ///
 157 ///             Subscription and unsubscription
 158 ///
 159 ///****************************************************************************/
 160
 161 /// @brief This will determine if an event handle needs to be created and checks if
 162 /// we got a valid afb_event to get subscribe or unsubscribe. After that launch the subscription or unsubscription
 163 /// against the application framework using that event handle.
 164 static int subscribe_unsubscribe_signal(afb_req_t request,
 165                                         bool subscribe,
 166                                         std::shared_ptr<low_can_subscription_t>& can_subscription,
 167                                         map_subscription& s)
 168 {
 169         int ret = 0;
 170         int sub_index = can_subscription->get_index();
 171         bool subscription_exists = s.count(sub_index);
 172
 173         // Susbcription part
 174         if(subscribe)
 175         {
 176                 /* There is no valid request to subscribe so this must be an
 177                  * internal permanent diagnostic request. Skip the subscription
 178                  * part and don't register it into the current "low-can"
 179                  * subsciptions.
 180                  */
 181                 if(! request)
 182                         return 0;
 183
 184                 // Event doesn't exist , so let's create it
 185                 if ((ret = can_subscription->subscribe(request)) < 0)
 186                         return ret;
 187
 188                 if(! subscription_exists)
 189                                 s[sub_index] = can_subscription;
 190
 191                 return ret;
 192         }
 193
 194         // Unsubscrition part
 195         if(! subscription_exists)
 196         {
 197                 AFB_NOTICE("There isn't any valid subscriptions for that request.");
 198                 return ret;
 199         }
 200         else if (subscription_exists &&
 201                  ! afb_event_is_valid(s[sub_index]->get_event()) )
 202         {
 203                 AFB_NOTICE("Event isn't valid, no need to unsubscribed.");
 204                 return ret;
 205         }
 206
 207         if( (ret = s[sub_index]->unsubscribe(request)) < 0)
 208                 return ret;
 209         s.find(sub_index)->second->set_index(-1);
 210         s.erase(sub_index);
 211         return ret;
 212 }
 213
 214 static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription)
 215 {
 216                 struct sd_event_source* event_source = nullptr;
 217                 return ( sd_event_add_io(afb_daemon_get_event_loop(),
 218                         &event_source,
 219                         can_subscription->get_socket()->socket(),
 220                         EPOLLIN,
 221                         read_message,
 222                         can_subscription.get()));
 223 }
 224
 225 static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request,
 226                                                      bool subscribe,
 227                                                      list_ptr_diag_msg_t diagnostic_messages,
 228                                                      struct event_filter_t& event_filter,
 229                                                      map_subscription& s,
 230                                                      bool perm_rec_diag_req)
 231 {
 232         int rets = 0;
 233         application_t& app = application_t::instance();
 234         diagnostic_manager_t& diag_m = app.get_diagnostic_manager();
 235
 236         for(const auto& sig : diagnostic_messages)
 237         {
 238                 DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request());
 239                 event_filter.frequency = event_filter.frequency == 0 ? sig->get_frequency() : event_filter.frequency;
 240                 std::shared_ptr<low_can_subscription_t> can_subscription;
 241
 242                 auto it = std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
 243                 {
 244                         return (! sub.second->get_diagnostic_message().empty());
 245                 });
 246                 can_subscription = it != s.end() ?
 247                         it->second :
 248                         std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 249                 // If the requested diagnostic message is not supported by the car then unsubcribe it
 250                 // no matter what we want, worst case will be a failed unsubscription but at least we won't
 251                 // poll a PID for nothing.
