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"
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"
42 #ifdef USE_FEATURE_J1939
43 #include "../can/message/j1939-message.hpp"
44 #include <linux/can/j1939.h>
47 ///*****************************************************************************
49 /// Controller Definitions and Callbacks
51 ///****************************************************************************/
53 int config_low_can(afb_api_t apiHandle, CtlSectionT *section, json_object *json_obj)
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;
61 if(! ctrlConfig || ! ctrlConfig->external)
64 application_t *application = (application_t*) ctrlConfig->external;
66 if(wrap_json_unpack(json_obj, "{si, ss}",
67 "active_message_set", &active_message_set,
68 "diagnostic_bus", &diagnotic_bus))
71 application->set_active_message_set((uint8_t)active_message_set);
73 if(wrap_json_unpack(json_obj, "{so}",
74 "dev-mapping", &dev_mapping))
77 application->get_can_bus_manager().set_can_devices(dev_mapping);
79 /// Initialize Diagnostic manager that will handle obd2 requests.
80 /// We pass by default the first CAN bus device to its Initialization.
81 if(! application_t::instance().get_diagnostic_manager().initialize(diagnotic_bus))
83 AFB_ERROR("Diagnostic Manager: error at initialization");
90 CtlSectionT ctlSections_[] = {
91 [0]={.key="config" , .uid="config", .info=nullptr, .prefix=nullptr,
92 .loadCB=config_low_can,
95 [1]={.key="plugins" , .uid="plugins", .info=nullptr, .prefix=nullptr,
99 [2]={.key=nullptr , .uid=nullptr, .info=nullptr, .prefix=nullptr,
100 .loadCB=PluginConfig,
105 ///*****************************************************************************
107 /// Subscription and unsubscription
109 ///****************************************************************************/
111 /// @brief This will determine if an event handle needs to be created and checks if
112 /// we got a valid afb_event to get subscribe or unsubscribe. After that launch the subscription or unsubscription
113 /// against the application framework using that event handle.
114 static int subscribe_unsubscribe_signal(afb_req_t request,
116 std::shared_ptr<low_can_subscription_t>& can_subscription,
120 int sub_index = can_subscription->get_index();
121 bool subscription_exists = s.count(sub_index);
126 /* There is no valid request to subscribe so this must be an
127 * internal permanent diagnostic request. Skip the subscription
128 * part and don't register it into the current "low-can"
136 // Event doesn't exist , so let's create it
137 if ((ret = can_subscription->subscribe(request)) < 0)
140 if(! subscription_exists)
141 s[sub_index] = can_subscription;
146 // Unsubscrition part
147 if(! subscription_exists)
149 AFB_NOTICE("There isn't any valid subscriptions for that request.");
152 else if (subscription_exists &&
153 ! afb_event_is_valid(s[sub_index]->get_event()) )
155 AFB_NOTICE("Event isn't valid, no need to unsubscribed.");
159 if( (ret = s[sub_index]->unsubscribe(request)) < 0)
161 s.find(sub_index)->second->set_index(-1);
166 static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription)
168 struct sd_event_source* event_source = nullptr;
169 return ( sd_event_add_io(afb_daemon_get_event_loop(),
171 can_subscription->get_socket()->socket(),
174 can_subscription.get()));
177 static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request,
179 list_ptr_diag_msg_t diagnostic_messages,
180 struct event_filter_t& event_filter,
182 bool perm_rec_diag_req)
185 application_t& app = application_t::instance();
186 diagnostic_manager_t& diag_m = app.get_diagnostic_manager();
188 for(const auto& sig : diagnostic_messages)
190 DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request());
191 event_filter.frequency = event_filter.frequency == 0 ? sig->get_frequency() : event_filter.frequency;
192 std::shared_ptr<low_can_subscription_t> can_subscription;
194 auto it = std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
196 return (! sub.second->get_diagnostic_message().empty());
198 can_subscription = it != s.end() ?
200 std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
201 // If the requested diagnostic message is not supported by the car then unsubcribe it
202 // no matter what we want, worst case will be a failed unsubscription but at least we won't
203 // poll a PID for nothing.
