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