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

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