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
  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
  40 ///******************************************************************************
  41 ///
  42 ///             SystemD event loop Callbacks
  43 ///
  44 ///*******************************************************************************/
  45
  46 void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
  47 {
  48         bool is_permanent_recurring_request = false;
  49
  50         if( ! can_subscription->get_diagnostic_message().empty() && can_subscription->get_diagnostic_message(pid) != nullptr)
  51         {
  52                 DiagnosticRequest diag_req = can_subscription->get_diagnostic_message(pid)->build_diagnostic_request();
  53                 active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
  54                 if( adr != nullptr)
  55                 {
  56                         is_permanent_recurring_request = adr->get_permanent();
  57
  58                         if(! is_permanent_recurring_request)
  59                                 application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
  60                 }
  61         }
  62
  63         if(! is_permanent_recurring_request)
  64                 on_no_clients(can_subscription, s);
  65 }
  66
  67 void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
  68 {
  69         auto it = s.find(can_subscription->get_index());
  70         s.erase(it);
  71 }
  72
  73 static void push_n_notify(std::shared_ptr<message_t> m)
  74 {
  75         can_bus_t& cbm = application_t::instance().get_can_bus_manager();
  76         {
  77                 std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
  78                 cbm.push_new_can_message(m);
  79         }
  80         cbm.get_new_can_message_cv().notify_one();
  81 }
  82
  83 int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata)
  84 {
  85         low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata;
  86
  87
  88         if ((revents & EPOLLIN) != 0)
  89         {
  90                 std::shared_ptr<utils::socketcan_t> s = can_subscription->get_socket();
  91                 std::shared_ptr<message_t> message = s->read_message();
  92
  93                 // Sure we got a valid CAN message ?
  94                 if (! message->get_id() == 0 && ! message->get_length() == 0)
  95                 {
  96                         push_n_notify(message);
  97                 }
  98         }
  99
 100         // check if error or hangup
 101         if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
 102         {
 103                 sd_event_source_unref(event_source);
 104                 can_subscription->get_socket()->close();
 105         }
 106
 107         return 0;
 108 }
 109
 110 ///******************************************************************************
 111 ///
 112 ///             Subscription and unsubscription
 113 ///
 114 ///*******************************************************************************/
 115
 116 /// @brief This will determine if an event handle needs to be created and checks if
 117 /// we got a valid afb_event to get subscribe or unsubscribe. After that launch the subscription or unsubscription
 118 /// against the application framework using that event handle.
 119 static int subscribe_unsubscribe_signal(afb_req_t request,
 120                                         bool subscribe,
 121                                         std::shared_ptr<low_can_subscription_t>& can_subscription,
 122                                         std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
 123 {
 124         int ret = 0;
 125         int sub_index = can_subscription->get_index();
 126         bool subscription_exists = s.count(sub_index);
 127
 128         // Susbcription part
 129         if(subscribe)
 130         {
 131                 /* There is no valid request to subscribe so this must be an
 132                  * internal permanent diagnostic request. Skip the subscription
 133                  * part and don't register it into the current "low-can"
 134                  * subsciptions.
 135                  */
 136                 if(! request)
 137                 {
 138                         return 0;
 139                 }
 140
 141                 // Event doesn't exist , so let's create it
 142                 if (! subscription_exists &&
 143                     (ret = can_subscription->subscribe(request)) < 0)
 144                         return ret;
 145
 146                 if(! subscription_exists)
 147                                 s[sub_index] = can_subscription;
 148
 149                 return ret;
 150         }
 151
 152         // Unsubscrition part
 153         if(! subscription_exists)
 154         {
 155                 AFB_NOTICE("There isn't any valid subscriptions for that request.");
 156                 return ret;
 157         }
 158         else if (subscription_exists &&
 159                  ! afb_event_is_valid(s[sub_index]->get_event()) )
 160         {
 161                 AFB_NOTICE("Event isn't valid, no need to unsubscribed.");
 162                 return ret;
 163         }
 164
 165         if( (ret = s[sub_index]->unsubscribe(request)) < 0)
 166                 return ret;
 167         s.erase(sub_index);
 168
 169         return ret;
 170 }
 171
 172 static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription)
 173 {
 174                 struct sd_event_source* event_source = nullptr;
 175                 return ( sd_event_add_io(afb_daemon_get_event_loop(),
 176                         &event_source,
 177                         can_subscription->get_socket()->socket(),
 178                         EPOLLIN,
 179                         read_message,
 180                         can_subscription.get()));
 181 }
 182
 183 static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request,
 184                                                      bool subscribe,
 185                                                      std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages,
 186                                                      struct event_filter_t& event_filter,
 187                                                      std::map<int, std::shared_ptr<low_can_subscription_t> >& s,
 188                                                      bool perm_rec_diag_req)
 189 {
 190         int rets = 0;
 191         application_t& app = application_t::instance();
 192         diagnostic_manager_t& diag_m = app.get_diagnostic_manager();
 193
 194         for(const auto& sig : diagnostic_messages)
 195         {
 196                 DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request());
 197                 event_filter.frequency = event_filter.frequency == 0 ? sig->get_frequency() : event_filter.frequency;
 198                 std::shared_ptr<low_can_subscription_t> can_subscription;
 199
 200                 auto it =  std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
 201                 {
 202                         return (! sub.second->get_diagnostic_message().empty());
 203                 });
 204                 can_subscription = it != s.end() ?
