2 * Copyright (C) 2015, 2018 "IoT.bzh"
3 * Author "Romain Forlot" <romain.forlot@iot.bzh>
4 * Author "Loic Collignon" <loic.collignon@iot.bzh>
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
10 * http://www.apache.org/licenses/LICENSE-2.0
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.
19 #include "low-can-hat.hpp"
20 #include "low-can-apidef.h"
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"
39 #ifdef USE_FEATURE_J1939
40 #include "../can/message/j1939-message.hpp"
41 #include <linux/can/j1939.h>
43 ///******************************************************************************
45 /// SystemD event loop Callbacks
47 ///*******************************************************************************/
49 void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
51 bool is_permanent_recurring_request = false;
53 if( ! can_subscription->get_diagnostic_message().empty() && can_subscription->get_diagnostic_message(pid) != nullptr)
55 DiagnosticRequest diag_req = can_subscription->get_diagnostic_message(pid)->build_diagnostic_request();
56 active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
59 is_permanent_recurring_request = adr->get_permanent();
61 if(! is_permanent_recurring_request)
62 application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
66 if(! is_permanent_recurring_request)
67 on_no_clients(can_subscription, s);
70 void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
72 auto it = s.find(can_subscription->get_index());
76 static void push_n_notify(std::shared_ptr<message_t> m)
78 can_bus_t& cbm = application_t::instance().get_can_bus_manager();
80 std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
81 cbm.push_new_can_message(m);
83 cbm.get_new_can_message_cv().notify_one();
86 int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata)
89 low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata;
92 if ((revents & EPOLLIN) != 0)
94 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
95 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
96 if(can_subscription->get_index() != -1)
98 std::shared_ptr<utils::socketcan_t> s = can_subscription->get_socket();
99 if(s->socket() && s->socket() != -1)
101 std::shared_ptr<message_t> message = s->read_message();
103 // Sure we got a valid CAN message ?
104 if (! message->get_id() == 0 && ! message->get_length() == 0 && message->get_msg_format() != message_format_t::INVALID)
106 push_n_notify(message);
112 // check if error or hangup
113 if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
115 sd_event_source_unref(event_source);
116 can_subscription->get_socket()->close();
122 ///******************************************************************************
124 /// Subscription and unsubscription
126 ///*******************************************************************************/
128 /// @brief This will determine if an event handle needs to be created and checks if
129 /// we got a valid afb_event to get subscribe or unsubscribe. After that launch the subscription or unsubscription
130 /// against the application framework using that event handle.
131 static int subscribe_unsubscribe_signal(afb_req_t request,
133 std::shared_ptr<low_can_subscription_t>& can_subscription,
134 std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
137 int sub_index = can_subscription->get_index();
138 bool subscription_exists = s.count(sub_index);
143 /* There is no valid request to subscribe so this must be an
144 * internal permanent diagnostic request. Skip the subscription
145 * part and don't register it into the current "low-can"
153 // Event doesn't exist , so let's create it
154 if ((ret = can_subscription->subscribe(request)) < 0)
157 if(! subscription_exists)
158 s[sub_index] = can_subscription;
163 // Unsubscrition part
164 if(! subscription_exists)
166 AFB_NOTICE("There isn't any valid subscriptions for that request.");
169 else if (subscription_exists &&
170 ! afb_event_is_valid(s[sub_index]->get_event()) )
172 AFB_NOTICE("Event isn't valid, no need to unsubscribed.");
176 if( (ret = s[sub_index]->unsubscribe(request)) < 0)
178 s.find(sub_index)->second->set_index(-1);
183 static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription)
185 struct sd_event_source* event_source = nullptr;
186 return ( sd_event_add_io(afb_daemon_get_event_loop(),
188 can_subscription->get_socket()->socket(),
191 can_subscription.get()));
194 static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request,
196 std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages,
197 struct event_filter_t& event_filter,
198 std::map<int, std::shared_ptr<low_can_subscription_t> >& s,
199 bool perm_rec_diag_req)
202 application_t& app = application_t::instance();
203 diagnostic_manager_t& diag_m = app.get_diagnostic_manager();
205 for(const auto& sig : diagnostic_messages)
207 DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request());
208 event_filter.frequency = event_filter.frequency == 0 ? sig->get_frequency() : event_filter.frequency;
209 std::shared_ptr<low_can_subscription_t> can_subscription;
211 auto it = std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
213 return (! sub.second->get_diagnostic_message().empty());
215 can_subscription = it != s.end() ?
