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