 252                 if(sig->get_supported() && subscribe)
 253                 {
 254                         if (!app.is_engine_on())
 255                                 AFB_WARNING("signal: Engine is off, %s won't received responses until it's on",  sig->get_name().c_str());
 256
 257                         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);
 258                         if(can_subscription->create_rx_filter(sig) < 0)
 259                                 return -1;
 260                         AFB_DEBUG("Signal: %s subscribed", sig->get_name().c_str());
 261                         if(it == s.end() && add_to_event_loop(can_subscription) < 0)
 262                         {
 263                                 diag_m.cleanup_request(
 264                                         diag_m.find_recurring_request(*diag_req), true);
 265                                 AFB_WARNING("signal: %s isn't supported. Canceling operation.",  sig->get_name().c_str());
 266                                 return -1;
 267                         }
 268                 }
 269                 else
 270                 {
 271                         if(sig->get_supported())
 272                         {
 273                                 AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());
 274                         }
 275                         else
 276                         {
 277                                 AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
 278                                 return -1;
 279                         }
 280                 }
 281                 int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s);
 282                 if(ret < 0)
 283                         return ret;
 284
 285                 rets++;
 286         }
 287         return rets;
 288 }
 289
 290 static int subscribe_unsubscribe_signals(afb_req_t request,
 291                                          bool subscribe,
 292                                          list_ptr_signal_t signals,
 293                                          struct event_filter_t& event_filter,
 294                                          map_subscription& s)
 295 {
 296         int rets = 0;
 297         for(const auto& sig: signals)
 298         {
 299                 auto it =  std::find_if(s.begin(), s.end(), [&sig, &event_filter](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
 300                 {
 301                         return sub.second->is_signal_subscription_corresponding(sig, event_filter) ;
 302                 });
 303                 std::shared_ptr<low_can_subscription_t> can_subscription;
 304                 if(it != s.end())
 305                         can_subscription = it->second;
 306                 else
 307                 {
 308                         can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 309                         if(can_subscription->create_rx_filter(sig) < 0)
 310                                 return -1;
 311                         if(add_to_event_loop(can_subscription) < 0)
 312                                 return -1;
 313                 }
 314
 315                 if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
 316                         return -1;
 317
 318                 rets++;
 319                 AFB_DEBUG("%s Signal: %s %ssubscribed", sig->get_message()->is_fd() ? "FD": "", sig->get_name().c_str(), subscribe ? "":"un");
 320         }
 321         return rets;
 322 }
 323
 324 ///
 325 /// @brief subscribe to all signals in the vector signals
 326 ///
 327 /// @param[in] afb_req request : contains original request use to subscribe or unsubscribe
 328 /// @param[in] subscribe boolean value, which chooses between a subscription operation or an unsubscription
 329 /// @param[in] signals -  struct containing vectors with signal_t and diagnostic_messages to subscribe
 330 /// @param[in] event_filter - stuct containing filter on the signal
 331 ///
 332 /// @return Number of correctly subscribed signal
 333 ///
 334 static int subscribe_unsubscribe_signals(afb_req_t request,
 335                                          bool subscribe,
 336                                          const struct utils::signals_found& signals,
 337                                          struct event_filter_t& event_filter)
 338 {
 339         int rets = 0;
 340         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 341
 342         std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 343         map_subscription& s = sm.get_subscribed_signals();
 344
 345         rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s, false);
 346         rets += subscribe_unsubscribe_signals(request, subscribe, signals.signals, event_filter, s);
 347
 348         return rets;
 349 }
 350
 351 static event_filter_t generate_filter(json_object* args)
 352 {
 353         event_filter_t event_filter = {};
 354         struct json_object  *filter, *obj;
 355
 356                 // computes the filter
 357         if (json_object_object_get_ex(args, "filter", &filter))
 358         {
 359                 if (json_object_object_get_ex(filter, "frequency", &obj)
 360                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 361                         event_filter.frequency = (float)json_object_get_double(obj);
 362                 if (json_object_object_get_ex(filter, "min", &obj)
 363                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 364                         event_filter.min = (float)json_object_get_double(obj);
