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

   1 /*
   2  * Copyright (C) 2015, 2018 "IoT.bzh"
   3  * Author "Romain Forlot" <romain.forlot@iot.bzh>
   4  * Author "Loic Collignon" <loic.collignon@iot.bzh>
   5  *
   6  * Licensed under the Apache License, Version 2.0 (the "License");
   7  * you may not use this file except in compliance with the License.
   8  * You may obtain a copy of the License at
   9  *
  10  *       http://www.apache.org/licenses/LICENSE-2.0
  11  *
  12  * Unless required by applicable law or agreed to in writing, software
  13  * distributed under the License is distributed on an "AS IS" BASIS,
  14  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  15  * See the License for the specific language governing permissions and
  16  * limitations under the License.
  17  */
  18
  19 #include "low-can-hat.hpp"
  20 #include "low-can-apidef.h"
  21
  22 #include <map>
  23 #include <queue>
  24 #include <mutex>
  25 #include <vector>
  26 #include <thread>
  27 #include <algorithm>
  28 #include <wrap-json.h>
  29 #include <systemd/sd-event.h>
  30 #include <ctl-config.h>
  31 #include "openxc.pb.h"
  32 #include "application.hpp"
  33 #include "../can/can-encoder.hpp"
  34 #include "../can/can-bus.hpp"
  35 #include "../can/signals.hpp"
  36 #include "../can/message/message.hpp"
  37 #include "../utils/signals.hpp"
  38 #include "../diagnostic/diagnostic-message.hpp"
  39 #include "../utils/openxc-utils.hpp"
  40 #include "../utils/signals.hpp"
  41
  42 #ifdef USE_FEATURE_J1939
  43         #include "../can/message/j1939-message.hpp"
  44         #include <linux/can/j1939.h>
  45 #endif
  46
  47 ///*****************************************************************************
  48 ///
  49 ///             Controller Definitions and Callbacks
  50 ///
  51 ///****************************************************************************/
  52
  53 int config_low_can(afb_api_t apiHandle, CtlSectionT *section, json_object *json_obj)
  54 {
  55         AFB_DEBUG("Config %s", json_object_to_json_string(json_obj));
  56         CtlConfigT *ctrlConfig = (CtlConfigT *) afb_api_get_userdata(apiHandle);
  57         int active_message_set = 0;
  58         json_object *dev_mapping = nullptr;
  59         const char *diagnotic_bus = nullptr;
  60
  61         if(! ctrlConfig || ! ctrlConfig->external)
  62                 return -1;
  63
  64         application_t *application = (application_t*) ctrlConfig->external;
  65
  66         if(wrap_json_unpack(json_obj, "{si, ss}",
  67                               "active_message_set", &active_message_set,
  68                               "diagnostic_bus", &diagnotic_bus))
  69                 return -1;
  70
  71         application->set_active_message_set((uint8_t)active_message_set);
  72
  73         if(wrap_json_unpack(json_obj, "{so}",
  74                             "dev-mapping", &dev_mapping))
  75                 return -1;
  76
  77         application->get_can_bus_manager().set_can_devices(dev_mapping);
  78
  79         /// Initialize Diagnostic manager that will handle obd2 requests.
  80         /// We pass by default the first CAN bus device to its Initialization.
  81         if(! application_t::instance().get_diagnostic_manager().initialize(diagnotic_bus))
  82         {
  83                 AFB_ERROR("Diagnostic Manager: error at initialization");
  84                 return -1;
  85         }
  86
  87         return 0;
  88 }
  89
  90 CtlSectionT ctlSections_[] = {
  91         [0]={.key="config" , .uid="config", .info=nullptr, .prefix=nullptr,
  92                  .loadCB=config_low_can,
  93                  .handle=nullptr,
  94                  .actions=nullptr},
  95         [1]={.key="plugins" , .uid="plugins", .info=nullptr, .prefix=nullptr,
  96                 .loadCB=PluginConfig,
  97                 .handle=nullptr,
  98                 .actions=nullptr},
  99         [2]={.key=nullptr , .uid=nullptr, .info=nullptr, .prefix=nullptr,
 100                 .loadCB=PluginConfig,
 101                 .handle=nullptr,
 102                 .actions=nullptr},
 103 };
 104
 105 ///*****************************************************************************
 106 ///
 107 ///             Subscription and unsubscription
 108 ///
 109 ///****************************************************************************/
 110
 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,
 115                                         bool subscribe,
 116                                         std::shared_ptr<low_can_subscription_t>& can_subscription,
 117                                         map_subscription& s)
 118 {
 119         int ret = 0;
 120         int sub_index = can_subscription->get_index();
 121         bool subscription_exists = s.count(sub_index);
 122
 123         // Susbcription part
 124         if(subscribe)
 125         {
 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"
 129                  * subsciptions.
