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

   1 /*
   2  * Copyright (C) 2015, 2018 "IoT.bzh"
   3  * Author "Romain Forlot" <romain.forlot@iot.bzh>
   4  * Author "Loic Collignon" <loic.collignon@iot.bzh>
   5  *
   6  * Licensed under the Apache License, Version 2.0 (the "License");
   7  * you may not use this file except in compliance with the License.
   8  * You may obtain a copy of the License at
   9  *
  10  *       http://www.apache.org/licenses/LICENSE-2.0
  11  *
  12  * Unless required by applicable law or agreed to in writing, software
  13  * distributed under the License is distributed on an "AS IS" BASIS,
  14  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  15  * See the License for the specific language governing permissions and
  16  * limitations under the License.
  17  */
  18
  19 #include "low-can-hat.hpp"
  20 #include "low-can-apidef.h"
  21
  22 #include <map>
  23 #include <queue>
  24 #include <mutex>
  25 #include <vector>
  26 #include <thread>
  27 #include <algorithm>
  28 #include <wrap-json.h>
  29 #include <systemd/sd-event.h>
  30 #include <ctl-config.h>
  31 #include "openxc.pb.h"
  32 #include "application.hpp"
  33 #include "../can/can-encoder.hpp"
  34 #include "../can/can-bus.hpp"
  35 #include "../can/signals.hpp"
  36 #include "../can/message/message.hpp"
  37 #include "../utils/signals.hpp"
  38 #include "../diagnostic/diagnostic-message.hpp"
  39 #include "../utils/openxc-utils.hpp"
  40 #include "../utils/signals.hpp"
  41
  42 #ifdef USE_FEATURE_J1939
  43         #include "../can/message/j1939-message.hpp"
  44         #include <linux/can/j1939.h>
  45 #endif
  46
  47 ///*****************************************************************************
  48 ///
  49 ///             Controller Definitions and Callbacks
  50 ///
  51 ///****************************************************************************/
  52
  53 int config_low_can(afb_api_t apiHandle, CtlSectionT *section, json_object *json_obj)
  54 {
  55         AFB_DEBUG("Config %s", json_object_to_json_string(json_obj));
  56         CtlConfigT *ctrlConfig = (CtlConfigT *) afb_api_get_userdata(apiHandle);
  57         int active_message_set = 0;
  58         json_object *dev_mapping = nullptr;
  59         const char *diagnotic_bus = nullptr;
  60
  61         if(! ctrlConfig || ! ctrlConfig->external)
  62                 return -1;
  63
  64         application_t *application = (application_t*) ctrlConfig->external;
  65
  66         if(wrap_json_unpack(json_obj, "{si, s?s}",
  67                               "active_message_set", &active_message_set,
  68                               "diagnostic_bus", &diagnotic_bus))
  69                 return -1;
  70
  71         application->set_active_message_set((uint8_t)active_message_set);
  72
  73         if(wrap_json_unpack(json_obj, "{so}",
  74                             "dev-mapping", &dev_mapping))
  75                 return -1;
  76
  77         application->get_can_bus_manager().set_can_devices(dev_mapping);
  78
  79         /// Initialize Diagnostic manager that will handle obd2 requests.
  80         /// We pass by default the first CAN bus device to its Initialization.
