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

   1 /*
   2  * Copyright (C) 2015, 2018 "IoT.bzh"
   3  * Author "Romain Forlot" <romain.forlot@iot.bzh>
   4  * Author "Loic Collignon" <loic.collignon@iot.bzh>
   5  *
   6  * Licensed under the Apache License, Version 2.0 (the "License");
   7  * you may not use this file except in compliance with the License.
   8  * You may obtain a copy of the License at
   9  *
  10  *       http://www.apache.org/licenses/LICENSE-2.0
  11  *
  12  * Unless required by applicable law or agreed to in writing, software
  13  * distributed under the License is distributed on an "AS IS" BASIS,
  14  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  15  * See the License for the specific language governing permissions and
  16  * limitations under the License.
  17  */
  18
  19 #include "low-can-hat.hpp"
  20 #include "low-can-apidef.h"
  21
  22 #include <map>
  23 #include <queue>
  24 #include <mutex>
  25 #include <vector>
  26 #include <thread>
  27 #include <wrap-json.h>
  28 #include <systemd/sd-event.h>
  29 #include "openxc.pb.h"
  30 #include "application.hpp"
  31 #include "../can/can-encoder.hpp"
  32 #include "../can/can-bus.hpp"
  33 #include "../can/signals.hpp"
  34 #include "../can/message/message.hpp"
  35 #include "../utils/signals.hpp"
  36 #include "../diagnostic/diagnostic-message.hpp"
  37 #include "../utils/openxc-utils.hpp"
  38 #include "../utils/signals.hpp"
  39
  40 #ifdef USE_FEATURE_J1939
  41         #include "../can/message/j1939-message.hpp"
  42         #include <linux/can/j1939.h>
  43 #endif
  44 ///******************************************************************************
  45 ///
  46 ///             SystemD event loop Callbacks
  47 ///
  48 ///*******************************************************************************/
  49
  50 void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid, map_subscription& s)
  51 {
  52         bool is_permanent_recurring_request = false;
  53
  54         if( ! can_subscription->get_diagnostic_message().empty() && can_subscription->get_diagnostic_message(pid) != nullptr)
  55         {
  56                 DiagnosticRequest diag_req = can_subscription->get_diagnostic_message(pid)->build_diagnostic_request();
  57                 active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
  58                 if( adr != nullptr)
  59                 {
  60                         is_permanent_recurring_request = adr->get_permanent();
  61
  62                         if(! is_permanent_recurring_request)
  63                                 application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
  64                 }
  65         }
  66
  67         if(! is_permanent_recurring_request)
  68                 on_no_clients(can_subscription, s);
  69 }
  70
  71 void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, map_subscription& s)
  72 {
  73         auto it = s.find(can_subscription->get_index());
  74         s.erase(it);
  75 }
  76
  77 static void push_n_notify(std::shared_ptr<message_t> m)
  78 {
  79         can_bus_t& cbm = application_t::instance().get_can_bus_manager();
  80         {
  81                 std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
  82                 cbm.push_new_can_message(m);
  83         }
  84         cbm.get_new_can_message_cv().notify_one();
  85 }
  86
  87 int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata)
  88 {
  89
  90         low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata;
  91
  92
  93         if ((revents & EPOLLIN) != 0)
  94         {
  95                 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
  96                 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
  97                 if(can_subscription->get_index() != -1)
  98                 {
  99                         std::shared_ptr<utils::socketcan_t> s = can_subscription->get_socket();
 100                         if(s->socket() && s->socket() != -1)
 101                         {
 102                                 std::shared_ptr<message_t> message = s->read_message();
 103
 104                                 // Sure we got a valid CAN message ?
 105                                 if (! message->get_id() == 0 && ! message->get_length() == 0 && !(message->get_flags()&INVALID_FLAG))
 106                                 {
 107                                         push_n_notify(message);
 108                                 }
 109                         }
 110                 }
 111         }
 112
 113         // check if error or hangup
 114         if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
 115         {
 116                 sd_event_source_unref(event_source);
 117                 can_subscription->get_socket()->close();
 118         }
 119
 120         return 0;
 121 }
 122
 123 ///******************************************************************************
 124 ///
 125 ///             Subscription and unsubscription
 126 ///
 127 ///*******************************************************************************/
 128
 129 /// @brief This will determine if an event handle needs to be created and checks if
 130 /// we got a valid afb_event to get subscribe or unsubscribe. After that launch the subscription or unsubscription
 131 /// against the application framework using that event handle.
