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

   1 /*
   2  * Copyright (C) 2015, 2016 "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 <json-c/json.h>
  28 #include <systemd/sd-event.h>
  29
  30 #include "openxc.pb.h"
  31 #include "application.hpp"
  32 #include "../can/can-encoder.hpp"
  33 #include "../can/can-bus.hpp"
  34 #include "../can/can-signals.hpp"
  35 #include "../can/can-message.hpp"
  36 #include "../utils/signals.hpp"
  37 #include "../diagnostic/diagnostic-message.hpp"
  38 #include "../utils/openxc-utils.hpp"
  39
  40 ///******************************************************************************
  41 ///
  42 ///             SystemD event loop Callbacks
  43 ///
  44 ///*******************************************************************************/
  45
  46 void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
  47 {
  48         if( ! can_subscription->get_diagnostic_message().empty() && can_subscription->get_diagnostic_message(pid) != nullptr)
  49         {
  50                 DiagnosticRequest diag_req = can_subscription->get_diagnostic_message(pid)->build_diagnostic_request();
  51                 active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
  52                 if( adr != nullptr)
  53                         application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
  54         }
  55
  56         on_no_clients(can_subscription, s);
  57 }
  58
  59 void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
  60 {
  61         auto it = s.find(can_subscription->get_index());
  62         s.erase(it);
  63 }
  64
  65 static void push_n_notify(const can_message_t& cm)
  66 {
  67         can_bus_t& cbm = application_t::instance().get_can_bus_manager();
  68         {
  69                 std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
  70                 cbm.push_new_can_message(cm);
  71         }
  72         cbm.get_new_can_message_cv().notify_one();
  73 }
  74
  75 int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata)
  76 {
  77         low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata;
  78         if ((revents & EPOLLIN) != 0)
  79         {
  80                 can_message_t cm;
  81                 utils::socketcan_bcm_t& s = can_subscription->get_socket();
  82                 s >> cm;
  83
  84                 // Sure we got a valid CAN message ?
  85                 if(! cm.get_id() == 0 && ! cm.get_length() == 0)
  86                         {push_n_notify(cm);}
  87         }
  88
  89         // check if error or hangup
  90         if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
  91         {
  92                 sd_event_source_unref(event_source);
  93                 can_subscription->get_socket().close();
  94         }
  95         return 0;
  96 }
  97
  98 ///******************************************************************************
  99 ///
 100 ///             Subscription and unsubscription
 101 ///
 102 ///*******************************************************************************/
 103
 104 static int make_subscription_unsubscription(struct afb_req request,
 105                                                                                         std::shared_ptr<low_can_subscription_t>& can_subscription,
 106                                                                                         std::map<int, std::shared_ptr<low_can_subscription_t> >& s,
 107                                                                                         bool subscribe)
 108 {
 109         /* Make the subscription or unsubscription to the event */
 110         if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[can_subscription->get_index()]->get_event())) < 0)
 111         {
 112                 AFB_ERROR("Operation goes wrong for signal: %s", can_subscription->get_name().c_str());
 113                 return -1;
 114         }
 115         return 0;
 116 }
 117
 118 static int create_event_handle(std::shared_ptr<low_can_subscription_t>& can_subscription,
 119                                                         std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
 120 {
 121         int sub_index = can_subscription->get_index();
 122         can_subscription->set_event(afb_daemon_make_event(can_subscription->get_name().c_str()));
 123         s[sub_index] = can_subscription;
 124         if (!afb_event_is_valid(s[sub_index]->get_event()))
 125         {
 126                 AFB_ERROR("Can't create an event for %s, something goes wrong.", can_subscription->get_name().c_str());
 127                 return -1;
 128         }
 129         return 0;
 130 }
 131
 132 /// @brief Will determine if it is needed or not to create the event handle and checks it to be sure that
 133 /// we got a valid afb_event to get subscribe or unsubscribe. Then launch the subscription or unsubscription
 134 /// against the application framework using that event handle.