  81         if(! diagnotic_bus || application_t::instance().get_diagnostic_manager().initialize(diagnotic_bus))
  82                 AFB_WARNING("Diagnostic Manager: not initialized. No diagnostic messages will be processed.");
  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         [2]={.key=nullptr , .uid=nullptr, .info=nullptr,
  97                 .loadCB=nullptr,
  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                         return 0;
 130
 131                 // Event doesn't exist , so let's create it
 132                 if ((ret = can_subscription->subscribe(request)) < 0)
 133                         return ret;
 134
 135                 if(! subscription_exists)
 136                                 s[sub_index] = can_subscription;
 137
 138                 return ret;
 139         }
 140
 141         // Unsubscrition part
 142         if(! subscription_exists)
 143         {
 144                 AFB_NOTICE("There isn't any valid subscriptions for that request.");
 145                 return ret;
 146         }
 147         else if (subscription_exists &&
 148                  ! afb_event_is_valid(s[sub_index]->get_event()) )
 149         {
 150                 AFB_NOTICE("Event isn't valid, no need to unsubscribed.");
 151                 return ret;
 152         }
 153
 154         if( (ret = s[sub_index]->unsubscribe(request)) < 0)
 155                 return ret;
 156         s.find(sub_index)->second->set_index(-1);
 157         s.erase(sub_index);
 158         return ret;
 159 }
 160
 161 static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription)
 162 {
 163                 struct sd_event_source* event_source = nullptr;
 164                 return ( sd_event_add_io(afb_daemon_get_event_loop(),
 165                         &event_source,
 166                         can_subscription->get_socket()->socket(),
 167                         EPOLLIN,
 168                         read_message,
 169                         can_subscription.get()));
 170 }
 171
 172 static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request,
 173                                                      bool subscribe,
 174                                                      list_ptr_diag_msg_t diagnostic_messages,
 175                                                      struct event_filter_t& event_filter,
 176                                                      map_subscription& s,
 177                                                      bool perm_rec_diag_req)
 178 {
 179         int rets = 0;
 180         application_t& app = application_t::instance();
 181         diagnostic_manager_t& diag_m = app.get_diagnostic_manager();
 182
 183         for(const auto& sig : diagnostic_messages)
 184         {
 185                 DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request());
 186                 event_filter.frequency = event_filter.frequency == 0 ? sig->get_frequency() : event_filter.frequency;
 187                 std::shared_ptr<low_can_subscription_t> can_subscription;
 188
 189                 auto it = std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
 190                 {
 191                         return (! sub.second->get_diagnostic_message().empty());
 192                 });
 193                 can_subscription = it != s.end() ?
 194                         it->second :
 195                         std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 196                 // If the requested diagnostic message is not supported by the car then unsubcribe it
 197                 // no matter what we want, worst case will be a failed unsubscription but at least we won't
 198                 // poll a PID for nothing.
 199                 if(sig->get_supported() && subscribe)
 200                 {
 201                         if (!app.is_engine_on())
 202                                 AFB_WARNING("signal: Engine is off, %s won't received responses until it's on",  sig->get_name().c_str());
 203
 204                         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);
 205                         if(can_subscription->create_rx_filter(sig) < 0)
 206                                 return -1;
 207                         AFB_DEBUG("Signal: %s subscribed", sig->get_name().c_str());
 208                         if(it == s.end() && add_to_event_loop(can_subscription) < 0)
 209                         {
 210                                 diag_m.cleanup_request(
 211                                         diag_m.find_recurring_request(*diag_req), true);
 212                                 AFB_WARNING("signal: %s isn't supported. Canceling operation.",  sig->get_name().c_str());
 213                                 return -1;
 214                         }
 215                 }
 216                 else
 217                 {
 218                         if(sig->get_supported())
 219                         {
 220                                 AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());
 221                         }
 222                         else
 223                         {
 224                                 AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
 225                                 return -1;
 226                         }
 227                 }
 228                 int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s);
 229                 if(ret < 0)
 230                         return ret;
 231
 232                 rets++;
 233         }
 234         return rets;
 235 }
 236
 237 static int subscribe_unsubscribe_signals(afb_req_t request,
 238                                          bool subscribe,
 239                                          list_ptr_signal_t signals,
 240                                          struct event_filter_t& event_filter,
 241                                          map_subscription& s)
 242 {
 243         int rets = 0;
 244         for(const auto& sig: signals)
 245         {