 205                         it->second :
 206                         std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 207                 // If the requested diagnostic message is not supported by the car then unsubcribe it
 208                 // no matter what we want, worst case will be a failed unsubscription but at least we won't
 209                 // poll a PID for nothing.
 210                 if(sig->get_supported() && subscribe)
 211                 {
 212                         if (!app.isEngineOn())
 213                                 AFB_WARNING("signal: Engine is off, %s won't received responses until it's on",  sig->get_name().c_str());
 214
 215                         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);
 216                         if(can_subscription->create_rx_filter(sig) < 0)
 217                                 {return -1;}
 218                         AFB_DEBUG("Signal: %s subscribed", sig->get_name().c_str());
 219                         if(it == s.end() && add_to_event_loop(can_subscription) < 0)
 220                         {
 221                                 diag_m.cleanup_request(
 222                                         diag_m.find_recurring_request(*diag_req), true);
 223                                 AFB_WARNING("signal: %s isn't supported. Canceling operation.",  sig->get_name().c_str());
 224                                 return -1;
 225                         }
 226                 }
 227                 else
 228                 {
 229                         if(sig->get_supported())
 230                         {AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());}
 231                         else
 232                         {
 233                                 AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
 234                                 return -1;
 235                         }
 236                 }
 237                 int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s);
 238                 if(ret < 0)
 239                         return ret;
 240
 241                 rets++;
 242         }
 243
 244         return rets;
 245 }
 246
 247 static int subscribe_unsubscribe_signals(afb_req_t request,
 248                                              bool subscribe,
 249                                              std::vector<std::shared_ptr<signal_t> > signals,
 250                                              struct event_filter_t& event_filter,
 251                                              std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
 252 {
 253         int rets = 0;
 254         for(const auto& sig: signals)
 255         {
 256                 auto it =  std::find_if(s.begin(), s.end(), [&sig, &event_filter](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
 257                 {
 258                         return sub.second->is_signal_subscription_corresponding(sig, event_filter) ;
 259                 });
 260                 std::shared_ptr<low_can_subscription_t> can_subscription;
 261                 if(it != s.end())
 262                         {can_subscription = it->second;}
 263                 else
 264                 {
 265                         can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 266                         if(can_subscription->create_rx_filter(sig) < 0)
 267                                 {return -1;}
 268                         if(add_to_event_loop(can_subscription) < 0)
 269                                 {return -1;}
 270                 }
 271
 272                 if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
 273                         {return -1;}
 274
 275                 rets++;
 276                 AFB_DEBUG("%s Signal: %s %ssubscribed", sig->get_message()->is_fd() ? "FD": "", sig->get_name().c_str(), subscribe ? "":"un");
 277         }
 278         return rets;
 279 }
 280
 281 ///
 282 /// @brief subscribe to all signals in the vector signals
 283 ///
 284 /// @param[in] afb_req request : contains original request use to subscribe or unsubscribe
 285 /// @param[in] subscribe boolean value, which chooses between a subscription operation or an unsubscription
 286 /// @param[in] signals -  struct containing vectors with signal_t and diagnostic_messages to subscribe
 287 ///
 288 /// @return Number of correctly subscribed signal
 289 ///
 290 static int subscribe_unsubscribe_signals(afb_req_t request,
 291                                          bool subscribe,
 292                                          const struct utils::signals_found& signals,
 293                                          struct event_filter_t& event_filter)
 294 {
 295         int rets = 0;