 135 static int subscribe_unsubscribe_signal(struct afb_req request,
 136                                                                                 bool subscribe,
 137                                                                                 std::shared_ptr<low_can_subscription_t>& can_subscription,
 138                                                                                 std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
 139 {
 140         int ret = -1;
 141         int sub_index = can_subscription->get_index();
 142
 143         if (can_subscription && s.find(sub_index) != s.end())
 144         {
 145                 if (!afb_event_is_valid(s[sub_index]->get_event()) && !subscribe)
 146                 {
 147                         AFB_NOTICE("Event isn't valid, no need to unsubscribed.");
 148                         ret = -1;
 149                 }
 150                 ret = 0;
 151         }
 152         else
 153         {
 154                 /* Event doesn't exist , so let's create it */
 155                 can_subscription->set_event({nullptr, nullptr});
 156                 s[sub_index] = can_subscription;
 157                 ret = create_event_handle(can_subscription, s);
 158         }
 159
 160         // Check whether or not the event handler has been correctly created and
 161         // make the subscription/unsubscription operation is so.
 162         if (ret < 0)
 163                 return ret;
 164         return make_subscription_unsubscription(request, can_subscription, s, subscribe);
 165 }
 166
 167 static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription)
 168 {
 169                 struct sd_event_source* event_source = nullptr;
 170                 return ( sd_event_add_io(afb_daemon_get_event_loop(),
 171                         &event_source,
 172                         can_subscription->get_socket().socket(),
 173                         EPOLLIN,
 174                         read_message,
 175                         can_subscription.get()));
 176 }
 177
 178 static int subscribe_unsubscribe_diagnostic_messages(struct afb_req request,
 179                                                                                                         bool subscribe,
 180                                                                                                         std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages,
 181                                                                                                         struct event_filter_t& event_filter,
 182                                                                                                         std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
 183 {
 184         int rets = 0;
 185         application_t& app = application_t::instance();
 186         diagnostic_manager_t& diag_m = app.get_diagnostic_manager();
 187
 188         for(const auto& sig : diagnostic_messages)
 189         {
 190                 DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request());
 191                 event_filter.frequency = std::isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency;
 192                 std::shared_ptr<low_can_subscription_t> can_subscription;
 193
 194                 auto it =  std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub){ return (! sub.second->get_diagnostic_message().empty());});
 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 isn't supported by the car then unsubcribe it
 199                 // no matter what we want, worse case will be a fail unsubscription but at least we don't
 200                 // poll a PID for nothing.
 201                 //TODO: Adding callback requesting ignition status:     diag_req, sig.c_str(), false, diagnostic_message_t::decode_obd2_response, diagnostic_message_t::check_ignition_status, frequency);
 202                 if(sig->get_supported() && subscribe)
 203                 {
 204                         diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), event_filter.frequency);
 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                         {AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());}
 220                         else
 221                         {
 222                                 AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
 223                                 return -1;
 224                         }
 225                 }
 226                 int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s);
 227                 if(ret < 0)
 228                         return ret;
 229
 230                 rets++;
 231         }
 232
 233         return rets;
 234 }
 235
 236 // TODO: Create separate subscrition object if event_filter isn't the same.
 237 static int subscribe_unsubscribe_can_signals(struct afb_req request,
 238                                                                                         bool subscribe,
 239                                                                                         std::vector<std::shared_ptr<can_signal_t> > can_signals,
 240                                                                                         struct event_filter_t& event_filter,
 241                                                                                         std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
 242 {
 243         int rets = 0;
 244         for(const auto& sig: can_signals)
 245         {
 246                 auto it =  std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub){ return sub.second->get_can_signal() == sig; });
 247                 std::shared_ptr<low_can_subscription_t> can_subscription;