 130                  */
 131                 if(! request)
 132                 {
 133                         return 0;
 134                 }
 135
 136                 // Event doesn't exist , so let's create it
 137                 if ((ret = can_subscription->subscribe(request)) < 0)
 138                         return ret;
 139
 140                 if(! subscription_exists)
 141                                 s[sub_index] = can_subscription;
 142
 143                 return ret;
 144         }
 145
 146         // Unsubscrition part
 147         if(! subscription_exists)
 148         {
 149                 AFB_NOTICE("There isn't any valid subscriptions for that request.");
 150                 return ret;
 151         }
 152         else if (subscription_exists &&
 153                  ! afb_event_is_valid(s[sub_index]->get_event()) )
 154         {
 155                 AFB_NOTICE("Event isn't valid, no need to unsubscribed.");
 156                 return ret;
 157         }
 158
 159         if( (ret = s[sub_index]->unsubscribe(request)) < 0)
 160                 return ret;
 161         s.find(sub_index)->second->set_index(-1);
 162         s.erase(sub_index);
 163         return ret;
 164 }
 165
 166 static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription)
 167 {
 168                 struct sd_event_source* event_source = nullptr;
 169                 return ( sd_event_add_io(afb_daemon_get_event_loop(),
 170                         &event_source,
 171                         can_subscription->get_socket()->socket(),
 172                         EPOLLIN,
 173                         read_message,
 174                         can_subscription.get()));
 175 }
 176
 177 static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request,
 178                                                      bool subscribe,
 179                                                      list_ptr_diag_msg_t diagnostic_messages,
 180                                                      struct event_filter_t& event_filter,
 181                                                      map_subscription& s,
 182                                                      bool perm_rec_diag_req)
 183 {
 184         int rets = 0;
 185         application_t& app = application_t::instance();
 186         diagnostic_manager_t& diag_m = app.get_diagnostic_manager();
 187
 188         for(const auto& sig : diagnostic_messages)
 189         {
 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;
 193
 194                 auto it = std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
 195                 {
 196                         return (! sub.second->get_diagnostic_message().empty());
 197                 });
 198                 can_subscription = it != s.end() ?
 199                         it->second :
 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)
 205                 {
 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());
 208
 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)
 211                                 return -1;
 212                         AFB_DEBUG("Signal: %s subscribed", sig->get_name().c_str());
 213                         if(it == s.end() && add_to_event_loop(can_subscription) < 0)
 214                         {
 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());
 218                                 return -1;
 219                         }
 220                 }
 221                 else
 222                 {
 223                         if(sig->get_supported())
 224                         {
 225                                 AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());
 226                         }
 227                         else
 228                         {
 229                                 AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
 230                                 return -1;
 231                         }
 232                 }
 233                 int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s);
 234                 if(ret < 0)
 235                         return ret;
 236
 237                 rets++;
 238         }
 239         return rets;
 240 }
 241
 242 static int subscribe_unsubscribe_signals(afb_req_t request,
 243                                          bool subscribe,
 244                                          list_ptr_signal_t signals,
 245                                          struct event_filter_t& event_filter,
 246                                          map_subscription& s)
 247 {
 248         int rets = 0;
 249         for(const auto& sig: signals)
 250         {
 251                 auto it =  std::find_if(s.begin(), s.end(), [&sig, &event_filter](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
 252                 {
 253                         return sub.second->is_signal_subscription_corresponding(sig, event_filter) ;
 254                 });