217 std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
218 // If the requested diagnostic message is not supported by the car then unsubcribe it
219 // no matter what we want, worst case will be a failed unsubscription but at least we won't
220 // poll a PID for nothing.
221 if(sig->get_supported() && subscribe)
223 if (!app.isEngineOn())
224 AFB_WARNING("signal: Engine is off, %s won't received responses until it's on", sig->get_name().c_str());
226 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);
227 if(can_subscription->create_rx_filter(sig) < 0)
229 AFB_DEBUG("Signal: %s subscribed", sig->get_name().c_str());
230 if(it == s.end() && add_to_event_loop(can_subscription) < 0)
232 diag_m.cleanup_request(
233 diag_m.find_recurring_request(*diag_req), true);
234 AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
240 if(sig->get_supported())
242 AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());
246 AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
250 int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s);
259 static int subscribe_unsubscribe_signals(afb_req_t request,
261 std::vector<std::shared_ptr<signal_t> > signals,
262 struct event_filter_t& event_filter,
263 std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
266 for(const auto& sig: signals)
268 auto it = std::find_if(s.begin(), s.end(), [&sig, &event_filter](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
270 return sub.second->is_signal_subscription_corresponding(sig, event_filter) ;
272 std::shared_ptr<low_can_subscription_t> can_subscription;
274 {can_subscription = it->second;}
277 can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
278 if(can_subscription->create_rx_filter(sig) < 0)
280 if(add_to_event_loop(can_subscription) < 0)
284 if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
288 AFB_DEBUG("%s Signal: %s %ssubscribed", sig->get_message()->is_fd() ? "FD": "", sig->get_name().c_str(), subscribe ? "":"un");
294 /// @brief subscribe to all signals in the vector signals
296 /// @param[in] afb_req request : contains original request use to subscribe or unsubscribe
297 /// @param[in] subscribe boolean value, which chooses between a subscription operation or an unsubscription
298 /// @param[in] signals - struct containing vectors with signal_t and diagnostic_messages to subscribe
300 /// @return Number of correctly subscribed signal
302 static int subscribe_unsubscribe_signals(afb_req_t request,
304 const struct utils::signals_found& signals,
305 struct event_filter_t& event_filter)
308 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
310 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
311 std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
313 rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s, false);
314 rets += subscribe_unsubscribe_signals(request, subscribe, signals.signals, event_filter, s);
319 static event_filter_t generate_filter(json_object* args)
321 event_filter_t event_filter;
322 struct json_object *filter, *obj;
324 // computes the filter
325 if (json_object_object_get_ex(args, "filter", &filter))
327 if (json_object_object_get_ex(filter, "frequency", &obj)
328 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
329 {event_filter.frequency = (float)json_object_get_double(obj);}
330 if (json_object_object_get_ex(filter, "min", &obj)
331 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
332 {event_filter.min = (float)json_object_get_double(obj);}
333 if (json_object_object_get_ex(filter, "max", &obj)
334 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
335 {event_filter.max = (float)json_object_get_double(obj);}
341 static int one_subscribe_unsubscribe_events(afb_req_t request, bool subscribe, const std::string& tag, json_object* args)
344 struct utils::signals_found sf;
346 // subscribe or unsubscribe
347 openxc_DynamicField search_key = build_DynamicField(tag);
348 sf = utils::signals_manager_t::instance().find_signals(search_key);
349 if (sf.signals.empty() && sf.diagnostic_messages.empty())
351 AFB_NOTICE("No signal(s) found for %s.", tag.c_str());
356 event_filter_t event_filter = generate_filter(args);
357 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
362 static int one_subscribe_unsubscribe_id(afb_req_t request, bool subscribe, const uint32_t& id ,json_object *args)
