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

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