 255                 std::shared_ptr<low_can_subscription_t> can_subscription;
 256                 if(it != s.end())
 257                         can_subscription = it->second;
 258                 else
 259                 {
 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)
 262                                 return -1;
 263                         if(add_to_event_loop(can_subscription) < 0)
 264                                 return -1;
 265                 }
 266
 267                 if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
 268                         return -1;
 269
 270                 rets++;
 271                 AFB_DEBUG("%s Signal: %s %ssubscribed", sig->get_message()->is_fd() ? "FD": "", sig->get_name().c_str(), subscribe ? "":"un");
 272         }
 273         return rets;
 274 }
 275
 276 ///
 277 /// @brief subscribe to all signals in the vector signals
 278 ///
 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
 283 ///
 284 /// @return Number of correctly subscribed signal
 285 ///
 286 static int subscribe_unsubscribe_signals(afb_req_t request,
 287                                          bool subscribe,
 288                                          const struct utils::signals_found& signals,
 289                                          struct event_filter_t& event_filter)
 290 {
 291         int rets = 0;
 292         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 293
 294         std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 295         map_subscription& s = sm.get_subscribed_signals();
 296
 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);
 299
 300         return rets;
 301 }
 302
 303 static event_filter_t generate_filter(json_object* args)
 304 {
 305         event_filter_t event_filter;
 306         struct json_object  *filter, *obj;
 307
 308                 // computes the filter
 309         if (json_object_object_get_ex(args, "filter", &filter))
 310         {
 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);
 326         }
 327         return event_filter;
 328 }
 329
 330
 331 static int one_subscribe_unsubscribe_events(afb_req_t request, bool subscribe, const std::string& tag, json_object* args)
 332 {
 333         int ret = 0;
 334         struct utils::signals_found sf;
 335
 336         // subscribe or unsubscribe
 337         openxc_DynamicField search_key = build_DynamicField(tag);
 338         sf = utils::signals_manager_t::instance().find_signals(search_key);
 339
 340
 341 #ifdef USE_FEATURE_ISOTP
 342         if(sf.signals.size() > 1)
 343         {
 344                 sf.signals.remove_if([](std::shared_ptr<signal_t> x){
 345                         bool isotp = x->get_message()->is_isotp();
 346                         if(isotp)
 347                                 AFB_NOTICE("ISO TP messages need to be subscribed one by one (rx, tx)");
 348
 349                         return isotp;
 350                 });
 351         }
 352 #endif
 353
 354         if (sf.signals.empty() && sf.diagnostic_messages.empty())
 355         {
 356                 AFB_NOTICE("No signal(s) found for %s.", tag.c_str());
 357                 ret = -1;
 358         }
 359         else
 360         {
 361                 event_filter_t event_filter = generate_filter(args);
 362                 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
 363         }
 364         return ret;
 365 }
 366
 367 static int one_subscribe_unsubscribe_id(afb_req_t request, bool subscribe, const uint32_t& id, json_object *args)
 368 {
 369         int ret = 0;
 370         std::shared_ptr<message_definition_t> message_definition = application_t::instance().get_message_definition(id);
 371         struct utils::signals_found sf;
 372
 373         if(message_definition)
 374                 sf.signals = list_ptr_signal_t(message_definition->get_signals().begin(), message_definition->get_signals().end());
 375
 376         if(sf.signals.empty())
 377         {
 378                 AFB_NOTICE("No signal(s) found for %d.", id);
 379                 ret = -1;
 380         }
 381         else
 382         {
 383                 event_filter_t event_filter = generate_filter(args);
 384                 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
 385         }
 386
 387         return ret;
 388 }
 389
 390
 391 static int process_one_subscribe_args(afb_req_t request, bool subscribe, json_object *args)
 392 {
 393         int rc = 0, rc2=0;
 394         json_object *x = nullptr, *event = nullptr, *id = nullptr;
 395
 396
 397         // 2 cases : ID(PGN) and event
 398
 399         json_object_object_get_ex(args,"event",&event);
 400         json_bool test_id = json_object_object_get_ex(args,"id",&id);
 401         if(!test_id)
 402                 test_id = json_object_object_get_ex(args,"pgn",&id);
 403
 404         if(     args == NULL || (id && ((std::string)json_object_get_string(id)).compare("*") == 0))
 405         {