 296         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 297
 298         std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 299         std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
 300
 301         rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s, false);
 302         rets += subscribe_unsubscribe_signals(request, subscribe, signals.signals, event_filter, s);
 303
 304         return rets;
 305 }
 306
 307 static event_filter_t generate_filter(json_object* args)
 308 {
 309         event_filter_t event_filter;
 310         struct json_object  *filter, *obj;
 311
 312                 // computes the filter
 313         if (json_object_object_get_ex(args, "filter", &filter))
 314         {
 315                 if (json_object_object_get_ex(filter, "frequency", &obj)
 316                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 317                         {event_filter.frequency = (float)json_object_get_double(obj);}
 318                 if (json_object_object_get_ex(filter, "min", &obj)
 319                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 320                         {event_filter.min = (float)json_object_get_double(obj);}
 321                 if (json_object_object_get_ex(filter, "max", &obj)
 322                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 323                         {event_filter.max = (float)json_object_get_double(obj);}
 324         }
 325         return event_filter;
 326 }
 327
 328
 329 static int one_subscribe_unsubscribe_events(afb_req_t request, bool subscribe, const std::string& tag, json_object* args)
 330 {
 331         int ret = 0;
 332         struct utils::signals_found sf;
 333
 334         // subscribe or unsubscribe
 335         openxc_DynamicField search_key = build_DynamicField(tag);
 336         sf = utils::signals_manager_t::instance().find_signals(search_key);
 337         if (sf.signals.empty() && sf.diagnostic_messages.empty())
 338         {
 339                 AFB_NOTICE("No signal(s) found for %s.", tag.c_str());
 340                 ret = -1;
 341         }
 342         else
 343         {
 344                 event_filter_t event_filter = generate_filter(args);
 345                 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
 346         }
 347         return ret;
 348 }
 349
 350 static int one_subscribe_unsubscribe_id(afb_req_t request, bool subscribe, const uint32_t& id ,json_object *args)
 351 {
 352         int ret = 0;
 353         std::shared_ptr<message_definition_t> message_definition = application_t::instance().get_message_definition(id);
 354         struct utils::signals_found sf;
 355
 356         if(message_definition)
 357         {
 358                 sf.signals = message_definition->get_signals();
 359         }
 360
 361         if(sf.signals.empty())
 362         {
 363                 AFB_NOTICE("No signal(s) found for %d.", id);
 364                 ret = -1;
 365         }
 366         else
 367         {
 368                 event_filter_t event_filter = generate_filter(args);
 369                 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
 370         }
 371         return ret;
 372 }
 373
 374
 375 static int process_one_subscribe_args(afb_req_t request, bool subscribe, json_object *args)
 376 {
 377         int rc = 0, rc2=0;
 378         json_object *x = nullptr, *event = nullptr, *id = nullptr;
 379
 380
 381         // 2 cases : ID(PGN) and event
 382
 383         json_object_object_get_ex(args,"event",&event);
 384         json_bool test_id = json_object_object_get_ex(args,"id",&id);
 385         if(!test_id)
 386         {
 387                 test_id = json_object_object_get_ex(args,"pgn",&id);
 388         }
 389
 390         if(     args == NULL || (id && ((std::string)json_object_get_string(id)).compare("*") == 0))
 391         {
 392                 rc = one_subscribe_unsubscribe_events(request, subscribe, "*", args);
 393         }
 394         else
 395         {
 396                 if(event)
 397                 {
 398                         if (json_object_get_type(event) != json_type_array) // event is set before and check if it's an array
 399                         {
 400                                 rc = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(event), args);
 401                         }
 402                         else // event is set and it's not an array
 403                         {
 404                                 for (int i = 0 ; i < json_object_array_length(event); i++)
 405                                 {
 406                                         x = json_object_array_get_idx(event, i);
 407                                         rc2 = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(x), args);