 365                 if (json_object_object_get_ex(filter, "max", &obj)
 366                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 367                         event_filter.max = (float)json_object_get_double(obj);
 368                 if (json_object_object_get_ex(filter, "promisc", &obj)
 369                         && (json_object_is_type(obj, json_type_boolean)))
 370                         event_filter.promisc = (bool)json_object_get_boolean(obj);
 371                 if (json_object_object_get_ex(filter, "rx_id", &obj)
 372                 && (json_object_is_type(obj, json_type_int)))
 373                         event_filter.rx_id = (canid_t) json_object_get_int(obj);
 374                 if (json_object_object_get_ex(filter, "tx_id", &obj)
 375                 && (json_object_is_type(obj, json_type_int)))
 376                         event_filter.tx_id = (canid_t) json_object_get_int(obj);
 377         }
 378         return event_filter;
 379 }
 380
 381
 382 static int one_subscribe_unsubscribe_events(afb_req_t request, bool subscribe, const std::string& tag, json_object* args)
 383 {
 384         int ret = 0;
 385         struct utils::signals_found sf;
 386
 387         // subscribe or unsubscribe
 388         openxc_DynamicField search_key = build_DynamicField(tag);
 389         sf = utils::signals_manager_t::instance().find_signals(search_key);
 390
 391
 392 #ifdef USE_FEATURE_ISOTP
 393         if(sf.signals.size() > 1)
 394         {
 395                 sf.signals.remove_if([](std::shared_ptr<signal_t> x){
 396                         bool isotp = x->get_message()->is_isotp();
 397                         if(isotp)
 398                                 AFB_NOTICE("ISO TP messages need to be subscribed one by one (rx, tx)");
 399
 400                         return isotp;
 401                 });
 402         }
 403 #endif
 404
 405         if (sf.signals.empty() && sf.diagnostic_messages.empty())
 406         {
 407                 AFB_NOTICE("No signal(s) found for %s.", tag.c_str());
 408                 ret = -1;
 409         }
 410         else
 411         {
 412                 event_filter_t event_filter = generate_filter(args);
 413                 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
 414         }
 415         return ret;
 416 }
 417
 418 static int one_subscribe_unsubscribe_id(afb_req_t request, bool subscribe, const uint32_t& id, json_object *args)
 419 {
 420         std::shared_ptr<message_definition_t> message_definition = application_t::instance().get_message_definition(id);
 421         struct utils::signals_found sf;
 422
 423         if(message_definition)
 424                 sf.signals = list_ptr_signal_t(message_definition->get_signals().begin(), message_definition->get_signals().end());
 425
 426         if(sf.signals.empty())
 427         {
 428                 AFB_NOTICE("No signal(s) found for %d.", id);
 429                 return -1;
 430         }
 431
 432         event_filter_t event_filter = generate_filter(args);
 433         std::shared_ptr<low_can_subscription_t> can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 434         can_subscription->set_message_definition(message_definition);
 435
 436         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 437         std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 438         map_subscription& s = sm.get_subscribed_signals();
 439
 440         if(can_subscription->create_rx_filter(message_definition) < 0)
 441                 return -1;
 442         if(add_to_event_loop(can_subscription) < 0)
 443                 return -1;
 444
 445         if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
 446                 return -1;
 447
 448         return 0;
 449 }
 450
 451
 452 static int process_one_subscribe_args(afb_req_t request, bool subscribe, json_object *args)
 453 {
 454         int rc = 0, rc2=0;
 455         json_object *x = nullptr, *event = nullptr, *id = nullptr;
 456
 457
 458         // 2 cases : ID(PGN) and event
 459
 460         json_object_object_get_ex(args,"event",&event);
 461         json_object_object_get_ex(args,"id",&id) || json_object_object_get_ex(args,"pgn",&id);
 462
 463         if( args == NULL || (id && ((std::string)json_object_get_string(id)).compare("*") == 0))
 464         {
 465                 rc = one_subscribe_unsubscribe_events(request, subscribe, "*", args);
 466         }
 467         else
 468         {
 469                 if(event)
 470                 {
 471                         if (json_object_get_type(event) != json_type_array) // event is set before and check if it's an array
 472                         {
 473                                 rc = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(event), args);
 474                         }
 475                         else // event is set and it's not an array
 476                         {
 477                                 for (int i = 0 ; i < json_object_array_length(event); i++)
 478                                 {
 479                                         x = json_object_array_get_idx(event, i);
 480                                         rc2 = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(x), args);
 481                                         if (rc >= 0)
 482                                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 483                                 }
 484                         }
 485                 }
 486
 487                 if(id)
 488                 {