 406                 rc = one_subscribe_unsubscribe_events(request, subscribe, "*", args);
 407         }
 408         else
 409         {
 410                 if(event)
 411                 {
 412                         if (json_object_get_type(event) != json_type_array) // event is set before and check if it's an array
 413                         {
 414                                 rc = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(event), args);
 415                         }
 416                         else // event is set and it's not an array
 417                         {
 418                                 for (int i = 0 ; i < json_object_array_length(event); i++)
 419                                 {
 420                                         x = json_object_array_get_idx(event, i);
 421                                         rc2 = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(x), args);
 422                                         if (rc >= 0)
 423                                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 424                                 }
 425                         }
 426                 }
 427
 428                 if(id)
 429                 {
 430                         if (json_object_get_type(id) != json_type_array) // id is set before and check if it's an array
 431                         {
 432                                 rc = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(id), args);
 433                         }
 434                         else // event is set and it's not an array
 435                         {
 436                                 for (int i = 0 ; i < json_object_array_length(id); i++)
 437                                 {
 438                                         x = json_object_array_get_idx(id, i);
 439                                         rc2 = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(x), args);
 440                                         if (rc >= 0)
 441                                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 442                                 }
 443                         }
 444                 }
 445         }
 446         return rc;
 447 }
 448
 449 static void do_subscribe_unsubscribe(afb_req_t request, bool subscribe)
 450 {
 451         int rc = 0;
 452         struct json_object *args, *x;
 453
 454         args = afb_req_json(request);
 455         if (json_object_get_type(args) == json_type_array)
 456         {
 457                 for(int i = 0; i < json_object_array_length(args); i++)
 458                 {
 459                         x = json_object_array_get_idx(args, i);
 460                         rc += process_one_subscribe_args(request, subscribe, x);
 461                 }
 462         }
 463         else
 464         {
 465                 rc += process_one_subscribe_args(request, subscribe, args);
 466         }
 467
 468         if (rc >= 0)
 469                 afb_req_success(request, NULL, NULL);
 470         else
 471                 afb_req_fail(request, "error", NULL);
 472 }
 473
 474 void auth(afb_req_t request)
 475 {
 476         afb_req_session_set_LOA(request, 1);
 477         afb_req_success(request, NULL, NULL);
 478 }
 479
 480 void subscribe(afb_req_t request)
 481 {
 482         do_subscribe_unsubscribe(request, true);
 483 }
 484
 485 void unsubscribe(afb_req_t request)
 486 {
 487         do_subscribe_unsubscribe(request, false);
 488 }
 489
 490 /*
 491 static int send_frame(struct canfd_frame& cfd, const std::string& bus_name, socket_type type)
 492 {
 493         if(bus_name.empty())
 494         {
 495                 return -1;
 496         }
 497
 498         std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
 499
 500         if( cd.count(bus_name) == 0)
 501         {
 502                 cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t());
 503         }
 504
 505
 506         if(type == socket_type::BCM)
 507         {
 508                 return low_can_subscription_t::tx_send(*cd[bus_name], cfd, bus_name);
 509         }
 510         else if(type == socket_type::J1939)
 511         {
 512                 return low_can_subscription_t::j1939_send(*cd[bus_name], cfd, bus_name);
 513         }
 514         else{
 515                 return -1;
 516         }
 517 }
 518 */
 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)
 520 {
 521         if(bus_name.empty())
 522                 return -1;
 523
 524         std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
 525
 526         if( cd.count(bus_name) == 0)
 527                 cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 528
 529         cd[bus_name]->set_signal(signal);
 530
 531
 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);
 537 #endif
 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);
 541 #endif
 542         else
 543                 return -1;
 544 }
 545
 546