365 std::shared_ptr<message_definition_t> message_definition = application_t::instance().get_message_definition(id);
366 struct utils::signals_found sf;
368 if(message_definition)
370 sf.signals = message_definition->get_signals();
373 if(sf.signals.empty())
375 AFB_NOTICE("No signal(s) found for %d.", id);
380 event_filter_t event_filter = generate_filter(args);
381 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
387 static int process_one_subscribe_args(afb_req_t request, bool subscribe, json_object *args)
390 json_object *x = nullptr, *event = nullptr, *id = nullptr;
393 // 2 cases : ID(PGN) and event
395 json_object_object_get_ex(args,"event",&event);
396 json_bool test_id = json_object_object_get_ex(args,"id",&id);
399 test_id = json_object_object_get_ex(args,"pgn",&id);
402 if( args == NULL || (id && ((std::string)json_object_get_string(id)).compare("*") == 0))
404 rc = one_subscribe_unsubscribe_events(request, subscribe, "*", args);
410 if (json_object_get_type(event) != json_type_array) // event is set before and check if it's an array
412 rc = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(event), args);
414 else // event is set and it's not an array
416 for (int i = 0 ; i < json_object_array_length(event); i++)
418 x = json_object_array_get_idx(event, i);
419 rc2 = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(x), args);
421 rc = rc2 >= 0 ? rc + rc2 : rc2;
428 if (json_object_get_type(id) != json_type_array) // id is set before and check if it's an array
430 rc = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(id), args);
432 else // event is set and it's not an array
434 for (int i = 0 ; i < json_object_array_length(id); i++)
436 x = json_object_array_get_idx(id, i);
437 rc2 = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(x), args);
439 rc = rc2 >= 0 ? rc + rc2 : rc2;
447 static void do_subscribe_unsubscribe(afb_req_t request, bool subscribe)
450 struct json_object *args, *x;
452 args = afb_req_json(request);
453 if (json_object_get_type(args) == json_type_array)
455 for(int i = 0; i < json_object_array_length(args); i++)
457 x = json_object_array_get_idx(args, i);
458 rc += process_one_subscribe_args(request, subscribe, x);
463 rc += process_one_subscribe_args(request, subscribe, args);
467 afb_req_success(request, NULL, NULL);
469 afb_req_fail(request, "error", NULL);
472 void auth(afb_req_t request)
474 afb_req_session_set_LOA(request, 1);
475 afb_req_success(request, NULL, NULL);
478 void subscribe(afb_req_t request)
480 do_subscribe_unsubscribe(request, true);
483 void unsubscribe(afb_req_t request)
485 do_subscribe_unsubscribe(request, false);
489 static int send_frame(struct canfd_frame& cfd, const std::string& bus_name, socket_type type)
496 std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
498 if( cd.count(bus_name) == 0)
500 cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t());
504 if(type == socket_type::BCM)
506 return low_can_subscription_t::tx_send(*cd[bus_name], cfd, bus_name);
508 else if(type == socket_type::J1939)
510 return low_can_subscription_t::j1939_send(*cd[bus_name], cfd, bus_name);
517 static int send_message(message_t *message, const std::string& bus_name, socket_type type)
524 std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
526 if( cd.count(bus_name) == 0)
528 cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t());
532 if(type == socket_type::BCM)
534 return low_can_subscription_t::tx_send(*cd[bus_name], message, bus_name);
536 #ifdef USE_FEATURE_J1939
537 else if(type == socket_type::J1939)
539 return low_can_subscription_t::j1939_send(*cd[bus_name], message, bus_name);
549 static void write_raw_frame(afb_req_t request, const std::string& bus_name, message_t *message, struct json_object *can_data, socket_type type)
551 if((message->get_length() <= 8 && message->get_length() > 0 && type == socket_type::BCM)
552 #ifdef USE_FEATURE_J1939
553 || (message->get_length() < J1939_MAX_DLEN && type == socket_type::J1939)
558 std::vector<uint8_t> data;
559 for (int i = 0 ; i < message->get_length() ; i++)
561 struct json_object *one_can_data = json_object_array_get_idx(can_data, i);
562 data.push_back((json_object_is_type(one_can_data, json_type_int)) ?