 489                         if (json_object_get_type(id) != json_type_array) // id is set before and check if it's an array
 490                         {
 491                                 rc = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(id), args);
 492                         }
 493                         else // event is set and it's not an array
 494                         {
 495                                 for (int i = 0 ; i < json_object_array_length(id); i++)
 496                                 {
 497                                         x = json_object_array_get_idx(id, i);
 498                                         rc2 = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(x), args);
 499                                         if (rc >= 0)
 500                                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 501                                 }
 502                         }
 503                 }
 504         }
 505         return rc;
 506 }
 507
 508 static void do_subscribe_unsubscribe(afb_req_t request, bool subscribe)
 509 {
 510         int rc = 0;
 511         struct json_object *args, *x;
 512
 513         args = afb_req_json(request);
 514         if (json_object_get_type(args) == json_type_array)
 515         {
 516                 for(int i = 0; i < json_object_array_length(args); i++)
 517                 {
 518                         x = json_object_array_get_idx(args, i);
 519                         rc += process_one_subscribe_args(request, subscribe, x);
 520                 }
 521         }
 522         else
 523         {
 524                 rc += process_one_subscribe_args(request, subscribe, args);
 525         }
 526
 527         if (rc >= 0)
 528                 afb_req_success(request, NULL, NULL);
 529         else
 530                 afb_req_fail(request, "error", NULL);
 531 }
 532
 533 void auth(afb_req_t request)
 534 {
 535         afb_req_session_set_LOA(request, 1);
 536         afb_req_success(request, NULL, NULL);
 537 }
 538
 539 void subscribe(afb_req_t request)
 540 {
 541         do_subscribe_unsubscribe(request, true);
 542 }
 543
 544 void unsubscribe(afb_req_t request)
 545 {
 546         do_subscribe_unsubscribe(request, false);
 547 }
 548
 549 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)
 550 {
 551         if(bus_name.empty())
 552                 return -1;
 553
 554         std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
 555
 556         if( cd.count(bus_name) == 0)
 557                 cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 558
 559         cd[bus_name]->set_signal(signal);
 560
 561
 562         if(flags&CAN_PROTOCOL)
 563                 return low_can_subscription_t::tx_send(*cd[bus_name], message, bus_name);
 564 #ifdef USE_FEATURE_ISOTP
 565         else if(flags&ISOTP_PROTOCOL)
 566                 return low_can_subscription_t::isotp_send(*cd[bus_name], message, bus_name);
 567 #endif
 568 #ifdef USE_FEATURE_J1939
 569         else if(flags&J1939_PROTOCOL)
 570                 return low_can_subscription_t::j1939_send(*cd[bus_name], message, bus_name);
 571 #endif
 572         else
 573                 return -1;
 574 }
 575
 576
 577 static void write_raw_frame(afb_req_t request, const std::string& bus_name, message_t *message,
 578                             struct json_object *can_data, uint32_t flags, event_filter_t &event_filter)
 579 {
 580
 581         struct utils::signals_found sf;
 582
 583         utils::signals_manager_t::instance().lookup_signals_by_id(message->get_id(), application_t::instance().get_all_signals(), sf.signals);
 584
 585         if( !sf.signals.empty() )
 586         {
 587                 AFB_DEBUG("ID WRITE RAW : %d", sf.signals.front()->get_message()->get_id());
 588                 if(flags & CAN_PROTOCOL)
 589                 {
 590                         if(sf.signals.front()->get_message()->is_fd())
 591                         {
 592                                 AFB_DEBUG("CANFD_MAX_DLEN");
 593                                 message->set_flags(CAN_PROTOCOL_WITH_FD_FRAME);
 594                                 message->set_maxdlen(CANFD_MAX_DLEN);
 595                         }
 596                         else
 597                         {
 598                                 AFB_DEBUG("CAN_MAX_DLEN");
 599                                 message->set_maxdlen(CAN_MAX_DLEN);
 600                         }
 601
 602                         if(sf.signals.front()->get_message()->is_isotp())
 603                         {
 604                                 flags = ISOTP_PROTOCOL;
 605                                 message->set_maxdlen(MAX_ISOTP_FRAMES * message->get_maxdlen());
 606                         }
 607                 }
 608
 609 #ifdef USE_FEATURE_J1939
 610                 if(flags&J1939_PROTOCOL)
 611                         message->set_maxdlen(J1939_MAX_DLEN);
 612 #endif
 613
 614                 if(message->get_length() > 0 &&
 615                    message->get_length() <= message->get_maxdlen() &&
 616                    json_object_get_type(can_data) == json_type_array)
 617                 {
 618                         std::vector<uint8_t> data;
 619                         for (int i = 0 ; i < message->get_length() ; i++)
 620                         {
 621                                 struct json_object *one_can_data = json_object_array_get_idx(can_data, i);
 622                                 data.push_back((json_object_is_type(one_can_data, json_type_int)) ?