 132 static int subscribe_unsubscribe_signal(afb_req_t request,
 133                                         bool subscribe,
 134                                         std::shared_ptr<low_can_subscription_t>& can_subscription,
 135                                         map_subscription& s)
 136 {
 137         int ret = 0;
 138         int sub_index = can_subscription->get_index();
 139         bool subscription_exists = s.count(sub_index);
 140
 141         // Susbcription part
 142         if(subscribe)
 143         {
 144                 /* There is no valid request to subscribe so this must be an
 145                  * internal permanent diagnostic request. Skip the subscription
 146                  * part and don't register it into the current "low-can"
 147                  * subsciptions.
 148                  */
 149                 if(! request)
 150                 {
 151                         return 0;
 152                 }
 153
 154                 // Event doesn't exist , so let's create it
 155                 if ((ret = can_subscription->subscribe(request)) < 0)
 156                         return ret;
 157
 158                 if(! subscription_exists)
 159                                 s[sub_index] = can_subscription;
 160
 161                 return ret;
 162         }
 163
 164         // Unsubscrition part
 165         if(! subscription_exists)
 166         {
 167                 AFB_NOTICE("There isn't any valid subscriptions for that request.");
 168                 return ret;
 169         }
 170         else if (subscription_exists &&
 171                  ! afb_event_is_valid(s[sub_index]->get_event()) )
 172         {
 173                 AFB_NOTICE("Event isn't valid, no need to unsubscribed.");
 174                 return ret;
 175         }
 176
 177         if( (ret = s[sub_index]->unsubscribe(request)) < 0)
 178                 return ret;
 179         s.find(sub_index)->second->set_index(-1);
 180         s.erase(sub_index);
 181         return ret;
 182 }
 183
 184 static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription)
 185 {
 186                 struct sd_event_source* event_source = nullptr;
 187                 return ( sd_event_add_io(afb_daemon_get_event_loop(),
 188                         &event_source,
 189                         can_subscription->get_socket()->socket(),
 190                         EPOLLIN,
 191                         read_message,
 192                         can_subscription.get()));
 193 }
 194
 195 static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request,
 196                                                          bool subscribe,
 197                                                          list_ptr_diag_msg_t diagnostic_messages,
 198                                                          struct event_filter_t& event_filter,
 199                                                          map_subscription& s,
 200                                                          bool perm_rec_diag_req)
 201 {
 202         int rets = 0;
 203         application_t& app = application_t::instance();
 204         diagnostic_manager_t& diag_m = app.get_diagnostic_manager();
 205
 206         for(const auto& sig : diagnostic_messages)
 207         {
 208                 DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request());
 209                 event_filter.frequency = event_filter.frequency == 0 ? sig->get_frequency() : event_filter.frequency;
 210                 std::shared_ptr<low_can_subscription_t> can_subscription;
 211
 212                 auto it =  std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
 213                 {
 214                         return (! sub.second->get_diagnostic_message().empty());
 215                 });
 216                 can_subscription = it != s.end() ?
 217                         it->second :
 218                         std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 219                 // If the requested diagnostic message is not supported by the car then unsubcribe it
 220                 // no matter what we want, worst case will be a failed unsubscription but at least we won't
 221                 // poll a PID for nothing.