 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)
 549 {
 550
 551         struct utils::signals_found sf;
 552
 553         utils::signals_manager_t::instance().lookup_signals_by_id(message->get_id(), application_t::instance().get_all_signals(), sf.signals);
 554
 555         if( !sf.signals.empty() )
 556         {
 557                 AFB_DEBUG("ID WRITE RAW : %d", sf.signals.front()->get_message()->get_id());
 558                 if(flags & CAN_PROTOCOL)
 559                 {
 560                         if(sf.signals.front()->get_message()->is_fd())
 561                         {
 562                                 AFB_DEBUG("CANFD_MAX_DLEN");
 563                                 message->set_flags(CAN_PROTOCOL_WITH_FD_FRAME);
 564                                 message->set_maxdlen(CANFD_MAX_DLEN);
 565                         }
 566                         else
 567                         {
 568                                 AFB_DEBUG("CAN_MAX_DLEN");
 569                                 message->set_maxdlen(CAN_MAX_DLEN);
 570                         }
 571
 572                         if(sf.signals.front()->get_message()->is_isotp())
 573                         {
 574                                 flags = ISOTP_PROTOCOL;
 575                                 message->set_maxdlen(MAX_ISOTP_FRAMES * message->get_maxdlen());
 576                         }
 577                 }
 578
 579 #ifdef USE_FEATURE_J1939
 580                 if(flags&J1939_PROTOCOL)
 581                         message->set_maxdlen(J1939_MAX_DLEN);
 582 #endif
 583
 584                 if(message->get_length() > 0 && message->get_length() <= message->get_maxdlen())
 585                 {
 586                         std::vector<uint8_t> data;
 587                         for (int i = 0 ; i < message->get_length() ; i++)
 588                         {
 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);
 592                         }
 593                         message->set_data(data);
 594                 }
 595                 else
 596                 {
 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");
 603                         else
 604                                 afb_req_fail(request, "Invalid", "Frame");
 605
 606                         return;
 607                 }
 608
 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");
 611                 else
 612                         afb_req_fail(request, "Error", "sending the message. See the log for more details.");
 613         }
 614         else
 615         {
 616                 afb_req_fail(request, "Error", "no find id in signals. See the log for more details.");
 617         }
 618
 619 }
 620
 621 static void write_frame(afb_req_t request, const std::string& bus_name, json_object *json_value, event_filter_t &event_filter)
 622 {
 623         message_t *message;
 624         uint32_t id;
 625         uint32_t length;
 626         struct json_object *can_data = nullptr;
 627         std::vector<uint8_t> data;
 628
 629         AFB_DEBUG("JSON content %s", json_object_get_string(json_value));
 630
 631         if(!wrap_json_unpack(json_value, "{si, si, so !}",
 632                                   "can_id", &id,
 633                                   "can_dlc", &length,
 634                                   "can_data", &can_data))
 635         {
 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);
 638         }
 639 #ifdef USE_FEATURE_J1939
 640         else if(!wrap_json_unpack(json_value, "{si, si, so !}",
 641                                   "pgn", &id,
 642                                   "length", &length,
 643                                   "data", &can_data))
 644         {
 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);
 647         }
 648 #endif
 649         else
 650         {
 651                 afb_req_fail(request, "Invalid", "Frame object malformed");
 652                 return;
 653         }
 654         delete message;
 655 }
 656
 657 static void write_signal(afb_req_t request, const std::string& name, json_object *json_value, event_filter_t &event_filter)
 658 {
 659         struct canfd_frame cfd;
 660         struct utils::signals_found sf;
 661         signal_encoder encoder = nullptr;
 662         bool send = true;
 663
 664         ::memset(&cfd, 0, sizeof(cfd));
 665
 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);
 669
 670         if (sf.signals.empty())
 671         {
 672                 afb_req_fail_f(request, "No signal(s) found for %s. Message not sent.", name.c_str());
 673                 return;
 674         }
 675
 676         std::shared_ptr<signal_t> sig = sf.signals.front();
 677         if(! sig->get_writable())
 678         {
 679                 afb_req_fail_f(request, "%s isn't writable. Message not sent.", sig->get_name().c_str());
 680                 return;
 681         }
 682
 683         uint64_t value = (encoder = sig->get_encoder()) ?