563 (uint8_t)json_object_get_int(one_can_data) : 0);
565 message->set_data(data);
569 if(type == socket_type::BCM)
571 afb_req_fail(request, "Invalid", "Data array must hold 1 to 8 values.");
573 else if(type == socket_type::J1939)
575 afb_req_fail(request, "Invalid", "Data array too large");
579 afb_req_fail(request, "Invalid", "Invalid socket type");
584 if(! send_message(message, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name),type))
586 afb_req_success(request, nullptr, "Message correctly sent");
590 afb_req_fail(request, "Error", "sending the message. See the log for more details.");
594 static void write_frame(afb_req_t request, const std::string& bus_name, json_object *json_value)
599 struct json_object *can_data = nullptr;
600 std::vector<uint8_t> data;
602 AFB_DEBUG("JSON content %s",json_object_get_string(json_value));
604 if(!wrap_json_unpack(json_value, "{si, si, so !}",
607 "can_data", &can_data))
609 message = new can_message_t(CANFD_MAX_DLEN,(uint32_t)id,(uint32_t)length,message_format_t::STANDARD,false,0,data,0);
610 write_raw_frame(request,bus_name,message,can_data,socket_type::BCM);
612 #ifdef USE_FEATURE_J1939
613 else if(!wrap_json_unpack(json_value, "{si, si, so !}",
618 message = new j1939_message_t(J1939_MAX_DLEN,(uint32_t)length,message_format_t::J1939,data,0,J1939_NO_NAME,(pgn_t)id,J1939_NO_ADDR);
619 write_raw_frame(request,bus_name,message,can_data,socket_type::J1939);
624 afb_req_fail(request, "Invalid", "Frame object malformed");
630 static void write_signal(afb_req_t request, const std::string& name, json_object *json_value)
632 struct canfd_frame cfd;
633 struct utils::signals_found sf;
634 signal_encoder encoder = nullptr;
637 ::memset(&cfd, 0, sizeof(cfd));
639 openxc_DynamicField search_key = build_DynamicField(name);
640 sf = utils::signals_manager_t::instance().find_signals(search_key);
641 openxc_DynamicField dynafield_value = build_DynamicField(json_value);
643 if (sf.signals.empty())
645 afb_req_fail_f(request, "No signal(s) found for %s. Message not sent.", name.c_str());
649 std::shared_ptr<signal_t>& sig = sf.signals[0];
650 if(! sig->get_writable())
652 afb_req_fail_f(request, "%s isn't writable. Message not sent.", sig->get_name().c_str());
656 uint64_t value = (encoder = sig->get_encoder()) ?
657 encoder(*sig, dynafield_value, &send) :
658 encoder_t::encode_DynamicField(*sig, dynafield_value, &send);
660 socket_type type = socket_type::INVALID;
662 if(sig->get_message()->is_j1939())
664 type = socket_type::J1939;
668 type = socket_type::BCM;
671 // cfd = encoder_t::build_frame(sig, value);
672 message_t *message = encoder_t::build_message(sig,value,false,false);
674 if(! send_message(message, sig->get_message()->get_bus_device_name(), type) && send)
676 afb_req_success(request, nullptr, "Message correctly sent");
680 afb_req_fail(request, "Error", "Sending the message. See the log for more details.");
683 if(sig->get_message()->is_j1939())
685 #ifdef USE_FEATURE_J1939
686 delete (j1939_message_t*) message;
691 delete (can_message_t*) message;
695 void write(afb_req_t request)
697 struct json_object* args = nullptr, *json_value = nullptr;
698 const char *name = nullptr;
700 args = afb_req_json(request);
702 // Process about Raw CAN message on CAN bus directly
703 if (args != NULL && ! wrap_json_unpack(args, "{ss, so !}",
705 "frame", &json_value))
706 write_frame(request, name, json_value);
708 // Search signal then encode value.