 222                 if(sig->get_supported() && subscribe)
 223                 {
 224                         if (!app.isEngineOn())
 225                                 AFB_WARNING("signal: Engine is off, %s won't received responses until it's on",  sig->get_name().c_str());
 226
 227                         diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), event_filter.frequency, perm_rec_diag_req);
 228                         if(can_subscription->create_rx_filter(sig) < 0)
 229                                 {return -1;}
 230                         AFB_DEBUG("Signal: %s subscribed", sig->get_name().c_str());
 231                         if(it == s.end() && add_to_event_loop(can_subscription) < 0)
 232                         {
 233                                 diag_m.cleanup_request(
 234                                         diag_m.find_recurring_request(*diag_req), true);
 235                                 AFB_WARNING("signal: %s isn't supported. Canceling operation.",  sig->get_name().c_str());
 236                                 return -1;
 237                         }
 238                 }
 239                 else
 240                 {
 241                         if(sig->get_supported())
 242                         {
 243                                 AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());
 244                         }
 245                         else
 246                         {
 247                                 AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
 248                                 return -1;
 249                         }
 250                 }
 251                 int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s);
 252                 if(ret < 0)
 253                         return ret;
 254
 255                 rets++;
 256         }
 257         return rets;
 258 }
 259
 260 static int subscribe_unsubscribe_signals(afb_req_t request,
 261                                                  bool subscribe,
 262                                                  list_ptr_signal_t signals,
 263                                                  struct event_filter_t& event_filter,
 264                                                  map_subscription& s)
 265 {
 266         int rets = 0;
 267         for(const auto& sig: signals)
 268         {
 269                 auto it =  std::find_if(s.begin(), s.end(), [&sig, &event_filter](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
 270                 {
 271                         return sub.second->is_signal_subscription_corresponding(sig, event_filter) ;
 272                 });
 273                 std::shared_ptr<low_can_subscription_t> can_subscription;
 274                 if(it != s.end())
 275                         {can_subscription = it->second;}
 276                 else
 277                 {
 278                         can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 279                         if(can_subscription->create_rx_filter(sig) < 0)
 280                                 {return -1;}
 281                         if(add_to_event_loop(can_subscription) < 0)
 282                                 {return -1;}
 283                 }
 284
 285                 if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
 286                         {return -1;}
 287
 288                 rets++;
 289                 AFB_DEBUG("%s Signal: %s %ssubscribed", sig->get_message()->is_fd() ? "FD": "", sig->get_name().c_str(), subscribe ? "":"un");
 290         }
 291         return rets;
 292 }
 293
 294 ///
 295 /// @brief subscribe to all signals in the vector signals
 296 ///
 297 /// @param[in] afb_req request : contains original request use to subscribe or unsubscribe
 298 /// @param[in] subscribe boolean value, which chooses between a subscription operation or an unsubscription
 299 /// @param[in] signals -  struct containing vectors with signal_t and diagnostic_messages to subscribe
 300 /// @param[in] event_filter - stuct containing filter on the signal
 301 ///
 302 /// @return Number of correctly subscribed signal
 303 ///
 304 static int subscribe_unsubscribe_signals(afb_req_t request,
 305                                          bool subscribe,
 306                                          const struct utils::signals_found& signals,
 307                                          struct event_filter_t& event_filter)
 308 {
 309         int rets = 0;
 310         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 311
 312         std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 313         map_subscription& s = sm.get_subscribed_signals();
 314
 315         rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s, false);
 316         rets += subscribe_unsubscribe_signals(request, subscribe, signals.signals, event_filter, s);
 317
 318         return rets;
 319 }
 320
 321 static event_filter_t generate_filter(json_object* args)
 322 {
 323         event_filter_t event_filter;
 324         struct json_object  *filter, *obj;
 325
 326                 // computes the filter
 327         if (json_object_object_get_ex(args, "filter", &filter))
 328         {
 329                 if (json_object_object_get_ex(filter, "frequency", &obj)
 330                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 331                         {event_filter.frequency = (float)json_object_get_double(obj);}
 332                 if (json_object_object_get_ex(filter, "min", &obj)
 333                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 334                         {event_filter.min = (float)json_object_get_double(obj);}
