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