204 if(sig->get_supported() && subscribe)
206 if (!app.is_engine_on())
207 AFB_WARNING("signal: Engine is off, %s won't received responses until it's on", sig->get_name().c_str());
209 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);
210 if(can_subscription->create_rx_filter(sig) < 0)
212 AFB_DEBUG("Signal: %s subscribed", sig->get_name().c_str());
213 if(it == s.end() && add_to_event_loop(can_subscription) < 0)
215 diag_m.cleanup_request(
216 diag_m.find_recurring_request(*diag_req), true);
217 AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
223 if(sig->get_supported())
225 AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());
229 AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
233 int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s);
242 static int subscribe_unsubscribe_signals(afb_req_t request,
244 list_ptr_signal_t signals,
245 struct event_filter_t& event_filter,
249 for(const auto& sig: signals)
251 auto it = std::find_if(s.begin(), s.end(), [&sig, &event_filter](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
253 return sub.second->is_signal_subscription_corresponding(sig, event_filter) ;
255 std::shared_ptr<low_can_subscription_t> can_subscription;
257 can_subscription = it->second;
260 can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
261 if(can_subscription->create_rx_filter(sig) < 0)
263 if(add_to_event_loop(can_subscription) < 0)
267 if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
271 AFB_DEBUG("%s Signal: %s %ssubscribed", sig->get_message()->is_fd() ? "FD": "", sig->get_name().c_str(), subscribe ? "":"un");
277 /// @brief subscribe to all signals in the vector signals
279 /// @param[in] afb_req request : contains original request use to subscribe or unsubscribe
280 /// @param[in] subscribe boolean value, which chooses between a subscription operation or an unsubscription
281 /// @param[in] signals - struct containing vectors with signal_t and diagnostic_messages to subscribe
282 /// @param[in] event_filter - stuct containing filter on the signal
284 /// @return Number of correctly subscribed signal
286 static int subscribe_unsubscribe_signals(afb_req_t request,
288 const struct utils::signals_found& signals,
289 struct event_filter_t& event_filter)
292 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
294 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
295 map_subscription& s = sm.get_subscribed_signals();
297 rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s, false);
298 rets += subscribe_unsubscribe_signals(request, subscribe, signals.signals, event_filter, s);
303 static event_filter_t generate_filter(json_object* args)
305 event_filter_t event_filter;
306 struct json_object *filter, *obj;
308 // computes the filter
309 if (json_object_object_get_ex(args, "filter", &filter))
311 if (json_object_object_get_ex(filter, "frequency", &obj)
312 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
313 event_filter.frequency = (float)json_object_get_double(obj);
314 if (json_object_object_get_ex(filter, "min", &obj)
315 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
316 event_filter.min = (float)json_object_get_double(obj);
317 if (json_object_object_get_ex(filter, "max", &obj)
318 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
319 event_filter.max = (float)json_object_get_double(obj);
320 if (json_object_object_get_ex(filter, "rx_id", &obj)
321 && (json_object_is_type(obj, json_type_int)))
322 event_filter.rx_id = (canid_t) json_object_get_int(obj);
323 if (json_object_object_get_ex(filter, "tx_id", &obj)
324 && (json_object_is_type(obj, json_type_int)))
325 event_filter.tx_id = (canid_t) json_object_get_int(obj);
331 static int one_subscribe_unsubscribe_events(afb_req_t request, bool subscribe, const std::string& tag, json_object* args)
334 struct utils::signals_found sf;
336 // subscribe or unsubscribe
337 openxc_DynamicField search_key = build_DynamicField(tag);
338 sf = utils::signals_manager_t::instance().find_signals(search_key);
341 #ifdef USE_FEATURE_ISOTP