 684                         encoder(*sig, dynafield_value, &send) :
 685                         encoder_t::encode_DynamicField(*sig, dynafield_value, &send);
 686
 687         uint32_t flags = INVALID_FLAG;
 688
 689         if(sig->get_message()->is_j1939())
 690                 flags = J1939_PROTOCOL;
 691         else if(sig->get_message()->is_isotp())
 692                 flags = ISOTP_PROTOCOL;
 693         else
 694                 flags = CAN_PROTOCOL;
 695
 696 //      cfd = encoder_t::build_frame(sig, value);
 697         message_t *message = encoder_t::build_message(sig, value, false, false);
 698
 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");
 701         else
 702                 afb_req_fail(request, "Error", "Sending the message. See the log for more details.");
 703
 704         if(sig->get_message()->is_j1939())
 705 #ifdef USE_FEATURE_J1939
 706                 delete (j1939_message_t*) message;
 707 #else
 708                 afb_req_fail(request, "Warning", "J1939 not implemented in your kernel.");
 709 #endif
 710         else
 711                 delete (can_message_t*) message;
 712 }
 713
 714 void write(afb_req_t request)
 715 {
 716         struct json_object* args = nullptr, *json_value = nullptr, *name = nullptr;
 717         args = afb_req_json(request);
 718
 719         if(args != NULL)
 720         {
 721                 event_filter_t event_filter = generate_filter(args);
 722
 723                 if(json_object_object_get_ex(args,"bus_name",&name))
 724                 {
 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);
 727                         else
 728                                 afb_req_fail(request, "Error", "Request argument malformed");
 729                 }
 730                 else if(json_object_object_get_ex(args,"signal_name",&name))
 731                 {
 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);
 734                         else
 735                                 afb_req_fail(request, "Error", "Request argument malformed");
 736                 }
 737                 else
 738                 {
 739                         afb_req_fail(request, "Error", "Request argument malformed");
 740                 }
 741         }
 742         else
 743         {
 744                 afb_req_fail(request, "Error", "Request argument null");
 745         }
 746 }
 747
 748 static struct json_object *get_signals_value(const std::string& name)
 749 {
 750         struct utils::signals_found sf;
 751         struct json_object *ans = nullptr;
 752
 753         openxc_DynamicField search_key = build_DynamicField(name);
 754         sf = utils::signals_manager_t::instance().find_signals(search_key);
 755
 756         if (sf.signals.empty())
 757         {
 758                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 759                 return NULL;
 760         }
 761         ans = json_object_new_array();
 762         for(const auto& sig: sf.signals)
 763         {
 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);
 768         }
 769
 770         return ans;
 771 }
 772 void get(afb_req_t request)
 773 {
 774         int rc = 0;
 775         struct json_object* args = nullptr,
 776                 *json_name = nullptr;
 777         json_object *ans = nullptr;
 778
 779         args = afb_req_json(request);
 780
 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) ))
 784         {
 785                 ans = get_signals_value(json_object_get_string(json_name));
 786                 if (!ans)
 787                         rc = -1;
 788         }
 789         else
 790         {
 791                 AFB_ERROR("Request argument malformed. Please use the following syntax:");
 792                 rc = -1;
 793         }
 794
 795         if (rc >= 0)
 796                 afb_req_success(request, ans, NULL);
 797         else
 798                 afb_req_fail(request, "error", NULL);
 799 }
 800
 801
 802 static struct json_object *list_can_message(const std::string& name)
 803 {
 804         struct utils::signals_found sf;
 805         struct json_object *ans = nullptr;
 806
 807         openxc_DynamicField search_key = build_DynamicField(name);
 808         sf = utils::signals_manager_t::instance().find_signals(search_key);
 809
 810         if (sf.signals.empty() && sf.diagnostic_messages.empty())
 811         {
 812                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 813                 return NULL;
 814         }
 815         ans = json_object_new_array();
 816         for(const auto& sig: sf.signals)
 817         {
 818                 json_object_array_add(ans,
 819                         json_object_new_string(sig->get_name().c_str()));
 820         }
 821         for(const auto& sig: sf.diagnostic_messages)
 822         {
 823                 json_object_array_add(ans,
 824                         json_object_new_string(sig->get_name().c_str()));
 825         }
 826
 827         return ans;
 828 }
 829
 830 void list(afb_req_t request)
 831 {
 832         int rc = 0;
 833         json_object *ans = nullptr;
 834         struct json_object* args = nullptr,
 835                 *json_name = nullptr;
 836         args = afb_req_json(request);
 837         const char *name;
 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);
 841         else
 842                 name = "*";
 843
 844         ans = list_can_message(name);
 845         if (!ans)
 846                 rc = -1;
 847
 848         if (rc >= 0)
 849                 afb_req_success(request, ans, NULL);
 850         else
 851                 afb_req_fail(request, "error", NULL);
 852 }
 853
 854 /// @brief Initialize the binding.