 248                 if(it != s.end())
 249                 {
 250                          can_subscription = it->second;
 251                 }
 252                 else
 253                 {
 254                          can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 255                         if(can_subscription->create_rx_filter(sig) < 0)
 256                                 {return -1;}
 257                         if(add_to_event_loop(can_subscription) < 0)
 258                                 {return -1;}
 259                 }
 260
 261                 if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
 262                         {return -1;}
 263
 264                 rets++;
 265                 AFB_DEBUG("signal: %s subscribed", sig->get_name().c_str());
 266         }
 267         return rets;
 268 }
 269
 270 ///
 271 /// @brief subscribe to all signals in the vector signals
 272 ///
 273 /// @param[in] afb_req request : contain original request use to subscribe or unsubscribe
 274 /// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription
 275 /// @param[in] signals -  struct containing vectors with can_signal_t and diagnostic_messages to subscribe
 276 ///
 277 /// @return Number of correctly subscribed signal
 278 ///
 279 static int subscribe_unsubscribe_signals(struct afb_req request,
 280                                                                                 bool subscribe,
 281                                                                                 const struct utils::signals_found& signals,
 282                                                                                 struct event_filter_t& event_filter)
 283 {
 284         int rets = 0;
 285         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 286
 287         std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 288         std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
 289
 290         rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s);
 291         rets += subscribe_unsubscribe_can_signals(request, subscribe, signals.can_signals, event_filter, s);
 292
 293         return rets;
 294 }
 295
 296 static int one_subscribe_unsubscribe(struct afb_req request,
 297                                                                         bool subscribe,
 298                                                                         const std::string& tag,
 299                                                                         json_object* args)
 300 {
 301         int ret = 0;
 302         struct event_filter_t event_filter;
 303         struct json_object  *filter, *obj;
 304         struct utils::signals_found sf;
 305
 306         // computes the filter
 307         if (json_object_object_get_ex(args, "filter", &filter))
 308         {
 309                 if (json_object_object_get_ex(filter, "frequency", &obj)
 310                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 311                         {event_filter.frequency = (float)json_object_get_double(obj);}
 312                 if (json_object_object_get_ex(filter, "min", &obj)
 313                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 314                         {event_filter.min = (float)json_object_get_double(obj);}
 315                 if (json_object_object_get_ex(filter, "max", &obj)
 316                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 317                         {event_filter.max = (float)json_object_get_double(obj);}
 318         }
 319
 320         // subscribe or unsubscribe
 321         openxc_DynamicField search_key = build_DynamicField(tag);
 322         sf = utils::signals_manager_t::instance().find_signals(search_key);
 323         if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
 324         {
 325                 AFB_NOTICE("No signal(s) found for %s.", tag.c_str());
 326                 ret = -1;
 327         }
 328         else
 329                 {ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);}
 330
 331         return ret;
 332 }
 333 static int process_one_subscribe_args(struct afb_req request, bool subscribe, json_object *args)
 334 {
 335         int rc = 0, rc2=0;
 336         json_object *x = nullptr, *event = nullptr;
 337         if(args == NULL ||
 338                 !json_object_object_get_ex(args, "event", &event))
 339         {
 340                 rc = one_subscribe_unsubscribe(request, subscribe, "*", args);
 341         }
 342         else if (json_object_get_type(event) != json_type_array)
 343         {
 344                 rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), args);
 345         }
 346         else
 347         {
 348                 for (int i = 0 ; i < json_object_array_length(event); i++)
 349                 {
 350                         x = json_object_array_get_idx(event, i);
 351                         rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), args);
 352                         if (rc >= 0)
 353                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 354                 }
 355         }
 356         return rc;
 357 }
 358
 359 static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe)
 360 {
 361         int rc = 0;
 362         struct json_object *args, *x;
 363
 364         args = afb_req_json(request);
 365         if (json_object_get_type(args) == json_type_array)
 366         {
 367                 for(int i = 0; i < json_object_array_length(args); i++)
 368                 {
 369                         x = json_object_array_get_idx(args, i);
 370                         rc += process_one_subscribe_args(request, subscribe, x);