342 if(sf.signals.size() > 1)
344 sf.signals.remove_if([](std::shared_ptr<signal_t> x){
345 bool isotp = x->get_message()->is_isotp();
347 AFB_NOTICE("ISO TP messages need to be subscribed one by one (rx, tx)");
354 if (sf.signals.empty() && sf.diagnostic_messages.empty())
356 AFB_NOTICE("No signal(s) found for %s.", tag.c_str());
361 event_filter_t event_filter = generate_filter(args);
362 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
367 static int one_subscribe_unsubscribe_id(afb_req_t request, bool subscribe, const uint32_t& id, json_object *args)
370 std::shared_ptr<message_definition_t> message_definition = application_t::instance().get_message_definition(id);
371 struct utils::signals_found sf;
373 if(message_definition)
374 sf.signals = list_ptr_signal_t(message_definition->get_signals().begin(), message_definition->get_signals().end());
376 if(sf.signals.empty())
378 AFB_NOTICE("No signal(s) found for %d.", id);
383 event_filter_t event_filter = generate_filter(args);
384 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
391 static int process_one_subscribe_args(afb_req_t request, bool subscribe, json_object *args)
394 json_object *x = nullptr, *event = nullptr, *id = nullptr;
397 // 2 cases : ID(PGN) and event
399 json_object_object_get_ex(args,"event",&event);
400 json_bool test_id = json_object_object_get_ex(args,"id",&id);
402 test_id = json_object_object_get_ex(args,"pgn",&id);
404 if( args == NULL || (id && ((std::string)json_object_get_string(id)).compare("*") == 0))
406 rc = one_subscribe_unsubscribe_events(request, subscribe, "*", args);
412 if (json_object_get_type(event) != json_type_array) // event is set before and check if it's an array
414 rc = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(event), args);
416 else // event is set and it's not an array
418 for (int i = 0 ; i < json_object_array_length(event); i++)
420 x = json_object_array_get_idx(event, i);
421 rc2 = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(x), args);
423 rc = rc2 >= 0 ? rc + rc2 : rc2;
430 if (json_object_get_type(id) != json_type_array) // id is set before and check if it's an array
432 rc = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(id), args);
434 else // event is set and it's not an array
436 for (int i = 0 ; i < json_object_array_length(id); i++)
438 x = json_object_array_get_idx(id, i);
439 rc2 = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(x), args);
441 rc = rc2 >= 0 ? rc + rc2 : rc2;
449 static void do_subscribe_unsubscribe(afb_req_t request, bool subscribe)
452 struct json_object *args, *x;
454 args = afb_req_json(request);
455 if (json_object_get_type(args) == json_type_array)
457 for(int i = 0; i < json_object_array_length(args); i++)
459 x = json_object_array_get_idx(args, i);
460 rc += process_one_subscribe_args(request, subscribe, x);
465 rc += process_one_subscribe_args(request, subscribe, args);
469 afb_req_success(request, NULL, NULL);
471 afb_req_fail(request, "error", NULL);
474 void auth(afb_req_t request)
476 afb_req_session_set_LOA(request, 1);
477 afb_req_success(request, NULL, NULL);
480 void subscribe(afb_req_t request)
482 do_subscribe_unsubscribe(request, true);
485 void unsubscribe(afb_req_t request)
487 do_subscribe_unsubscribe(request, false);
491 static int send_frame(struct canfd_frame& cfd, const std::string& bus_name, socket_type type)
498 std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
500 if( cd.count(bus_name) == 0)
502 cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t());
506 if(type == socket_type::BCM)
508 return low_can_subscription_t::tx_send(*cd[bus_name], cfd, bus_name);
510 else if(type == socket_type::J1939)
512 return low_can_subscription_t::j1939_send(*cd[bus_name], cfd, bus_name);
519 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)
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)
527 cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
529 cd[bus_name]->set_signal(signal);
532 if(flags&CAN_PROTOCOL)
533 return low_can_subscription_t::tx_send(*cd[bus_name], message, bus_name);