 623                                                 (uint8_t)json_object_get_int(one_can_data) : 0);
 624                         }
 625                         message->set_data(data);
 626                 }
 627                 else
 628                 {
 629                         if(flags&CAN_PROTOCOL)
 630                                 afb_req_fail(request, "Invalid", "Frame BCM");
 631                         else if(flags&J1939_PROTOCOL)
 632                                 afb_req_fail(request, "Invalid", "Frame J1939");
 633                         else if(flags&ISOTP_PROTOCOL)
 634                                 afb_req_fail(request, "Invalid", "Frame ISOTP");
 635                         else
 636                                 afb_req_fail(request, "Invalid", "Frame");
 637
 638                         return;
 639                 }
 640
 641                 if(! send_message(message, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name), flags, event_filter, sf.signals.front()))
 642                         afb_req_success(request, nullptr, "Message correctly sent");
 643                 else
 644                         afb_req_fail(request, "Error", "sending the message. See the log for more details.");
 645         }
 646         else
 647         {
 648                 afb_req_fail(request, "Error", "no find id in signals. See the log for more details.");
 649         }
 650
 651 }
 652
 653 static void write_frame(afb_req_t request, const std::string& bus_name, json_object *json_value, event_filter_t &event_filter)
 654 {
 655         message_t *message;
 656         uint32_t id;
 657         uint32_t length;
 658         struct json_object *can_data = nullptr;
 659         std::vector<uint8_t> data;
 660
 661         AFB_DEBUG("JSON content %s", json_object_get_string(json_value));
 662
 663         if(!wrap_json_unpack(json_value, "{si, si, so !}",
 664                                   "can_id", &id,
 665                                   "can_dlc", &length,
 666                                   "can_data", &can_data))
 667         {
 668                 message = new can_message_t(0, id, length, false, 0, data, 0);
 669                 write_raw_frame(request, bus_name, message, can_data, CAN_PROTOCOL, event_filter);
 670         }
 671 #ifdef USE_FEATURE_J1939
 672         else if(!wrap_json_unpack(json_value, "{si, si, so !}",
 673                                   "pgn", &id,
 674                                   "length", &length,
 675                                   "data", &can_data))
 676         {
 677                 message = new j1939_message_t(length, data, 0, J1939_NO_NAME, (pgn_t)id, J1939_NO_ADDR);
 678                 write_raw_frame(request, bus_name, message, can_data, J1939_PROTOCOL, event_filter);
 679         }
 680 #endif
 681         else
 682         {
 683                 afb_req_fail(request, "Invalid", "Frame object malformed");
 684                 return;
 685         }
 686         delete message;
 687 }
 688
 689 static void write_signal(afb_req_t request, const std::string& name, json_object *json_value, event_filter_t &event_filter)
 690 {
 691         struct canfd_frame cfd;
 692         struct utils::signals_found sf;
 693         signal_encoder encoder = nullptr;
 694         bool send = true;
 695
 696         ::memset(&cfd, 0, sizeof(cfd));
 697
 698         openxc_DynamicField search_key = build_DynamicField(name);
 699         sf = utils::signals_manager_t::instance().find_signals(search_key);
 700         openxc_DynamicField dynafield_value = build_DynamicField(json_value);
 701
 702         if (sf.signals.empty())
 703         {
 704                 afb_req_fail_f(request, "No signal(s) found for %s. Message not sent.", name.c_str());
 705                 return;
 706         }
 707
 708         std::shared_ptr<signal_t> sig = sf.signals.front();
 709         if(! sig->get_writable())
 710         {
 711                 afb_req_fail_f(request, "%s isn't writable. Message not sent.", sig->get_name().c_str());
 712                 return;
 713         }
 714
 715         uint64_t value = (encoder = sig->get_encoder()) ?