 246                 auto it =  std::find_if(s.begin(), s.end(), [&sig, &event_filter](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
 247                 {
 248                         return sub.second->is_signal_subscription_corresponding(sig, event_filter) ;
 249                 });
 250                 std::shared_ptr<low_can_subscription_t> can_subscription;
 251                 if(it != s.end())
 252                         can_subscription = it->second;
 253                 else
 254                 {
 255                         can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 256                         if(can_subscription->create_rx_filter(sig) < 0)
 257                                 return -1;
 258                         if(add_to_event_loop(can_subscription) < 0)
 259                                 return -1;
 260                 }
 261
 262                 if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
 263                         return -1;
 264
 265                 rets++;
 266                 AFB_DEBUG("%s Signal: %s %ssubscribed", sig->get_message()->is_fd() ? "FD": "", sig->get_name().c_str(), subscribe ? "":"un");
 267         }
 268         return rets;
 269 }
 270
 271 ///
 272 /// @brief subscribe to all signals in the vector signals
 273 ///
 274 /// @param[in] afb_req request : contains original request use to subscribe or unsubscribe
 275 /// @param[in] subscribe boolean value, which chooses between a subscription operation or an unsubscription
 276 /// @param[in] signals -  struct containing vectors with signal_t and diagnostic_messages to subscribe
 277 /// @param[in] event_filter - stuct containing filter on the signal
 278 ///
 279 /// @return Number of correctly subscribed signal
 280 ///
 281 static int subscribe_unsubscribe_signals(afb_req_t request,
 282                                          bool subscribe,
 283                                          const struct utils::signals_found& signals,
 284                                          struct event_filter_t& event_filter)
 285 {
 286         int rets = 0;
 287         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 288
 289         std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 290         map_subscription& s = sm.get_subscribed_signals();
 291
 292         rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s, false);
 293         rets += subscribe_unsubscribe_signals(request, subscribe, signals.signals, event_filter, s);
 294
 295         return rets;
 296 }
 297
 298 static event_filter_t generate_filter(json_object* args)
 299 {
 300         event_filter_t event_filter = {};
 301         struct json_object  *filter, *obj;
 302
 303                 // computes the filter
 304         if (json_object_object_get_ex(args, "filter", &filter))
 305         {
 306                 if (json_object_object_get_ex(filter, "frequency", &obj)
 307                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 308                         event_filter.frequency = (float)json_object_get_double(obj);
 309                 if (json_object_object_get_ex(filter, "min", &obj)
 310                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 311                         event_filter.min = (float)json_object_get_double(obj);
 312                 if (json_object_object_get_ex(filter, "max", &obj)
 313                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 314                         event_filter.max = (float)json_object_get_double(obj);
 315                 if (json_object_object_get_ex(filter, "promisc", &obj)
 316                         && (json_object_is_type(obj, json_type_boolean)))
 317                         event_filter.promisc = (bool)json_object_get_boolean(obj);
 318                 if (json_object_object_get_ex(filter, "rx_id", &obj)
 319                 && (json_object_is_type(obj, json_type_int)))
 320                         event_filter.rx_id = (canid_t) json_object_get_int(obj);
 321                 if (json_object_object_get_ex(filter, "tx_id", &obj)
 322                 && (json_object_is_type(obj, json_type_int)))
 323                         event_filter.tx_id = (canid_t) json_object_get_int(obj);
 324         }
 325         return event_filter;
 326 }
 327
 328
 329 static int one_subscribe_unsubscribe_events(afb_req_t request, bool subscribe, const std::string& tag, json_object* args)
 330 {
 331         int ret = 0;
 332         struct utils::signals_found sf;
 333
 334         // subscribe or unsubscribe
 335         openxc_DynamicField search_key = build_DynamicField(tag);
 336         sf = utils::signals_manager_t::instance().find_signals(search_key);
 337
 338
 339 #ifdef USE_FEATURE_ISOTP
 340         if(sf.signals.size() > 1)
 341         {
 342                 sf.signals.remove_if([](std::shared_ptr<signal_t> x){
 343                         bool isotp = x->get_message()->is_isotp();
 344                         if(isotp)
 345                                 AFB_NOTICE("ISO TP messages need to be subscribed one by one (rx, tx)");
 346
 347                         return isotp;
 348                 });
 349         }
 350 #endif
 351
 352         if (sf.signals.empty() && sf.diagnostic_messages.empty())
 353         {
 354                 AFB_NOTICE("No signal(s) found for %s.", tag.c_str());
 355                 ret = -1;
 356         }
 357         else
 358         {
 359                 event_filter_t event_filter = generate_filter(args);
 360                 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
 361         }
 362         return ret;
 363 }
 364
 365 static int one_subscribe_unsubscribe_id(afb_req_t request, bool subscribe, const uint32_t& id, json_object *args)
 366 {
 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                 return -1;
 377         }
 378
 379         event_filter_t event_filter = generate_filter(args);
 380         std::shared_ptr<low_can_subscription_t> can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 381         can_subscription->set_message_definition(message_definition);