 335                 if (json_object_object_get_ex(filter, "max", &obj)
 336                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 337                         {event_filter.max = (float)json_object_get_double(obj);}
 338                 if (json_object_object_get_ex(filter, "rx_id", &obj)
 339                 && (json_object_is_type(obj, json_type_int)))
 340                         {event_filter.rx_id = (canid_t) json_object_get_int(obj);}
 341                 if (json_object_object_get_ex(filter, "tx_id", &obj)
 342                 && (json_object_is_type(obj, json_type_int)))
 343                         {event_filter.tx_id = (canid_t) json_object_get_int(obj);}
 344         }
 345         return event_filter;
 346 }
 347
 348
 349 static int one_subscribe_unsubscribe_events(afb_req_t request, bool subscribe, const std::string& tag, json_object* args)
 350 {
 351         int ret = 0;
 352         struct utils::signals_found sf;
 353
 354         // subscribe or unsubscribe
 355         openxc_DynamicField search_key = build_DynamicField(tag);
 356         sf = utils::signals_manager_t::instance().find_signals(search_key);
 357
 358
 359 #ifdef USE_FEATURE_ISOTP
 360         if(sf.signals.size() > 1)
 361         {
 362                 sf.signals.remove_if([](std::shared_ptr<signal_t> x){
 363                         bool isotp = x->get_message()->is_isotp();
 364                         if(isotp)
 365                         {
 366                                 AFB_NOTICE("ISO TP messages need to be subscribed one by one (rx, tx)");
 367                         }
 368                         return isotp;
 369                 });
 370         }
 371 #endif
 372
 373         if (sf.signals.empty() && sf.diagnostic_messages.empty())
 374         {
 375                 AFB_NOTICE("No signal(s) found for %s.", tag.c_str());
 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         return ret;
 384 }
 385
 386 static int one_subscribe_unsubscribe_id(afb_req_t request, bool subscribe, const uint32_t& id ,json_object *args)
 387 {
 388         int ret = 0;
 389         std::shared_ptr<message_definition_t> message_definition = application_t::instance().get_message_definition(id);
 390         struct utils::signals_found sf;
 391
 392         if(message_definition)
 393         {
 394                 sf.signals = list_ptr_signal_t(message_definition->get_signals().begin(),message_definition->get_signals().end());
 395         }
 396
 397         if(sf.signals.empty())
 398         {
 399                 AFB_NOTICE("No signal(s) found for %d.", id);
 400                 ret = -1;
 401         }
 402         else
 403         {
 404                 event_filter_t event_filter = generate_filter(args);
 405                 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
 406         }
 407         return ret;
 408 }
 409
 410
 411 static int process_one_subscribe_args(afb_req_t request, bool subscribe, json_object *args)
 412 {
 413         int rc = 0, rc2=0;
 414         json_object *x = nullptr, *event = nullptr, *id = nullptr;
 415
 416
 417         // 2 cases : ID(PGN) and event
 418
 419         json_object_object_get_ex(args,"event",&event);
 420         json_bool test_id = json_object_object_get_ex(args,"id",&id);
 421         if(!test_id)
 422         {
 423                 test_id = json_object_object_get_ex(args,"pgn",&id);
 424         }
 425
 426         if(     args == NULL || (id && ((std::string)json_object_get_string(id)).compare("*") == 0))
 427         {
 428                 rc = one_subscribe_unsubscribe_events(request, subscribe, "*", args);
 429         }
 430         else
 431         {
 432                 if(event)
 433                 {
 434                         if (json_object_get_type(event) != json_type_array) // event is set before and check if it's an array
 435                         {
 436                                 rc = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(event), args);
 437                         }
 438                         else // event is set and it's not an array
 439                         {
 440                                 for (int i = 0 ; i < json_object_array_length(event); i++)
 441                                 {
 442                                         x = json_object_array_get_idx(event, i);
 443                                         rc2 = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(x), args);
 444                                         if (rc >= 0)
 445                                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 446                                 }
 447                         }
 448                 }
 449
 450                 if(id)
 451                 {
 452                         if (json_object_get_type(id) != json_type_array) // id is set before and check if it's an array
 453                         {
 454                                 rc = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(id), args);
 455                         }
 456                         else // event is set and it's not an array
 457                         {
 458                                 for (int i = 0 ; i < json_object_array_length(id); i++)
 459                                 {
 460                                         x = json_object_array_get_idx(id, i);
 461                                         rc2 = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(x), args);
 462                                         if (rc >= 0)
 463                                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 464                                 }