 408                                         if (rc >= 0)
 409                                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 410                                 }
 411                         }
 412                 }
 413
 414                 if(id)
 415                 {
 416                         if (json_object_get_type(id) != json_type_array) // id is set before and check if it's an array
 417                         {
 418                                 rc = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(id), args);
 419                         }
 420                         else // event is set and it's not an array
 421                         {
 422                                 for (int i = 0 ; i < json_object_array_length(id); i++)
 423                                 {
 424                                         x = json_object_array_get_idx(id, i);
 425                                         rc2 = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(x), args);
 426                                         if (rc >= 0)
 427                                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 428                                 }
 429                         }
 430                 }
 431         }
 432         return rc;
 433 }
 434
 435 static void do_subscribe_unsubscribe(afb_req_t request, bool subscribe)
 436 {
 437         int rc = 0;
 438         struct json_object *args, *x;
 439
 440         args = afb_req_json(request);
 441         if (json_object_get_type(args) == json_type_array)
 442         {
 443                 for(int i = 0; i < json_object_array_length(args); i++)
 444                 {
 445                         x = json_object_array_get_idx(args, i);
 446                         rc += process_one_subscribe_args(request, subscribe, x);
 447                 }
 448         }
 449         else
 450         {
 451                 rc += process_one_subscribe_args(request, subscribe, args);
 452         }
 453
 454         if (rc >= 0)
 455                 afb_req_success(request, NULL, NULL);
 456         else
 457                 afb_req_fail(request, "error", NULL);
 458 }
 459
 460 void auth(afb_req_t request)
 461 {
 462         afb_req_session_set_LOA(request, 1);
 463         afb_req_success(request, NULL, NULL);
 464 }
 465
 466 void subscribe(afb_req_t request)
 467 {
 468         do_subscribe_unsubscribe(request, true);
 469 }
 470
 471 void unsubscribe(afb_req_t request)
 472 {
 473         do_subscribe_unsubscribe(request, false);
 474 }
 475
 476 /*
 477 static int send_frame(struct canfd_frame& cfd, const std::string& bus_name, socket_type type)
 478 {
 479         if(bus_name.empty())
 480         {
 481                 return -1;
 482         }
 483
 484         std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
 485
 486         if( cd.count(bus_name) == 0)
 487         {
 488                 cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t());
 489         }
 490
 491
 492         if(type == socket_type::BCM)
 493         {
 494                 return low_can_subscription_t::tx_send(*cd[bus_name], cfd, bus_name);
 495         }
 496         else{
 497                 return -1;
 498         }
 499 }
 500 */
 501 static int send_message(message_t *message, const std::string& bus_name, socket_type type)
 502 {
 503         if(bus_name.empty())
 504         {
 505                 return -1;
 506         }
 507
 508         std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
 509
 510         if( cd.count(bus_name) == 0)
 511         {
 512                 cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t());
 513         }
 514
 515
 516         if(type == socket_type::BCM)
 517         {
 518                 return low_can_subscription_t::tx_send(*cd[bus_name], message, bus_name);
 519         }
 520         else
 521         {
 522                 return -1;
 523         }
 524 }
 525
 526
 527 static void write_raw_frame(afb_req_t request, const std::string& bus_name, message_t *message, struct json_object *can_data, socket_type type)
 528 {
 529         if((message->get_length() <= 8 && message->get_length() > 0 && type == socket_type::BCM)
 530 #ifdef USE_FEATURE_J1939
 531         || (message->get_length() < J1939_MAX_DLEN && type == socket_type::J1939)
 532 #endif
 533         )
 534         {
 535
 536                 std::vector<uint8_t> data;
 537                 for (int i = 0 ; i < message->get_length() ; i++)
 538                 {
 539                         struct json_object *one_can_data = json_object_array_get_idx(can_data, i);
 540                         data.push_back((json_object_is_type(one_can_data, json_type_int)) ?