 382
 383         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 384         std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 385         map_subscription& s = sm.get_subscribed_signals();
 386
 387         if(can_subscription->create_rx_filter(message_definition) < 0)
 388                 return -1;
 389         if(add_to_event_loop(can_subscription) < 0)
 390                 return -1;
 391
 392         if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
 393                 return -1;
 394
 395         return 0;
 396 }
 397
 398
 399 static int process_one_subscribe_args(afb_req_t request, bool subscribe, json_object *args)
 400 {
 401         int rc = 0, rc2=0;
 402         json_object *x = nullptr, *event = nullptr, *id = nullptr;
 403
 404
 405         // 2 cases : ID(PGN) and event
 406
 407         json_object_object_get_ex(args,"event",&event);
 408         json_object_object_get_ex(args,"id",&id) || json_object_object_get_ex(args,"pgn",&id);
 409
 410         if( args == NULL || (id && ((std::string)json_object_get_string(id)).compare("*") == 0))
 411         {
 412                 rc = one_subscribe_unsubscribe_events(request, subscribe, "*", args);
 413         }
 414         else
 415         {
 416                 if(event)
 417                 {
 418                         if (json_object_get_type(event) != json_type_array) // event is set before and check if it's an array
 419                         {
 420                                 rc = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(event), args);
 421                         }
 422                         else // event is set and it's not an array
 423                         {
 424                                 for (int i = 0 ; i < json_object_array_length(event); i++)
 425                                 {
 426                                         x = json_object_array_get_idx(event, i);
 427                                         rc2 = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(x), args);
 428                                         if (rc >= 0)
 429                                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 430                                 }
 431                         }
 432                 }
 433
 434                 if(id)
 435                 {
 436                         if (json_object_get_type(id) != json_type_array) // id is set before and check if it's an array
 437                         {
 438                                 rc = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(id), args);
 439                         }
 440                         else // event is set and it's not an array
 441                         {
 442                                 for (int i = 0 ; i < json_object_array_length(id); i++)
 443                                 {
 444                                         x = json_object_array_get_idx(id, i);
 445                                         rc2 = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(x), args);
 446                                         if (rc >= 0)
 447                                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 448                                 }
 449                         }
 450                 }
 451         }
 452         return rc;
 453 }
 454
 455 static void do_subscribe_unsubscribe(afb_req_t request, bool subscribe)
 456 {
 457         int rc = 0;
 458         struct json_object *args, *x;
 459
 460         args = afb_req_json(request);
 461         if (json_object_get_type(args) == json_type_array)
 462         {
 463                 for(int i = 0; i < json_object_array_length(args); i++)
 464                 {
 465                         x = json_object_array_get_idx(args, i);
 466                         rc += process_one_subscribe_args(request, subscribe, x);
 467                 }
 468         }
 469         else
 470         {
 471                 rc += process_one_subscribe_args(request, subscribe, args);
 472         }
 473
 474         if (rc >= 0)
 475                 afb_req_success(request, NULL, NULL);
 476         else
 477                 afb_req_fail(request, "error", NULL);
 478 }
 479
 480 void auth(afb_req_t request)
 481 {
 482         afb_req_session_set_LOA(request, 1);
 483         afb_req_success(request, NULL, NULL);
 484 }
 485
 486 void subscribe(afb_req_t request)
 487 {
 488         do_subscribe_unsubscribe(request, true);
 489 }
 490
 491 void unsubscribe(afb_req_t request)
 492 {
 493         do_subscribe_unsubscribe(request, false);
 494 }
 495
 496 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)
 497 {
 498         if(bus_name.empty())
 499                 return -1;
 500
 501         std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
 502
 503         if( cd.count(bus_name) == 0)
 504                 cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 505
 506         cd[bus_name]->set_signal(signal);
 507
 508
 509         if(flags&CAN_PROTOCOL)
 510                 return low_can_subscription_t::tx_send(*cd[bus_name], message, bus_name);
 511 #ifdef USE_FEATURE_ISOTP
 512         else if(flags&ISOTP_PROTOCOL)
 513                 return low_can_subscription_t::isotp_send(*cd[bus_name], message, bus_name);
 514 #endif
 515 #ifdef USE_FEATURE_J1939
 516         else if(flags&J1939_PROTOCOL)
 517                 return low_can_subscription_t::j1939_send(*cd[bus_name], message, bus_name);
 518 #endif
 519         else
 520                 return -1;
 521 }
 522
 523
 524 static void write_raw_frame(afb_req_t request, const std::string& bus_name, message_t *message,
 525                             struct json_object *can_data, uint32_t flags, event_filter_t &event_filter)
 526 {
 527
 528         struct utils::signals_found sf;
 529
 530         utils::signals_manager_t::instance().lookup_signals_by_id(message->get_id(), application_t::instance().get_all_signals(), sf.signals);
 531
 532         if( !sf.signals.empty() )