 465                         }
 466                 }
 467         }
 468         return rc;
 469 }
 470
 471 static void do_subscribe_unsubscribe(afb_req_t request, bool subscribe)
 472 {
 473         int rc = 0;
 474         struct json_object *args, *x;
 475
 476         args = afb_req_json(request);
 477         if (json_object_get_type(args) == json_type_array)
 478         {
 479                 for(int i = 0; i < json_object_array_length(args); i++)
 480                 {
 481                         x = json_object_array_get_idx(args, i);
 482                         rc += process_one_subscribe_args(request, subscribe, x);
 483                 }
 484         }
 485         else
 486         {
 487                 rc += process_one_subscribe_args(request, subscribe, args);
 488         }
 489
 490         if (rc >= 0)
 491                 afb_req_success(request, NULL, NULL);
 492         else
 493                 afb_req_fail(request, "error", NULL);
 494 }
 495
 496 void auth(afb_req_t request)
 497 {
 498         afb_req_session_set_LOA(request, 1);
 499         afb_req_success(request, NULL, NULL);
 500 }
 501
 502 void subscribe(afb_req_t request)
 503 {
 504         do_subscribe_unsubscribe(request, true);
 505 }
 506
 507 void unsubscribe(afb_req_t request)
 508 {
 509         do_subscribe_unsubscribe(request, false);
 510 }
 511
 512 /*
 513 static int send_frame(struct canfd_frame& cfd, const std::string& bus_name, socket_type type)
 514 {
 515         if(bus_name.empty())
 516         {
 517                 return -1;
 518         }
 519
 520         std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
 521
 522         if( cd.count(bus_name) == 0)
 523         {
 524                 cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t());
 525         }
 526
 527
 528         if(type == socket_type::BCM)
 529         {
 530                 return low_can_subscription_t::tx_send(*cd[bus_name], cfd, bus_name);
 531         }
 532         else if(type == socket_type::J1939)
 533         {
 534                 return low_can_subscription_t::j1939_send(*cd[bus_name], cfd, bus_name);
 535         }
 536         else{
 537                 return -1;
 538         }
 539 }
 540 */
 541 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)
 542 {
 543         if(bus_name.empty())
 544         {
 545                 return -1;
 546         }
 547
 548         std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
 549
 550         if( cd.count(bus_name) == 0)
 551         {
 552                 cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 553         }
 554
 555         cd[bus_name]->set_signal(signal);
 556
 557
 558         if(flags&BCM_PROTOCOL)
 559         {
 560                 return low_can_subscription_t::tx_send(*cd[bus_name], message, bus_name);
 561         }
 562 #ifdef USE_FEATURE_ISOTP
 563         else if(flags&ISOTP_PROTOCOL)
 564         {
 565                 return low_can_subscription_t::isotp_send(*cd[bus_name], message, bus_name);
 566         }
 567 #endif
 568 #ifdef USE_FEATURE_J1939
 569         else if(flags&J1939_PROTOCOL)
 570         {
 571                 return low_can_subscription_t::j1939_send(*cd[bus_name], message, bus_name);
 572         }
 573 #endif
 574         else
 575         {
 576                 return -1;
 577         }
 578 }
 579
 580
 581 static void write_raw_frame(afb_req_t request, const std::string& bus_name, message_t *message,
 582                                                         struct json_object *can_data, uint32_t flags, event_filter_t &event_filter)
 583 {
 584
 585         struct utils::signals_found sf;
 586
 587         utils::signals_manager_t::instance().lookup_signals_by_id(message->get_id(), application_t::instance().get_all_signals(), sf.signals);
 588
 589         if( !sf.signals.empty() )
 590         {
 591                 AFB_DEBUG("ID WRITE RAW : %d",sf.signals.front()->get_message()->get_id());
 592                 if(flags&BCM_PROTOCOL)
 593                 {
 594                         if(sf.signals.front()->get_message()->is_fd())
 595                         {
 596                                 AFB_DEBUG("CANFD_MAX_DLEN");
 597                                 message->set_flags(CAN_FD_FRAME);
 598                                 message->set_maxdlen(CANFD_MAX_DLEN);
 599                         }
 600                         else
 601                         {
 602                                 AFB_DEBUG("CAN_MAX_DLEN");
 603                                 message->set_maxdlen(CAN_MAX_DLEN);
 604                         }
 605
 606                         if(sf.signals.front()->get_message()->is_isotp())
 607                         {
 608                                 flags = ISOTP_PROTOCOL;
 609                                 message->set_maxdlen(MAX_ISOTP_FRAMES * message->get_maxdlen());
 610                         }
 611                 }
 612
 613 #ifdef USE_FEATURE_J1939
 614                 if(flags&J1939_PROTOCOL)
 615                 {
 616                         message->set_maxdlen(J1939_MAX_DLEN);
 617                 }
 618 #endif
 619
 620                 if(message->get_length() > 0 && message->get_length() <= message->get_maxdlen())
 621                 {
 622                         std::vector<uint8_t> data;
 623                         for (int i = 0 ; i < message->get_length() ; i++)
 624                         {
 625                                 struct json_object *one_can_data = json_object_array_get_idx(can_data, i);
 626                                 data.push_back((json_object_is_type(one_can_data, json_type_int)) ?