534 #ifdef USE_FEATURE_ISOTP
535 else if(flags&ISOTP_PROTOCOL)
536 return low_can_subscription_t::isotp_send(*cd[bus_name], message, bus_name);
538 #ifdef USE_FEATURE_J1939
539 else if(flags&J1939_PROTOCOL)
540 return low_can_subscription_t::j1939_send(*cd[bus_name], message, bus_name);
547 static void write_raw_frame(afb_req_t request, const std::string& bus_name, message_t *message,
548 struct json_object *can_data, uint32_t flags, event_filter_t &event_filter)
551 struct utils::signals_found sf;
553 utils::signals_manager_t::instance().lookup_signals_by_id(message->get_id(), application_t::instance().get_all_signals(), sf.signals);
555 if( !sf.signals.empty() )
557 AFB_DEBUG("ID WRITE RAW : %d", sf.signals.front()->get_message()->get_id());
558 if(flags & CAN_PROTOCOL)
560 if(sf.signals.front()->get_message()->is_fd())
562 AFB_DEBUG("CANFD_MAX_DLEN");
563 message->set_flags(CAN_PROTOCOL_WITH_FD_FRAME);
564 message->set_maxdlen(CANFD_MAX_DLEN);
568 AFB_DEBUG("CAN_MAX_DLEN");
569 message->set_maxdlen(CAN_MAX_DLEN);
572 if(sf.signals.front()->get_message()->is_isotp())
574 flags = ISOTP_PROTOCOL;
575 message->set_maxdlen(MAX_ISOTP_FRAMES * message->get_maxdlen());
579 #ifdef USE_FEATURE_J1939
580 if(flags&J1939_PROTOCOL)
581 message->set_maxdlen(J1939_MAX_DLEN);
584 if(message->get_length() > 0 && message->get_length() <= message->get_maxdlen())
586 std::vector<uint8_t> data;
587 for (int i = 0 ; i < message->get_length() ; i++)
589 struct json_object *one_can_data = json_object_array_get_idx(can_data, i);
590 data.push_back((json_object_is_type(one_can_data, json_type_int)) ?
591 (uint8_t)json_object_get_int(one_can_data) : 0);
593 message->set_data(data);
597 if(flags&CAN_PROTOCOL)
598 afb_req_fail(request, "Invalid", "Frame BCM");
599 else if(flags&J1939_PROTOCOL)
600 afb_req_fail(request, "Invalid", "Frame J1939");
601 else if(flags&ISOTP_PROTOCOL)
602 afb_req_fail(request, "Invalid", "Frame ISOTP");
604 afb_req_fail(request, "Invalid", "Frame");
609 if(! send_message(message, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name), flags, event_filter, sf.signals.front()))
610 afb_req_success(request, nullptr, "Message correctly sent");
612 afb_req_fail(request, "Error", "sending the message. See the log for more details.");
616 afb_req_fail(request, "Error", "no find id in signals. See the log for more details.");
621 static void write_frame(afb_req_t request, const std::string& bus_name, json_object *json_value, event_filter_t &event_filter)
626 struct json_object *can_data = nullptr;
627 std::vector<uint8_t> data;
629 AFB_DEBUG("JSON content %s", json_object_get_string(json_value));
631 if(!wrap_json_unpack(json_value, "{si, si, so !}",
634 "can_data", &can_data))
636 message = new can_message_t(0, id, length, false, 0, data, 0);
637 write_raw_frame(request, bus_name, message, can_data, CAN_PROTOCOL, event_filter);
639 #ifdef USE_FEATURE_J1939
640 else if(!wrap_json_unpack(json_value, "{si, si, so !}",
645 message = new j1939_message_t(length, data, 0, J1939_NO_NAME, (pgn_t)id, J1939_NO_ADDR);
646 write_raw_frame(request, bus_name, message, can_data, J1939_PROTOCOL, event_filter);
651 afb_req_fail(request, "Invalid", "Frame object malformed");
657 static void write_signal(afb_req_t request, const std::string& name, json_object *json_value, event_filter_t &event_filter)
659 struct canfd_frame cfd;
660 struct utils::signals_found sf;
661 signal_encoder encoder = nullptr;
664 ::memset(&cfd, 0, sizeof(cfd));
666 openxc_DynamicField search_key = build_DynamicField(name);
667 sf = utils::signals_manager_t::instance().find_signals(search_key);
668 openxc_DynamicField dynafield_value = build_DynamicField(json_value);
670 if (sf.signals.empty())
672 afb_req_fail_f(request, "No signal(s) found for %s. Message not sent.", name.c_str());
676 std::shared_ptr<signal_t> sig = sf.signals.front();
677 if(! sig->get_writable())
679 afb_req_fail_f(request, "%s isn't writable. Message not sent.", sig->get_name().c_str());
683 uint64_t value = (encoder = sig->get_encoder()) ?