 533         {
 534                 AFB_DEBUG("ID WRITE RAW : %d", sf.signals.front()->get_message()->get_id());
 535                 if(flags & CAN_PROTOCOL)
 536                 {
 537                         if(sf.signals.front()->get_message()->is_fd())
 538                         {
 539                                 AFB_DEBUG("CANFD_MAX_DLEN");
 540                                 message->set_flags(CAN_PROTOCOL_WITH_FD_FRAME);
 541                                 message->set_maxdlen(CANFD_MAX_DLEN);
 542                         }
 543                         else
 544                         {
 545                                 AFB_DEBUG("CAN_MAX_DLEN");
 546                                 message->set_maxdlen(CAN_MAX_DLEN);
 547                         }
 548
 549                         if(sf.signals.front()->get_message()->is_isotp())
 550                         {
 551                                 flags = ISOTP_PROTOCOL;
 552                                 message->set_maxdlen(MAX_ISOTP_FRAMES * message->get_maxdlen());
 553                         }
 554                 }
 555
 556 #ifdef USE_FEATURE_J1939
 557                 if(flags&J1939_PROTOCOL)
 558                         message->set_maxdlen(J1939_MAX_DLEN);
 559 #endif
 560
 561                 if(message->get_length() > 0 &&
 562                    message->get_length() <= message->get_maxdlen() &&
 563                    json_object_get_type(can_data) == json_type_array)
 564                 {
 565                         std::vector<uint8_t> data;
 566                         for (int i = 0 ; i < message->get_length() ; i++)
 567                         {
 568                                 struct json_object *one_can_data = json_object_array_get_idx(can_data, i);
 569                                 data.push_back((json_object_is_type(one_can_data, json_type_int)) ?
 570                                                 (uint8_t)json_object_get_int(one_can_data) : 0);
 571                         }
 572                         message->set_data(data);
 573                 }
 574                 else
 575                 {
 576                         if(flags&CAN_PROTOCOL)
 577                                 afb_req_fail(request, "Invalid", "Frame BCM");
 578                         else if(flags&J1939_PROTOCOL)
 579                                 afb_req_fail(request, "Invalid", "Frame J1939");
 580                         else if(flags&ISOTP_PROTOCOL)
 581                                 afb_req_fail(request, "Invalid", "Frame ISOTP");
 582                         else
 583                                 afb_req_fail(request, "Invalid", "Frame");
 584
 585                         return;
 586                 }
 587
 588                 if(! send_message(message, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name), flags, event_filter, sf.signals.front()))
 589                         afb_req_success(request, nullptr, "Message correctly sent");
 590                 else
 591                         afb_req_fail(request, "Error", "sending the message. See the log for more details.");
 592         }
 593         else
 594         {
 595                 afb_req_fail(request, "Error", "no find id in signals. See the log for more details.");
 596         }
 597
 598 }
 599
 600 static void write_frame(afb_req_t request, const std::string& bus_name, json_object *json_value, event_filter_t &event_filter)
 601 {
 602         message_t *message;
 603         uint32_t id;
 604         uint32_t length;
 605         struct json_object *can_data = nullptr;
 606         std::vector<uint8_t> data;
 607
 608         AFB_DEBUG("JSON content %s", json_object_get_string(json_value));
 609
 610         if(!wrap_json_unpack(json_value, "{si, si, so !}",
 611                                   "can_id", &id,
 612                                   "can_dlc", &length,
 613                                   "can_data", &can_data))
 614         {
 615                 message = new can_message_t(0, id, length, false, 0, data, 0);
 616                 write_raw_frame(request, bus_name, message, can_data, CAN_PROTOCOL, event_filter);
 617         }
 618 #ifdef USE_FEATURE_J1939
 619         else if(!wrap_json_unpack(json_value, "{si, si, so !}",
 620                                   "pgn", &id,
 621                                   "length", &length,
 622                                   "data", &can_data))
 623         {
 624                 message = new j1939_message_t(length, data, 0, J1939_NO_NAME, (pgn_t)id, J1939_NO_ADDR);
 625                 write_raw_frame(request, bus_name, message, can_data, J1939_PROTOCOL, event_filter);
 626         }
 627 #endif
 628         else
 629         {
 630                 afb_req_fail(request, "Invalid", "Frame object malformed");
 631                 return;
 632         }
 633         delete message;
 634 }
 635
 636 static void write_signal(afb_req_t request, const std::string& name, json_object *json_value, event_filter_t &event_filter)
 637 {
 638         struct canfd_frame cfd;
 639         struct utils::signals_found sf;
 640         signal_encoder encoder = nullptr;
 641         bool send = true;
 642
 643         ::memset(&cfd, 0, sizeof(cfd));
 644
 645         openxc_DynamicField search_key = build_DynamicField(name);
 646         sf = utils::signals_manager_t::instance().find_signals(search_key);
 647         openxc_DynamicField dynafield_value = build_DynamicField(json_value);
 648
 649         if (sf.signals.empty())
 650         {
 651                 afb_req_fail_f(request, "No signal(s) found for %s. Message not sent.", name.c_str());
 652                 return;
 653         }
 654
 655         std::shared_ptr<signal_t> sig = sf.signals.front();
 656         if(! sig->get_writable())
 657         {
 658                 afb_req_fail_f(request, "%s isn't writable. Message not sent.", sig->get_name().c_str());
 659                 return;
 660         }
 661
 662         uint64_t value = (encoder = sig->get_encoder()) ?