 627                                                 (uint8_t)json_object_get_int(one_can_data) : 0);
 628                         }
 629                         message->set_data(data);
 630                 }
 631                 else
 632                 {
 633                         if(flags&BCM_PROTOCOL)
 634                         {
 635                                 afb_req_fail(request, "Invalid", "Frame BCM");
 636                         }
 637                         else if(flags&J1939_PROTOCOL)
 638                         {
 639                                 afb_req_fail(request, "Invalid", "Frame J1939");
 640                         }
 641                         else if(flags&ISOTP_PROTOCOL)
 642                         {
 643                                 afb_req_fail(request, "Invalid", "Frame ISOTP");
 644                         }
 645                         else
 646                         {
 647                                 afb_req_fail(request, "Invalid", "Frame");
 648                         }
 649                         return;
 650                 }
 651
 652                 if(! send_message(message, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name), flags, event_filter, sf.signals.front()))
 653                 {
 654                         afb_req_success(request, nullptr, "Message correctly sent");
 655                 }
 656                 else
 657                 {
 658                         afb_req_fail(request, "Error", "sending the message. See the log for more details.");
 659                 }
 660         }
 661         else
 662         {
 663                 afb_req_fail(request, "Error", "no find id in signals. See the log for more details.");
 664         }
 665
 666 }
 667
 668 static void write_frame(afb_req_t request, const std::string& bus_name, json_object *json_value, event_filter_t &event_filter)
 669 {
 670         message_t *message;
 671         int id;
 672         int length;
 673         struct json_object *can_data = nullptr;
 674         std::vector<uint8_t> data;
 675
 676         AFB_DEBUG("JSON content %s",json_object_get_string(json_value));
 677
 678         if(!wrap_json_unpack(json_value, "{si, si, so !}",
 679                                   "can_id", &id,
 680                                   "can_dlc", &length,
 681                                   "can_data", &can_data))
 682         {
 683                 message = new can_message_t(0,(uint32_t)id,(uint32_t)length,false,0,data,0);
 684                 write_raw_frame(request,bus_name,message,can_data,BCM_PROTOCOL,event_filter);
 685         }
 686 #ifdef USE_FEATURE_J1939
 687         else if(!wrap_json_unpack(json_value, "{si, si, so !}",
 688                                   "pgn", &id,
 689                                   "length", &length,
 690                                   "data", &can_data))
 691         {
 692                 message = new j1939_message_t((uint32_t)length,data,0,J1939_NO_NAME,(pgn_t)id,J1939_NO_ADDR);
 693                 write_raw_frame(request,bus_name,message,can_data,J1939_PROTOCOL, event_filter);
 694         }
 695 #endif
 696         else
 697         {
 698                 afb_req_fail(request, "Invalid", "Frame object malformed");
 699                 return;
 700         }
 701         delete message;
 702 }
 703
 704 static void write_signal(afb_req_t request, const std::string& name, json_object *json_value, event_filter_t &event_filter)
 705 {
 706         struct canfd_frame cfd;
 707         struct utils::signals_found sf;
 708         signal_encoder encoder = nullptr;
 709         bool send = true;
 710
 711         ::memset(&cfd, 0, sizeof(cfd));
 712
 713         openxc_DynamicField search_key = build_DynamicField(name);
 714         sf = utils::signals_manager_t::instance().find_signals(search_key);
 715         openxc_DynamicField dynafield_value = build_DynamicField(json_value);
 716
 717         if (sf.signals.empty())
 718         {
 719                 afb_req_fail_f(request, "No signal(s) found for %s. Message not sent.", name.c_str());
 720                 return;
 721         }
 722
 723         std::shared_ptr<signal_t> sig = sf.signals.front();
 724         if(! sig->get_writable())
 725         {
 726                 afb_req_fail_f(request, "%s isn't writable. Message not sent.", sig->get_name().c_str());
 727                 return;
 728         }
 729
 730         uint64_t value = (encoder = sig->get_encoder()) ?