684 encoder(*sig, dynafield_value, &send) :
685 encoder_t::encode_DynamicField(*sig, dynafield_value, &send);
687 uint32_t flags = INVALID_FLAG;
689 if(sig->get_message()->is_j1939())
690 flags = J1939_PROTOCOL;
691 else if(sig->get_message()->is_isotp())
692 flags = ISOTP_PROTOCOL;
694 flags = CAN_PROTOCOL;
696 // cfd = encoder_t::build_frame(sig, value);
697 message_t *message = encoder_t::build_message(sig, value, false, false);
699 if(! send_message(message, sig->get_message()->get_bus_device_name(), flags, event_filter, sig) && send)
700 afb_req_success(request, nullptr, "Message correctly sent");
702 afb_req_fail(request, "Error", "Sending the message. See the log for more details.");
704 if(sig->get_message()->is_j1939())
705 #ifdef USE_FEATURE_J1939
706 delete (j1939_message_t*) message;
708 afb_req_fail(request, "Warning", "J1939 not implemented in your kernel.");
711 delete (can_message_t*) message;
714 void write(afb_req_t request)
716 struct json_object* args = nullptr, *json_value = nullptr, *name = nullptr;
717 args = afb_req_json(request);
721 event_filter_t event_filter = generate_filter(args);
723 if(json_object_object_get_ex(args,"bus_name",&name))
725 if(json_object_object_get_ex(args,"frame",&json_value))
726 write_frame(request, (std::string)json_object_get_string(name), json_value, event_filter);
728 afb_req_fail(request, "Error", "Request argument malformed");
730 else if(json_object_object_get_ex(args,"signal_name",&name))
732 if(json_object_object_get_ex(args,"signal_value",&json_value))
733 write_signal(request, (std::string)json_object_get_string(name), json_value, event_filter);
735 afb_req_fail(request, "Error", "Request argument malformed");
739 afb_req_fail(request, "Error", "Request argument malformed");
744 afb_req_fail(request, "Error", "Request argument null");
748 static struct json_object *get_signals_value(const std::string& name)
750 struct utils::signals_found sf;
751 struct json_object *ans = nullptr;
753 openxc_DynamicField search_key = build_DynamicField(name);
754 sf = utils::signals_manager_t::instance().find_signals(search_key);
756 if (sf.signals.empty())
758 AFB_WARNING("No signal(s) found for %s.", name.c_str());
761 ans = json_object_new_array();
762 for(const auto& sig: sf.signals)
764 struct json_object *jobj = json_object_new_object();
765 json_object_object_add(jobj, "event", json_object_new_string(sig->get_name().c_str()));
766 json_object_object_add(jobj, "value", json_object_new_double(sig->get_last_value()));
767 json_object_array_add(ans, jobj);
772 void get(afb_req_t request)
775 struct json_object* args = nullptr,
776 *json_name = nullptr;
777 json_object *ans = nullptr;
779 args = afb_req_json(request);
781 // Process about Raw CAN message on CAN bus directly
782 if (args != nullptr &&
783 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string) ))
785 ans = get_signals_value(json_object_get_string(json_name));
791 AFB_ERROR("Request argument malformed. Please use the following syntax:");
796 afb_req_success(request, ans, NULL);
798 afb_req_fail(request, "error", NULL);
802 static struct json_object *list_can_message(const std::string& name)
804 struct utils::signals_found sf;
805 struct json_object *ans = nullptr;
807 openxc_DynamicField search_key = build_DynamicField(name);
808 sf = utils::signals_manager_t::instance().find_signals(search_key);
810 if (sf.signals.empty() && sf.diagnostic_messages.empty())
812 AFB_WARNING("No signal(s) found for %s.", name.c_str());
815 ans = json_object_new_array();
816 for(const auto& sig: sf.signals)
818 json_object_array_add(ans,
819 json_object_new_string(sig->get_name().c_str()));
821 for(const auto& sig: sf.diagnostic_messages)
823 json_object_array_add(ans,
824 json_object_new_string(sig->get_name().c_str()));
830 void list(afb_req_t request)
833 json_object *ans = nullptr;
834 struct json_object* args = nullptr,
835 *json_name = nullptr;
836 args = afb_req_json(request);
838 if ((args != nullptr) &&
839 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string)))
840 name = json_object_get_string(json_name);
844 ans = list_can_message(name);
849 afb_req_success(request, ans, NULL);
851 afb_req_fail(request, "error", NULL);
854 /// @brief Initialize the binding.