 716                         encoder(*sig, dynafield_value, &send) :
 717                         encoder_t::encode_DynamicField(*sig, dynafield_value, &send);
 718
 719         uint32_t flags = INVALID_FLAG;
 720
 721         if(sig->get_message()->is_j1939())
 722                 flags = J1939_PROTOCOL;
 723         else if(sig->get_message()->is_isotp())
 724                 flags = ISOTP_PROTOCOL;
 725         else
 726                 flags = CAN_PROTOCOL;
 727
 728 //      cfd = encoder_t::build_frame(sig, value);
 729         message_t *message = encoder_t::build_message(sig, value, false, false);
 730
 731         if(! send_message(message, sig->get_message()->get_bus_device_name(), flags, event_filter, sig) && send)
 732                 afb_req_success(request, nullptr, "Message correctly sent");
 733         else
 734                 afb_req_fail(request, "Error", "Sending the message. See the log for more details.");
 735
 736         if(sig->get_message()->is_j1939())
 737 #ifdef USE_FEATURE_J1939
 738                 delete (j1939_message_t*) message;
 739 #else
 740                 afb_req_fail(request, "Warning", "J1939 not implemented in your kernel.");
 741 #endif
 742         else
 743                 delete (can_message_t*) message;
 744 }
 745
 746 void write(afb_req_t request)
 747 {
 748         struct json_object* args = nullptr, *json_value = nullptr, *name = nullptr;
 749         args = afb_req_json(request);
 750
 751         if(args != NULL)
 752         {
 753                 event_filter_t event_filter = generate_filter(args);
 754
 755                 if(json_object_object_get_ex(args,"bus_name",&name))
 756                 {
 757                         if(json_object_object_get_ex(args,"frame",&json_value))
 758                                 write_frame(request, (std::string)json_object_get_string(name), json_value, event_filter);
 759                         else
 760                                 afb_req_fail(request, "Error", "Request argument malformed");
 761                 }
 762                 else if(json_object_object_get_ex(args,"signal_name",&name))
 763                 {
 764                         if(json_object_object_get_ex(args,"signal_value",&json_value))
 765                                 write_signal(request, (std::string)json_object_get_string(name), json_value, event_filter);
 766                         else
 767                                 afb_req_fail(request, "Error", "Request argument malformed");
 768                 }
 769                 else
 770                 {
 771                         afb_req_fail(request, "Error", "Request argument malformed");
 772                 }
 773         }
 774         else
 775         {
 776                 afb_req_fail(request, "Error", "Request argument null");
 777         }
 778 }
 779
 780 static struct json_object *get_signals_value(const std::string& name)
 781 {
 782         struct utils::signals_found sf;
 783         struct json_object *ans = nullptr;
 784
 785         openxc_DynamicField search_key = build_DynamicField(name);
 786         sf = utils::signals_manager_t::instance().find_signals(search_key);
 787
 788         if (sf.signals.empty())
 789         {
 790                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 791                 return NULL;
 792         }
 793         ans = json_object_new_array();
 794         for(const auto& sig: sf.signals)
 795         {
 796                 struct json_object *jobj = json_object_new_object();
 797                 json_object_object_add(jobj, "event", json_object_new_string(sig->get_name().c_str()));
 798                 json_object_object_add(jobj, "value", json_object_new_double(sig->get_last_value()));
 799                 json_object_array_add(ans, jobj);
 800         }
 801
 802         return ans;
 803 }
 804
 805 static struct json_object *get_id_value(const uint32_t& id)
 806 {
 807         std::shared_ptr<message_definition_t> message_definition = application_t::instance().get_message_definition(id);
 808         struct utils::signals_found sf;
 809         struct json_object *ans = nullptr;
 810
 811         if(message_definition)
 812                 sf.signals = list_ptr_signal_t(message_definition->get_signals().begin(), message_definition->get_signals().end());
 813
 814         if(sf.signals.empty())
 815         {
 816                 AFB_WARNING("no signal(s) found for %d.", id);
 817                 return NULL;
 818         }
 819
 820         ans = json_object_new_object();
 821         struct json_object *jsignals = json_object_new_array();
 822         json_object_object_add(ans, "signals", jsignals);
 823         for(const auto& sig: sf.signals)
 824         {
 825                 struct json_object *jobj = json_object_new_object();
 826                 json_object_object_add(jobj, "name", json_object_new_string(sig->get_name().c_str()));