 663                         encoder(*sig, dynafield_value, &send) :
 664                         encoder_t::encode_DynamicField(*sig, dynafield_value, &send);
 665
 666         uint32_t flags = INVALID_FLAG;
 667
 668         if(sig->get_message()->is_j1939())
 669                 flags = J1939_PROTOCOL;
 670         else if(sig->get_message()->is_isotp())
 671                 flags = ISOTP_PROTOCOL;
 672         else
 673                 flags = CAN_PROTOCOL;
 674
 675 //      cfd = encoder_t::build_frame(sig, value);
 676         message_t *message = encoder_t::build_message(sig, value, false, false);
 677
 678         if(! send_message(message, sig->get_message()->get_bus_device_name(), flags, event_filter, sig) && send)
 679                 afb_req_success(request, nullptr, "Message correctly sent");
 680         else
 681                 afb_req_fail(request, "Error", "Sending the message. See the log for more details.");
 682
 683         if(sig->get_message()->is_j1939())
 684 #ifdef USE_FEATURE_J1939
 685                 delete (j1939_message_t*) message;
 686 #else
 687                 afb_req_fail(request, "Warning", "J1939 not implemented in your kernel.");
 688 #endif
 689         else
 690                 delete (can_message_t*) message;
 691 }
 692
 693 void write(afb_req_t request)
 694 {
 695         struct json_object* args = nullptr, *json_value = nullptr, *name = nullptr;
 696         args = afb_req_json(request);
 697
 698         if(args != NULL)
 699         {
 700                 event_filter_t event_filter = generate_filter(args);
 701
 702                 if(json_object_object_get_ex(args,"bus_name",&name))
 703                 {
 704                         if(json_object_object_get_ex(args,"frame",&json_value))
 705                                 write_frame(request, (std::string)json_object_get_string(name), json_value, event_filter);
 706                         else
 707                                 afb_req_fail(request, "Error", "Request argument malformed");
 708                 }
 709                 else if(json_object_object_get_ex(args,"signal_name",&name))
 710                 {
 711                         if(json_object_object_get_ex(args,"signal_value",&json_value))
 712                                 write_signal(request, (std::string)json_object_get_string(name), json_value, event_filter);
 713                         else
 714                                 afb_req_fail(request, "Error", "Request argument malformed");
 715                 }
 716                 else
 717                 {
 718                         afb_req_fail(request, "Error", "Request argument malformed");
 719                 }
 720         }
 721         else
 722         {
 723                 afb_req_fail(request, "Error", "Request argument null");
 724         }
 725 }
 726
 727 static struct json_object *get_signals_value(const std::string& name)
 728 {
 729         struct utils::signals_found sf;
 730         struct json_object *ans = nullptr;
 731
 732         openxc_DynamicField search_key = build_DynamicField(name);
 733         sf = utils::signals_manager_t::instance().find_signals(search_key);
 734
 735         if (sf.signals.empty())
 736         {
 737                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 738                 return NULL;
 739         }
 740         ans = json_object_new_array();
 741         for(const auto& sig: sf.signals)
 742         {
 743                 struct json_object *jobj = json_object_new_object();
 744                 json_object_object_add(jobj, "event", json_object_new_string(sig->get_name().c_str()));
 745                 json_object_object_add(jobj, "value", json_object_new_double(sig->get_last_value()));
 746                 json_object_array_add(ans, jobj);
 747         }
 748
 749         return ans;
 750 }
 751
 752 static struct json_object *get_id_value(const uint32_t& id)
 753 {
 754         std::shared_ptr<message_definition_t> message_definition = application_t::instance().get_message_definition(id);
 755         struct utils::signals_found sf;
 756         struct json_object *ans = nullptr;
 757
 758         if(message_definition)
 759                 sf.signals = list_ptr_signal_t(message_definition->get_signals().begin(), message_definition->get_signals().end());
 760
 761         if(sf.signals.empty())
 762         {
 763                 AFB_WARNING("no signal(s) found for %d.", id);
 764                 return NULL;
 765         }
 766
 767         ans = json_object_new_object();
 768         struct json_object *jsignals = json_object_new_array();
 769         json_object_object_add(ans, "signals", jsignals);
 770         for(const auto& sig: sf.signals)
 771         {
 772                 struct json_object *jobj = json_object_new_object();
 773                 json_object_object_add(jobj, "name", json_object_new_string(sig->get_name().c_str()));