856 /// @param[in] service Structure which represent the Application Framework Binder.
858 /// @return Exit code, zero if success.
859 int init_binding(afb_api_t api)
862 application_t& application = application_t::instance();
863 can_bus_t& can_bus_manager = application.get_can_bus_manager();
865 if(application.get_message_set().empty())
867 AFB_ERROR("No message_set defined");
871 can_bus_manager.start_threads();
872 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
874 // Add a recurring dignostic message request to get engine speed at all times.
875 openxc_DynamicField search_key = build_DynamicField("diagnostic_messages.engine.speed");
876 struct utils::signals_found sf = sm.find_signals(search_key);
878 if(sf.signals.empty() && sf.diagnostic_messages.size() == 1)
880 afb_req_t request = nullptr;
882 struct event_filter_t event_filter;
883 event_filter.frequency = sf.diagnostic_messages.front()->get_frequency();
885 map_subscription& s = sm.get_subscribed_signals();
887 subscribe_unsubscribe_diagnostic_messages(request, true, sf.diagnostic_messages, event_filter, s, true);
891 #ifdef USE_FEATURE_J1939
892 std::string j1939_bus;
893 vect_ptr_msg_def_t current_messages_definition = application.get_messages_definition();
894 for(std::shared_ptr<message_definition_t> message_definition: current_messages_definition)
896 if(message_definition->is_j1939())
898 if (j1939_bus == message_definition->get_bus_device_name() )
900 j1939_bus = message_definition->get_bus_device_name();
902 std::shared_ptr<low_can_subscription_t> low_can_j1939 = std::make_shared<low_can_subscription_t>();
903 application.set_subscription_address_claiming(low_can_j1939);
905 ret = low_can_subscription_t::open_socket(*low_can_j1939,
907 J1939_ADDR_CLAIM_PROTOCOL);
911 AFB_ERROR("Error open socket address claiming for j1939 protocol");
914 add_to_event_loop(low_can_j1939);
921 AFB_ERROR("There was something wrong with CAN device Initialization.");
926 int load_config(afb_api_t api)
929 CtlConfigT *ctlConfig;
930 const char *dirList = getenv("CONTROL_CONFIG_PATH");
931 std::string bindingDirPath = GetBindingDirPath(api);
932 std::string filepath = bindingDirPath + "/etc";
935 dirList=CONTROL_CONFIG_PATH;
937 filepath.append(":");
938 filepath.append(dirList);
939 const char *configPath = CtlConfigSearch(api, filepath.c_str(), "control");
943 AFB_ERROR_V3("CtlPreInit: No control-* config found invalid JSON %s ", filepath.c_str());
947 // create one API per file
948 ctlConfig = CtlLoadMetaData(api, configPath);
951 AFB_ERROR_V3("CtrlPreInit No valid control config file in:\n-- %s", configPath);
955 // Save the config in the api userdata field
956 afb_api_set_userdata(api, ctlConfig);
958 setExternalData(ctlConfig, (void*) &application_t::instance());
959 ret= CtlLoadSections(api, ctlConfig, ctlSections_);