 541                                         (uint8_t)json_object_get_int(one_can_data) : 0);
 542                 }
 543                 message->set_data(data);
 544         }
 545         else
 546         {
 547                 if(type == socket_type::BCM)
 548                 {
 549                         afb_req_fail(request, "Invalid", "Data array must hold 1 to 8 values.");
 550                 }
 551                 else
 552                 {
 553                         afb_req_fail(request, "Invalid", "Invalid socket type");
 554                 }
 555                 return;
 556         }
 557
 558         if(! send_message(message, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name),type))
 559         {
 560                 afb_req_success(request, nullptr, "Message correctly sent");
 561         }
 562         else
 563         {
 564                 afb_req_fail(request, "Error", "sending the message. See the log for more details.");
 565         }
 566 }
 567
 568 static void write_frame(afb_req_t request, const std::string& bus_name, json_object *json_value)
 569 {
 570         message_t *message;
 571         int id;
 572         int length;
 573         struct json_object *can_data = nullptr;
 574         std::vector<uint8_t> data;
 575
 576         AFB_DEBUG("JSON content %s",json_object_get_string(json_value));
 577
 578         if(!wrap_json_unpack(json_value, "{si, si, so !}",
 579                               "can_id", &id,
 580                               "can_dlc", &length,
 581                               "can_data", &can_data))
 582         {
 583                 message = new can_message_t(CANFD_MAX_DLEN,(uint32_t)id,(uint32_t)length,message_format_t::STANDARD,false,0,data,0);
 584                 write_raw_frame(request,bus_name,message,can_data,socket_type::BCM);
 585         }
 586         else
 587         {
 588                 afb_req_fail(request, "Invalid", "Frame object malformed");
 589                 return;
 590         }
 591         delete message;
 592 }
 593
 594 static void write_signal(afb_req_t request, const std::string& name, json_object *json_value)
 595 {
 596         struct canfd_frame cfd;
 597         struct utils::signals_found sf;
 598         signal_encoder encoder = nullptr;
 599         bool send = true;
 600
 601         ::memset(&cfd, 0, sizeof(cfd));
 602
 603         openxc_DynamicField search_key = build_DynamicField(name);
 604         sf = utils::signals_manager_t::instance().find_signals(search_key);
 605         openxc_DynamicField dynafield_value = build_DynamicField(json_value);
 606
 607         if (sf.signals.empty())
 608         {
 609                 afb_req_fail_f(request, "No signal(s) found for %s. Message not sent.", name.c_str());
 610                 return;
 611         }
 612
 613         std::shared_ptr<signal_t>& sig = sf.signals[0];
 614         if(! sig->get_writable())
 615         {
 616                 afb_req_fail_f(request, "%s isn't writable. Message not sent.", sig->get_name().c_str());
 617                 return;
 618         }
 619
 620         uint64_t value = (encoder = sig->get_encoder()) ?
 621                         encoder(*sig, dynafield_value, &send) :
 622                         encoder_t::encode_DynamicField(*sig, dynafield_value, &send);
 623
 624         socket_type type = socket_type::INVALID;
 625
 626         if(sig->get_message()->is_j1939())
 627         {
 628                 type = socket_type::J1939;
 629         }
 630         else
 631         {
 632                 type = socket_type::BCM;
 633         }
 634
 635 //      cfd = encoder_t::build_frame(sig, value);
 636         message_t *message = encoder_t::build_message(sig,value);
 637
 638         if(! send_message(message, sig->get_message()->get_bus_device_name(), type) && send)
 639         {
 640                 afb_req_success(request, nullptr, "Message correctly sent");
 641         }
 642         else
 643         {
 644                 afb_req_fail(request, "Error", "Sending the message. See the log for more details.");
 645         }
 646
 647         if(sig->get_message()->is_j1939())
 648         {
 649 #ifdef USE_FEATURE_J1939
 650                 delete (j1939_message_t*) message;
 651 #endif
 652         }
 653         else
 654         {
 655                 delete (can_message_t*) message;
 656         }
 657 }
 658
 659 void write(afb_req_t request)
 660 {
 661         struct json_object* args = nullptr, *json_value = nullptr;
 662         const char *name = nullptr;
 663
 664         args = afb_req_json(request);
 665
 666         // Process about Raw CAN message on CAN bus directly
 667         if (args != NULL && ! wrap_json_unpack(args, "{ss, so !}",
 668                                                "bus_name", &name,
 669                                                "frame", &json_value))
 670                 write_frame(request, name, json_value);
 671
 672         // Search signal then encode value.