 855 ///
 856 /// @param[in] service Structure which represent the Application Framework Binder.
 857 ///
 858 /// @return Exit code, zero if success.
 859 int init_binding(afb_api_t api)
 860 {
 861         int ret = 0;
 862         application_t& application = application_t::instance();
 863         can_bus_t& can_bus_manager = application.get_can_bus_manager();
 864
 865         if(application.get_message_set().empty())
 866         {
 867                 AFB_ERROR("No message_set defined");
 868                 return -1;
 869         }
 870
 871         can_bus_manager.start_threads();
 872         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 873
 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);
 877
 878         if(sf.signals.empty() && sf.diagnostic_messages.size() == 1)
 879         {
 880                 afb_req_t request = nullptr;
 881
 882                 struct event_filter_t event_filter;
 883                 event_filter.frequency = sf.diagnostic_messages.front()->get_frequency();
 884
 885                 map_subscription& s = sm.get_subscribed_signals();
 886
 887                 subscribe_unsubscribe_diagnostic_messages(request, true, sf.diagnostic_messages, event_filter, s, true);
 888         }
 889
 890
 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)
 895         {
 896                 if(message_definition->is_j1939())
 897                 {
 898                         if (j1939_bus == message_definition->get_bus_device_name() )
 899                                 continue;
 900                         j1939_bus = message_definition->get_bus_device_name();
 901
 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);
 904
 905                         ret = low_can_subscription_t::open_socket(*low_can_j1939,
 906                                                                   j1939_bus,
 907                                                                   J1939_ADDR_CLAIM_PROTOCOL);
 908
 909                         if(ret < 0)
 910                         {
 911                                 AFB_ERROR("Error open socket address claiming for j1939 protocol");
 912                                 return -1;
 913                         }
 914                         add_to_event_loop(low_can_j1939);
 915                         break;
 916                 }
 917         }
 918 #endif
 919
 920         if(ret)
 921                 AFB_ERROR("There was something wrong with CAN device Initialization.");
 922
 923         return ret;
 924 }
 925
 926 int load_config(afb_api_t api)
 927 {
 928         int ret = 0;
 929         CtlConfigT *ctlConfig;
 930         const char *dirList = getenv("CONTROL_CONFIG_PATH");
 931         std::string bindingDirPath = GetBindingDirPath(api);
 932         std::string filepath = bindingDirPath + "/etc";
 933
 934         if (!dirList)
 935                 dirList=CONTROL_CONFIG_PATH;
 936
 937         filepath.append(":");
 938         filepath.append(dirList);
 939         const char *configPath = CtlConfigSearch(api, filepath.c_str(), "control");
 940
 941         if (!configPath)
 942         {
 943                 AFB_ERROR_V3("CtlPreInit: No control-* config found invalid JSON %s ", filepath.c_str());
 944                 return -1;
 945         }
 946
 947         // create one API per file
 948         ctlConfig = CtlLoadMetaData(api, configPath);
 949         if (!ctlConfig)
 950         {
 951                 AFB_ERROR_V3("CtrlPreInit No valid control config file in:\n-- %s", configPath);
 952                 return -1;
 953         }
 954
 955         // Save the config in the api userdata field
 956         afb_api_set_userdata(api, ctlConfig);
 957
 958         setExternalData(ctlConfig, (void*) &application_t::instance());
 959         ret= CtlLoadSections(api, ctlConfig, ctlSections_);
 960
 961         return ret;
 962 }