 774                 json_object_object_add(jobj, "value", json_object_new_double(sig->get_last_value()));
 775                 json_object_array_add(jsignals, jobj);
 776         }
 777
 778         return ans;
 779 }
 780
 781 void get(afb_req_t request)
 782 {
 783         int rc = 0;
 784         struct json_object* args = nullptr,
 785                 *json_name = nullptr;
 786         json_object *ans = nullptr;
 787
 788         args = afb_req_json(request);
 789
 790         // Process about Raw CAN message on CAN bus directly
 791         if (args != nullptr &&
 792                 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string) ))
 793         {
 794                 ans = get_signals_value(json_object_get_string(json_name));
 795                 if (!ans)
 796                         rc = -1;
 797         }
 798         else if (args != nullptr &&
 799                 (json_object_object_get_ex(args, "id", &json_name)))
 800         {
 801                 if (json_object_get_type(json_name) == json_type_string) // id is set before and check if it's an array
 802                 {
 803                         ans = get_id_value(json_object_get_int(json_name));
 804                 }
 805                 else if(json_object_get_type(json_name) == json_type_array)
 806                 {
 807                         ans = json_object_new_array();
 808                         for (int i = 0 ; i < json_object_array_length(json_name); i++)
 809                         {
 810                                 json_object *sub_ans = nullptr;
 811                                 json_object *x = json_object_array_get_idx(json_name, i);
 812                                 sub_ans = get_id_value(json_object_get_int(x));
 813                                 if(!sub_ans)
 814                                         rc = -1;
 815                                 else {
 816                                         struct json_object *jobj = json_object_new_object();
 817                                         struct json_object *jid = json_object_new_string(json_object_get_string(x));
 818                                         json_object_object_add(jobj, "id", jid);
 819                                         json_object_object_add(jobj, "data", sub_ans);
 820                                         json_object_array_add(ans, jobj);
 821                                 }
 822                         }
 823                 }
 824                 else
 825                         rc = -1;
 826                 if (!ans)
 827                         rc = -1;
 828         }
 829         else
 830         {
 831                 AFB_ERROR("Request argument malformed. Please use the following syntax:");
 832                 rc = -1;
 833         }
 834
 835         if (rc >= 0)
 836                 afb_req_success(request, ans, NULL);
 837         else
 838                 afb_req_fail(request, "error", NULL);
 839 }
 840
 841
 842 static struct json_object *list_can_message(const std::string& name)
 843 {
 844         struct utils::signals_found sf;
 845         struct json_object *ans = nullptr;
 846
 847         openxc_DynamicField search_key = build_DynamicField(name);
 848         sf = utils::signals_manager_t::instance().find_signals(search_key);
 849
 850         if (sf.signals.empty() && sf.diagnostic_messages.empty())
 851         {
 852                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 853                 return NULL;
 854         }
 855         ans = json_object_new_array();
 856         for(const auto& sig: sf.signals)
 857         {
 858                 json_object_array_add(ans,
 859                         json_object_new_string(sig->get_name().c_str()));
 860         }
 861         for(const auto& sig: sf.diagnostic_messages)
 862         {
 863                 json_object_array_add(ans,
 864                         json_object_new_string(sig->get_name().c_str()));
 865         }
 866
 867         return ans;
 868 }
 869
 870 void list(afb_req_t request)
 871 {
 872         int rc = 0;
 873         json_object *ans = nullptr;
 874         struct json_object* args = nullptr,
 875                 *json_name = nullptr;
 876         args = afb_req_json(request);
 877         const char *name;
 878         if ((args != nullptr) &&
 879                 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string)))
 880                 name = json_object_get_string(json_name);
 881         else
 882                 name = "*";
 883
 884         ans = list_can_message(name);
 885         if (!ans)
 886                 rc = -1;
 887
 888         if (rc >= 0)
 889                 afb_req_success(request, ans, NULL);
 890         else
 891                 afb_req_fail(request, "error", NULL);
 892
 893 }
 894
 895 /// @brief Initialize the binding.