 371                 }
 372         }
 373         else
 374         {
 375                 rc += process_one_subscribe_args(request, subscribe, args);
 376         }
 377
 378         if (rc >= 0)
 379                 afb_req_success(request, NULL, NULL);
 380         else
 381                 afb_req_fail(request, "error", NULL);
 382 }
 383
 384 void auth(struct afb_req request)
 385 {
 386         afb_req_session_set_LOA(request, 1);
 387         afb_req_success(request, NULL, NULL);
 388 }
 389
 390 void subscribe(struct afb_req request)
 391 {
 392         do_subscribe_unsubscribe(request, true);
 393 }
 394
 395 void unsubscribe(struct afb_req request)
 396 {
 397         do_subscribe_unsubscribe(request, false);
 398 }
 399
 400 static int send_frame(const std::string& bus_name, const struct can_frame& cf)
 401 {
 402         std::map<std::string, std::shared_ptr<low_can_socket_t> >& cd = application_t::instance().get_can_devices();
 403
 404         if( cd.count(bus_name) == 0)
 405                 {cd[bus_name] = std::make_shared<low_can_socket_t>(low_can_socket_t());}
 406
 407         return cd[bus_name]->tx_send(cf, bus_name);
 408 }
 409
 410 static int write_raw_frame(const std::string& bus_name, uint32_t can_id, uint8_t can_dlc, struct json_object* can_data)
 411 {
 412         int rc = 0;
 413         struct can_frame cf;
 414
 415         ::memset(&cf, 0, sizeof(cf));
 416
 417         cf.can_id = can_id;
 418         cf.can_dlc = can_dlc;
 419
 420         struct json_object *x;
 421         int n = json_object_array_length(can_data);
 422         if(n <= 8)
 423         {
 424                 for (int i = 0 ; i < n ; i++)
 425                 {
 426                         x = json_object_array_get_idx(can_data, i);
 427                         cf.data[i] = json_object_get_type(x) == json_type_int ? (uint8_t)json_object_get_int(x) : 0;
 428                 }
 429         }
 430
 431         const std::string found_device = application_t::instance().get_can_bus_manager().get_can_device_name(bus_name);
 432         if( ! found_device.empty())
 433         {
 434                 rc = send_frame(found_device, cf);
 435         }
 436
 437         return rc;
 438 }
 439 static int write_signal(const std::string& name, uint64_t value)
 440 {
 441         int rc = 0;
 442         struct can_frame cf;
 443         struct utils::signals_found sf;
 444
 445         ::memset(&cf, 0, sizeof(cf));
 446
 447         openxc_DynamicField search_key = build_DynamicField(name);
 448         sf = utils::signals_manager_t::instance().find_signals(search_key);
 449
 450         if (sf.can_signals.empty())
 451         {
 452                 AFB_WARNING("No signal(s) found for %s. Message not sent.", name.c_str());
 453                 rc = -1;
 454         }
 455         else
 456         {
 457                 for(const auto& sig: sf.can_signals)
 458                 {
 459                         if(sig->get_writable())
 460                         {
 461                                 cf = encoder_t::build_frame(sig, value);
 462                                 const std::string bus_name = sig->get_message()->get_bus_device_name();
 463                                 rc = send_frame(bus_name, cf);
 464                         }
 465                         else
 466                         {
 467                                 AFB_WARNING("%s isn't writable. Message not sent.", sig->get_name().c_str());
 468                                 return -1;
 469                         }
 470                 }
 471         }
 472
 473         return rc;
 474 }
 475
 476 void write(struct afb_req request)
 477 {
 478         int rc = 0;
 479         struct json_object* args = nullptr,
 480                 *json_name = nullptr,
 481                 *json_value = nullptr;
 482
 483         args = afb_req_json(request);
 484
 485         // Process about Raw CAN message on CAN bus directly
 486         if (args != NULL &&
 487                 (json_object_object_get_ex(args, "bus_name", &json_name) && json_object_is_type(json_name, json_type_string) ) &&
 488                 (json_object_object_get_ex(args, "frame", &json_value) && json_object_is_type(json_value, json_type_object) ))
 489         {
 490                 struct json_object* json_can_id = nullptr,
 491                         *json_can_dlc = nullptr,
 492                         *json_can_data = nullptr;
 493
 494                 if( (json_object_object_get_ex(json_value, "can_id", &json_can_id) && (json_object_is_type(json_can_id, json_type_double) || json_object_is_type(json_can_id, json_type_int))) &&
 495                         (json_object_object_get_ex(json_value, "can_dlc", &json_can_dlc) && (json_object_is_type(json_can_dlc, json_type_double) || json_object_is_type(json_can_dlc, json_type_int))) &&
 496                         (json_object_object_get_ex(json_value, "can_data", &json_can_data) && json_object_is_type(json_can_data, json_type_array) ))
 497                 {
 498                         rc = write_raw_frame(json_object_get_string(json_name),
 499                                 json_object_get_int(json_can_id),
 500                                 (uint8_t)json_object_get_int(json_can_dlc),
 501                                 json_can_data);
 502                 }
 503                 else
 504                 {
 505                         AFB_ERROR("Frame object malformed (must be \n \"frame\": {\"can_id\": int, \"can_dlc\": int, \"can_data\": [ int, int , int, int ,int , int ,int ,int]}");
 506                         rc = -1;
 507                 }
 508         }
 509         // Search signal then encode value.