 827                 json_object_object_add(jobj, "value", json_object_new_double(sig->get_last_value()));
 828                 json_object_array_add(jsignals, jobj);
 829         }
 830
 831         return ans;
 832 }
 833
 834 void get(afb_req_t request)
 835 {
 836         int rc = 0;
 837         struct json_object* args = nullptr,
 838                 *json_name = nullptr;
 839         json_object *ans = nullptr;
 840
 841         args = afb_req_json(request);
 842
 843         // Process about Raw CAN message on CAN bus directly
 844         if (args != nullptr &&
 845                 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string) ))
 846         {
 847                 ans = get_signals_value(json_object_get_string(json_name));
 848                 if (!ans)
 849                         rc = -1;
 850         }
 851         else if (args != nullptr &&
 852                 (json_object_object_get_ex(args, "id", &json_name)))
 853         {
 854                 if (json_object_get_type(json_name) == json_type_string) // id is set before and check if it's an array
 855                 {
 856                         ans = get_id_value(json_object_get_int(json_name));
 857                 }
 858                 else if(json_object_get_type(json_name) == json_type_array)
 859                 {
 860                         ans = json_object_new_array();
 861                         for (int i = 0 ; i < json_object_array_length(json_name); i++)
 862                         {
 863                                 json_object *sub_ans = nullptr;
 864                                 json_object *x = json_object_array_get_idx(json_name, i);
 865                                 sub_ans = get_id_value(json_object_get_int(x));
 866                                 if(!sub_ans)
 867                                         rc = -1;
 868                                 else {
 869                                         struct json_object *jobj = json_object_new_object();
 870                                         struct json_object *jid = json_object_new_string(json_object_get_string(x));
 871                                         json_object_object_add(jobj, "id", jid);
 872                                         json_object_object_add(jobj, "data", sub_ans);
 873                                         json_object_array_add(ans, jobj);
 874                                 }
 875                         }
 876                 }
 877                 else
 878                         rc = -1;
 879                 if (!ans)
 880                         rc = -1;
 881         }
 882         else
 883         {
 884                 AFB_ERROR("Request argument malformed. Please use the following syntax:");
 885                 rc = -1;
 886         }
 887
 888         if (rc >= 0)
 889                 afb_req_success(request, ans, NULL);
 890         else
 891                 afb_req_fail(request, "error", NULL);
 892 }
 893
 894
 895 static struct json_object *list_can_message(const std::string& name)
 896 {
 897         struct utils::signals_found sf;
 898         struct json_object *ans = nullptr;
 899
 900         openxc_DynamicField search_key = build_DynamicField(name);
 901         sf = utils::signals_manager_t::instance().find_signals(search_key);
 902
 903         if (sf.signals.empty() && sf.diagnostic_messages.empty())
 904         {
 905                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 906                 return NULL;
 907         }
 908         ans = json_object_new_array();
 909         for(const auto& sig: sf.signals)
 910         {
 911                 json_object_array_add(ans,
 912                         json_object_new_string(sig->get_name().c_str()));
 913         }
 914         for(const auto& sig: sf.diagnostic_messages)
 915         {
 916                 json_object_array_add(ans,
 917                         json_object_new_string(sig->get_name().c_str()));
 918         }
 919
 920         return ans;
 921 }
 922
 923 void list(afb_req_t request)
 924 {
 925         int rc = 0;
 926         json_object *ans = nullptr;
 927         struct json_object* args = nullptr,
 928                 *json_name = nullptr;
 929         args = afb_req_json(request);
 930         const char *name;
 931         if ((args != nullptr) &&
 932                 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string)))
 933                 name = json_object_get_string(json_name);
 934         else
 935                 name = "*";
 936
 937         ans = list_can_message(name);
 938         if (!ans)
 939                 rc = -1;
 940
 941         if (rc >= 0)
 942                 afb_req_success(request, ans, NULL);
 943         else
 944                 afb_req_fail(request, "error", NULL);
 945
 946 }
 947
 948 /// @brief Initialize the binding.