 896 ///
 897 /// @param[in] service Structure which represent the Application Framework Binder.
 898 ///
 899 /// @return Exit code, zero if success.
 900 int init_binding(afb_api_t api)
 901 {
 902         int ret = 0;
 903         application_t& application = application_t::instance();
 904         can_bus_t& can_bus_manager = application.get_can_bus_manager();
 905
 906         if(application.get_message_set().empty())
 907         {
 908                 AFB_ERROR("No message_set defined");
 909                 return -1;
 910         }
 911
 912         can_bus_manager.start_threads();
 913         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 914
 915         if (application.get_diagnostic_manager().is_initialized())
 916         {
 917                 // Add a recurring dignostic message request to get engine speed at all times.
 918                 openxc_DynamicField search_key = build_DynamicField("diagnostic_messages.engine.speed");
 919                 struct utils::signals_found sf = sm.find_signals(search_key);
 920
 921                 if(sf.signals.empty() && sf.diagnostic_messages.size() == 1)
 922                 {
 923                         afb_req_t request = nullptr;
 924
 925                         struct event_filter_t event_filter;
 926                         event_filter.frequency = sf.diagnostic_messages.front()->get_frequency();
 927
 928                         map_subscription& s = sm.get_subscribed_signals();
 929
 930                         subscribe_unsubscribe_diagnostic_messages(request, true, sf.diagnostic_messages, event_filter, s, true);
 931                 }
 932         }
 933
 934 #ifdef USE_FEATURE_J1939
 935         std::string j1939_bus;
 936         vect_ptr_msg_def_t current_messages_definition = application.get_messages_definition();
 937         for(std::shared_ptr<message_definition_t> message_definition: current_messages_definition)
 938         {
 939                 if(message_definition->is_j1939())
 940                 {
 941                         if (j1939_bus == message_definition->get_bus_device_name() )
 942                                 continue;
 943                         j1939_bus = message_definition->get_bus_device_name();
 944
 945                         std::shared_ptr<low_can_subscription_t> low_can_j1939 = std::make_shared<low_can_subscription_t>();
 946                         application.set_subscription_address_claiming(low_can_j1939);
 947
 948                         ret = low_can_subscription_t::open_socket(*low_can_j1939,
 949                                                                   j1939_bus,
 950                                                                   J1939_ADDR_CLAIM_PROTOCOL);
 951
 952                         if(ret < 0)
 953                         {
 954                                 AFB_ERROR("Error open socket address claiming for j1939 protocol");
 955                                 return -1;
 956                         }
 957                         add_to_event_loop(low_can_j1939);
 958                         break;
 959                 }
 960         }
 961 #endif
 962
 963         if(ret)
 964                 AFB_ERROR("There was something wrong with CAN device Initialization.");
 965
 966         return ret;
 967 }
 968
 969 int load_config(afb_api_t api)
 970 {
 971         int ret = 0;
 972         CtlConfigT *ctlConfig;
 973         const char *dirList = getenv("CONTROL_CONFIG_PATH");
 974         std::string bindingDirPath = GetBindingDirPath(api);
 975         std::string filepath = bindingDirPath + "/etc";
 976
 977         if (!dirList)
 978                 dirList=CONTROL_CONFIG_PATH;
 979
 980         filepath.append(":");
 981         filepath.append(dirList);
 982         const char *configPath = CtlConfigSearch(api, filepath.c_str(), "control");
 983
 984         if (!configPath)
 985         {
 986                 AFB_ERROR_V3("CtlPreInit: No control-%s* config found invalid JSON %s ", GetBinderName(), filepath.c_str());
 987                 return -1;
 988         }
 989
 990         // create one API per file
 991         ctlConfig = CtlLoadMetaData(api, configPath);
 992         if (!ctlConfig)
 993         {
 994                 AFB_ERROR_V3("CtrlPreInit No valid control config file in:\n-- %s", configPath);
 995                 return -1;
 996         }
 997
 998         // Save the config in the api userdata field
 999         afb_api_set_userdata(api, ctlConfig);
1000
1001         setExternalData(ctlConfig, (void*) &application_t::instance());
1002         ret= CtlLoadSections(api, ctlConfig, ctlSections_);
1003
1004         return ret;
1005 }