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