 510         else if(args != NULL &&
 511                 (json_object_object_get_ex(args, "signal_name", &json_name) && json_object_is_type(json_name, json_type_string)) &&
 512                 (json_object_object_get_ex(args, "signal_value", &json_value) && (json_object_is_type(json_value, json_type_double) || json_object_is_type(json_value, json_type_int))))
 513         {
 514                 rc = write_signal(json_object_get_string(json_name),
 515                         (uint64_t)json_object_get_double(json_value));
 516         }
 517         else
 518         {
 519                 AFB_ERROR("Request argument malformed. Please use the following syntax:");
 520                 rc = -1;
 521         }
 522
 523         if (rc >= 0)
 524                 afb_req_success(request, NULL, NULL);
 525         else
 526                 afb_req_fail(request, "error", NULL);
 527 }
 528
 529 static struct json_object *get_signals_value(const std::string& name)
 530 {
 531         struct utils::signals_found sf;
 532         struct json_object *ans = nullptr;
 533
 534         openxc_DynamicField search_key = build_DynamicField(name);
 535         sf = utils::signals_manager_t::instance().find_signals(search_key);
 536
 537         if (sf.can_signals.empty())
 538         {
 539                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 540                 return NULL;
 541         }
 542         ans = json_object_new_array();
 543         for(const auto& sig: sf.can_signals)
 544         {
 545                 struct json_object *jobj = json_object_new_object();
 546                 json_object_object_add(jobj, "event", json_object_new_string(sig->get_name().c_str()));
 547                 json_object_object_add(jobj, "value", json_object_new_double(sig->get_last_value()));
 548                 json_object_array_add(ans, jobj);
 549         }
 550
 551         return ans;
 552 }
 553 void get(struct afb_req request)
 554 {
 555         int rc = 0;
 556         struct json_object* args = nullptr,
 557                 *json_name = nullptr;
 558         json_object *ans = nullptr;
 559
 560         args = afb_req_json(request);
 561
 562         // Process about Raw CAN message on CAN bus directly
 563         if (args != nullptr &&
 564                 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string) ))
 565         {
 566                 ans = get_signals_value(json_object_get_string(json_name));
 567                 if (!ans)
 568                         rc = -1;
 569         }
 570         else
 571         {
 572                 AFB_ERROR("Request argument malformed. Please use the following syntax:");
 573                 rc = -1;
 574         }
 575
 576         if (rc >= 0)
 577                 afb_req_success(request, ans, NULL);
 578         else
 579                 afb_req_fail(request, "error", NULL);
 580 }
 581
 582
 583 static struct json_object *list_can_message(const std::string& name)
 584 {
 585         struct utils::signals_found sf;
 586         struct json_object *ans = nullptr;
 587
 588         openxc_DynamicField search_key = build_DynamicField(name);
 589         sf = utils::signals_manager_t::instance().find_signals(search_key);
 590
 591         if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
 592         {
 593                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 594                 return NULL;
 595         }
 596         ans = json_object_new_array();
 597         for(const auto& sig: sf.can_signals)
 598         {
 599                 json_object_array_add(ans,
 600                         json_object_new_string(sig->get_name().c_str()));
 601         }
 602         for(const auto& sig: sf.diagnostic_messages)
 603         {
 604                 json_object_array_add(ans,
 605                         json_object_new_string(sig->get_name().c_str()));
 606         }
 607
 608         return ans;
 609 }
 610
 611 void list(struct afb_req request)
 612 {
 613         int rc = 0;
 614         json_object *ans = nullptr;
 615         struct json_object* args = nullptr,
 616                 *json_name = nullptr;
 617         args = afb_req_json(request);
 618         const char *name;
 619         if ((args != nullptr) &&
 620                 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string)))
 621         {
 622                 name = json_object_get_string(json_name);
 623         }
 624         else
 625         {
 626                 name = "*";
 627         }
 628
 629         ans = list_can_message(name);
 630         if (!ans)
 631                 rc = -1;
 632
 633         if (rc >= 0)
 634                 afb_req_success(request, ans, NULL);
 635         else
 636                 afb_req_fail(request, "error", NULL);
 637 }
 638
 639 /// @brief Initialize the binding.
 640 ///
 641 /// @param[in] service Structure which represent the Application Framework Binder.
 642 ///
 643 /// @return Exit code, zero if success.
 644 int initv2()
 645 {
 646         can_bus_t& can_bus_manager = application_t::instance().get_can_bus_manager();
 647
 648         can_bus_manager.set_can_devices();
 649         can_bus_manager.start_threads();
 650
 651         /// Initialize Diagnostic manager that will handle obd2 requests.
 652         /// We pass by default the first CAN bus device to its Initialization.
 653         /// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus.
 654         if(application_t::instance().get_diagnostic_manager().initialize())
 655                 return 0;
 656
 657         AFB_ERROR("There was something wrong with CAN device Initialization.");
 658         return 1;
 659 }