709 else if(args != NULL &&
710 ! wrap_json_unpack(args, "{ss, so !}",
711 "signal_name", &name,
712 "signal_value", &json_value))
713 write_signal(request, std::string(name), json_value);
715 afb_req_fail(request, "Error", "Request argument malformed");
718 static struct json_object *get_signals_value(const std::string& name)
720 struct utils::signals_found sf;
721 struct json_object *ans = nullptr;
723 openxc_DynamicField search_key = build_DynamicField(name);
724 sf = utils::signals_manager_t::instance().find_signals(search_key);
726 if (sf.signals.empty())
728 AFB_WARNING("No signal(s) found for %s.", name.c_str());
731 ans = json_object_new_array();
732 for(const auto& sig: sf.signals)
734 struct json_object *jobj = json_object_new_object();
735 json_object_object_add(jobj, "event", json_object_new_string(sig->get_name().c_str()));
736 json_object_object_add(jobj, "value", json_object_new_double(sig->get_last_value()));
737 json_object_array_add(ans, jobj);
742 void get(afb_req_t request)
745 struct json_object* args = nullptr,
746 *json_name = nullptr;
747 json_object *ans = nullptr;
749 args = afb_req_json(request);
751 // Process about Raw CAN message on CAN bus directly
752 if (args != nullptr &&
753 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string) ))
755 ans = get_signals_value(json_object_get_string(json_name));
761 AFB_ERROR("Request argument malformed. Please use the following syntax:");
766 afb_req_success(request, ans, NULL);
768 afb_req_fail(request, "error", NULL);
772 static struct json_object *list_can_message(const std::string& name)
774 struct utils::signals_found sf;
775 struct json_object *ans = nullptr;
777 openxc_DynamicField search_key = build_DynamicField(name);
778 sf = utils::signals_manager_t::instance().find_signals(search_key);
780 if (sf.signals.empty() && sf.diagnostic_messages.empty())
782 AFB_WARNING("No signal(s) found for %s.", name.c_str());
785 ans = json_object_new_array();
786 for(const auto& sig: sf.signals)
788 json_object_array_add(ans,
789 json_object_new_string(sig->get_name().c_str()));
791 for(const auto& sig: sf.diagnostic_messages)
793 json_object_array_add(ans,
794 json_object_new_string(sig->get_name().c_str()));
800 void list(afb_req_t request)
803 json_object *ans = nullptr;
804 struct json_object* args = nullptr,
805 *json_name = nullptr;
806 args = afb_req_json(request);
808 if ((args != nullptr) &&
809 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string)))
811 name = json_object_get_string(json_name);
818 ans = list_can_message(name);
824 afb_req_success(request, ans, NULL);
828 afb_req_fail(request, "error", NULL);
832 /// @brief Initialize the binding.
834 /// @param[in] service Structure which represent the Application Framework Binder.
836 /// @return Exit code, zero if success.
837 int init_binding(afb_api_t api)
840 application_t& application = application_t::instance();
841 can_bus_t& can_bus_manager = application.get_can_bus_manager();
843 can_bus_manager.set_can_devices();
844 can_bus_manager.start_threads();
845 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
847 /// Initialize Diagnostic manager that will handle obd2 requests.
848 /// We pass by default the first CAN bus device to its Initialization.
849 /// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus.
850 if(application_t::instance().get_diagnostic_manager().initialize())
853 // Add a recurring dignostic message request to get engine speed at all times.
854 openxc_DynamicField search_key = build_DynamicField("diagnostic_messages.engine.speed");
855 struct utils::signals_found sf = sm.find_signals(search_key);
857 if(sf.signals.empty() && sf.diagnostic_messages.size() == 1)
859 afb_req_t request = nullptr;
861 struct event_filter_t event_filter;
862 event_filter.frequency = sf.diagnostic_messages.front()->get_frequency();
864 std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
866 subscribe_unsubscribe_diagnostic_messages(request, true, sf.diagnostic_messages, event_filter, s, true);
870 #ifdef USE_FEATURE_J1939
871 std::vector<std::shared_ptr<message_definition_t>> current_messages_definition = application.get_messages_definition();
872 for(std::shared_ptr<message_definition_t> message_definition: current_messages_definition)
874 if(message_definition->is_j1939())
876 std::shared_ptr<low_can_subscription_t> low_can_j1939 = std::make_shared<low_can_subscription_t>();
878 application.set_subscription_address_claiming(low_can_j1939);
880 ret = low_can_subscription_t::open_socket(*low_can_j1939,
881 message_definition->get_bus_device_name(),
882 socket_type::J1939_ADDR_CLAIM);
885 AFB_ERROR("Error open socket address claiming for j1939 protocol");
889 // std::shared_ptr<low_can_subscription_t> saddrclaim = application.get_subscription_address_claiming();
891 add_to_event_loop(low_can_j1939);
899 AFB_ERROR("There was something wrong with CAN device Initialization.");