 949 ///
 950 /// @param[in] service Structure which represent the Application Framework Binder.
 951 ///
 952 /// @return Exit code, zero if success.
 953 int init_binding(afb_api_t api)
 954 {
 955         int ret = 0;
 956         application_t& application = application_t::instance();
 957         can_bus_t& can_bus_manager = application.get_can_bus_manager();
 958
 959         if(application.get_message_set().empty())
 960         {
 961                 AFB_ERROR("No message_set defined");
 962                 return -1;
 963         }
 964
 965         can_bus_manager.start_threads();
 966         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 967
 968         if (application.get_diagnostic_manager().is_initialized())
 969         {
 970                 // Add a recurring dignostic message request to get engine speed at all times.
 971                 openxc_DynamicField search_key = build_DynamicField("diagnostic_messages.engine.speed");
 972                 struct utils::signals_found sf = sm.find_signals(search_key);
 973
 974                 if(sf.signals.empty() && sf.diagnostic_messages.size() == 1)
 975                 {
 976                         afb_req_t request = nullptr;
 977
 978                         struct event_filter_t event_filter;
 979                         event_filter.frequency = sf.diagnostic_messages.front()->get_frequency();
 980
 981                         map_subscription& s = sm.get_subscribed_signals();
 982
 983                         subscribe_unsubscribe_diagnostic_messages(request, true, sf.diagnostic_messages, event_filter, s, true);
 984                 }
 985         }
 986
 987 #ifdef USE_FEATURE_J1939
 988         std::string j1939_bus;
 989         vect_ptr_msg_def_t current_messages_definition = application.get_messages_definition();
 990         for(std::shared_ptr<message_definition_t> message_definition: current_messages_definition)
 991         {
 992                 if(message_definition->is_j1939())
 993                 {
 994                         if (j1939_bus == message_definition->get_bus_device_name() )
 995                                 continue;
 996                         j1939_bus = message_definition->get_bus_device_name();
 997
 998                         std::shared_ptr<low_can_subscription_t> low_can_j1939 = std::make_shared<low_can_subscription_t>();
 999                         application.set_subscription_address_claiming(low_can_j1939);
1000
1001                         ret = low_can_subscription_t::open_socket(*low_can_j1939,
1002                                                                   j1939_bus,
1003                                                                   J1939_ADDR_CLAIM_PROTOCOL);
1004
1005                         if(ret < 0)
1006                         {
1007                                 AFB_ERROR("Error open socket address claiming for j1939 protocol");
1008                                 return -1;
1009                         }
1010                         add_to_event_loop(low_can_j1939);
1011                         break;
1012                 }
1013         }
1014 #endif
1015
1016         if(ret)
1017                 AFB_ERROR("There was something wrong with CAN device Initialization.");
1018
1019         return ret;
1020 }
1021
1022 int load_config(afb_api_t api)
1023 {
1024         int ret = 0;
1025         CtlConfigT *ctlConfig;
1026         const char *dirList = getenv("CONTROL_CONFIG_PATH");
1027         std::string bindingDirPath = GetBindingDirPath(api);
1028         std::string filepath = bindingDirPath + "/etc";
1029
1030         if (!dirList)
1031                 dirList=CONTROL_CONFIG_PATH;
1032
1033         filepath.append(":");
1034         filepath.append(dirList);
1035         const char *configPath = CtlConfigSearch(api, filepath.c_str(), "control");
1036
1037         if (!configPath)
1038         {
1039                 AFB_ERROR_V3("CtlPreInit: No control-%s* config found invalid JSON %s ", GetBinderName(), filepath.c_str());
1040                 return -1;
1041         }
1042
1043         // create one API per file
1044         ctlConfig = CtlLoadMetaData(api, configPath);
1045         if (!ctlConfig)
1046         {
1047                 AFB_ERROR_V3("CtrlPreInit No valid control config file in:\n-- %s", configPath);
1048                 return -1;
1049         }
1050
1051         // Save the config in the api userdata field
1052         afb_api_set_userdata(api, ctlConfig);
1053
1054         setExternalData(ctlConfig, (void*) &application_t::instance());
1055         ret= CtlLoadSections(api, ctlConfig, ctlSections_);
1056
1057         return ret;
1058 }