 673         else if(args != NULL &&
 674                 ! wrap_json_unpack(args, "{ss, so !}",
 675                                    "signal_name", &name,
 676                                    "signal_value", &json_value))
 677                 write_signal(request, std::string(name), json_value);
 678         else
 679                 afb_req_fail(request, "Error", "Request argument malformed");
 680 }
 681
 682 static struct json_object *get_signals_value(const std::string& name)
 683 {
 684         struct utils::signals_found sf;
 685         struct json_object *ans = nullptr;
 686
 687         openxc_DynamicField search_key = build_DynamicField(name);
 688         sf = utils::signals_manager_t::instance().find_signals(search_key);
 689
 690         if (sf.signals.empty())
 691         {
 692                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 693                 return NULL;
 694         }
 695         ans = json_object_new_array();
 696         for(const auto& sig: sf.signals)
 697         {
 698                 struct json_object *jobj = json_object_new_object();
 699                 json_object_object_add(jobj, "event", json_object_new_string(sig->get_name().c_str()));
 700                 json_object_object_add(jobj, "value", json_object_new_double(sig->get_last_value()));
 701                 json_object_array_add(ans, jobj);
 702         }
 703
 704         return ans;
 705 }
 706 void get(afb_req_t request)
 707 {
 708         int rc = 0;
 709         struct json_object* args = nullptr,
 710                 *json_name = nullptr;
 711         json_object *ans = nullptr;
 712
 713         args = afb_req_json(request);
 714
 715         // Process about Raw CAN message on CAN bus directly
 716         if (args != nullptr &&
 717                 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string) ))
 718         {
 719                 ans = get_signals_value(json_object_get_string(json_name));
 720                 if (!ans)
 721                         rc = -1;
 722         }
 723         else
 724         {
 725                 AFB_ERROR("Request argument malformed. Please use the following syntax:");
 726                 rc = -1;
 727         }
 728
 729         if (rc >= 0)
 730                 afb_req_success(request, ans, NULL);
 731         else
 732                 afb_req_fail(request, "error", NULL);
 733 }
 734
 735
 736 static struct json_object *list_can_message(const std::string& name)
 737 {
 738         struct utils::signals_found sf;
 739         struct json_object *ans = nullptr;
 740
 741         openxc_DynamicField search_key = build_DynamicField(name);
 742         sf = utils::signals_manager_t::instance().find_signals(search_key);
 743
 744         if (sf.signals.empty() && sf.diagnostic_messages.empty())
 745         {
 746                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 747                 return NULL;
 748         }
 749         ans = json_object_new_array();
 750         for(const auto& sig: sf.signals)
 751         {
 752                 json_object_array_add(ans,
 753                         json_object_new_string(sig->get_name().c_str()));
 754         }
 755         for(const auto& sig: sf.diagnostic_messages)
 756         {
 757                 json_object_array_add(ans,
 758                         json_object_new_string(sig->get_name().c_str()));
 759         }
 760
 761         return ans;
 762 }
 763
 764 void list(afb_req_t request)
 765 {
 766         int rc = 0;
 767         json_object *ans = nullptr;
 768         struct json_object* args = nullptr,
 769                 *json_name = nullptr;
 770         args = afb_req_json(request);
 771         const char *name;
 772         if ((args != nullptr) &&
 773                 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string)))
 774         {
 775                 name = json_object_get_string(json_name);
 776         }
 777         else
 778         {
 779                 name = "*";
 780         }
 781
 782         ans = list_can_message(name);
 783         if (!ans)
 784                 rc = -1;
 785
 786         if (rc >= 0)
 787         {
 788                 afb_req_success(request, ans, NULL);
 789         }
 790         else
 791         {
 792                 afb_req_fail(request, "error", NULL);
 793         }
 794 }
 795
 796 /// @brief Initialize the binding.
 797 ///
 798 /// @param[in] service Structure which represent the Application Framework Binder.
 799 ///
 800 /// @return Exit code, zero if success.
 801 int init_binding(afb_api_t api)
 802 {
 803         uint32_t ret = 1;
 804         can_bus_t& can_bus_manager = application_t::instance().get_can_bus_manager();
 805
 806         can_bus_manager.set_can_devices();
 807         can_bus_manager.start_threads();
 808         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 809
 810         /// Initialize Diagnostic manager that will handle obd2 requests.
 811         /// We pass by default the first CAN bus device to its Initialization.
 812         /// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus.
 813         if(application_t::instance().get_diagnostic_manager().initialize())
 814                 ret = 0;
 815
 816         // Add a recurring dignostic message request to get engine speed at all times.
 817         openxc_DynamicField search_key = build_DynamicField("diagnostic_messages.engine.speed");
 818         struct utils::signals_found sf = sm.find_signals(search_key);
 819
 820         if(sf.signals.empty() && sf.diagnostic_messages.size() == 1)
 821         {
 822                 afb_req_t request = nullptr;
 823
 824                 struct event_filter_t event_filter;
 825                 event_filter.frequency = sf.diagnostic_messages.front()->get_frequency();
 826
 827                 std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
 828
 829                 subscribe_unsubscribe_diagnostic_messages(request, true, sf.diagnostic_messages, event_filter, s, true);
 830         }
 831
 832         if(ret)
 833                 AFB_ERROR("There was something wrong with CAN device Initialization.");
 834
 835         return ret;
 836 }