 731                         encoder(*sig, dynafield_value, &send) :
 732                         encoder_t::encode_DynamicField(*sig, dynafield_value, &send);
 733
 734         uint32_t flags = INVALID_FLAG;
 735
 736         if(sig->get_message()->is_j1939())
 737         {
 738                 flags = J1939_PROTOCOL;
 739         }
 740         else if(sig->get_message()->is_isotp())
 741         {
 742                 flags = ISOTP_PROTOCOL;
 743         }
 744         else
 745         {
 746                 flags = BCM_PROTOCOL;
 747         }
 748
 749 //      cfd = encoder_t::build_frame(sig, value);
 750         message_t *message = encoder_t::build_message(sig,value,false,false);
 751
 752         if(! send_message(message, sig->get_message()->get_bus_device_name(), flags, event_filter, sig) && send)
 753         {
 754                 afb_req_success(request, nullptr, "Message correctly sent");
 755         }
 756         else
 757         {
 758                 afb_req_fail(request, "Error", "Sending the message. See the log for more details.");
 759         }
 760
 761         if(sig->get_message()->is_j1939())
 762         {
 763 #ifdef USE_FEATURE_J1939
 764                 delete (j1939_message_t*) message;
 765 #endif
 766         }
 767         else
 768         {
 769                 delete (can_message_t*) message;
 770         }
 771 }
 772
 773 void write(afb_req_t request)
 774 {
 775         struct json_object* args = nullptr, *json_value = nullptr, *name = nullptr;
 776         args = afb_req_json(request);
 777
 778         if(args != NULL)
 779         {
 780                 event_filter_t event_filter = generate_filter(args);
 781
 782                 if(json_object_object_get_ex(args,"bus_name",&name))
 783                 {
 784                         if(json_object_object_get_ex(args,"frame",&json_value))
 785                         {
 786                                 write_frame(request, (std::string)json_object_get_string(name), json_value, event_filter);
 787                         }
 788                         else
 789                         {
 790                                 afb_req_fail(request, "Error", "Request argument malformed");
 791                         }
 792                 }
 793                 else if(json_object_object_get_ex(args,"signal_name",&name))
 794                 {
 795                         if(json_object_object_get_ex(args,"signal_value",&json_value))
 796                         {
 797                                 write_signal(request, (std::string)json_object_get_string(name), json_value, event_filter);
 798                         }
 799                         else
 800                         {
 801                                 afb_req_fail(request, "Error", "Request argument malformed");
 802                         }
 803                 }
 804                 else {
 805                         afb_req_fail(request, "Error", "Request argument malformed");
 806                 }
 807         }
 808         else
 809         {
 810                 afb_req_fail(request, "Error", "Request argument null");
 811         }
 812 }
 813
 814 static struct json_object *get_signals_value(const std::string& name)
 815 {
 816         struct utils::signals_found sf;
 817         struct json_object *ans = nullptr;
 818
 819         openxc_DynamicField search_key = build_DynamicField(name);
 820         sf = utils::signals_manager_t::instance().find_signals(search_key);
 821
 822         if (sf.signals.empty())
 823         {
 824                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 825                 return NULL;
 826         }
 827         ans = json_object_new_array();
 828         for(const auto& sig: sf.signals)
 829         {
 830                 struct json_object *jobj = json_object_new_object();
 831                 json_object_object_add(jobj, "event", json_object_new_string(sig->get_name().c_str()));
 832                 json_object_object_add(jobj, "value", json_object_new_double(sig->get_last_value()));
 833                 json_object_array_add(ans, jobj);
 834         }
 835
 836         return ans;
 837 }
 838 void get(afb_req_t request)
 839 {
 840         int rc = 0;
 841         struct json_object* args = nullptr,
 842                 *json_name = nullptr;
 843         json_object *ans = nullptr;
 844
 845         args = afb_req_json(request);
 846
 847         // Process about Raw CAN message on CAN bus directly
 848         if (args != nullptr &&
 849                 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string) ))
 850         {
 851                 ans = get_signals_value(json_object_get_string(json_name));
 852                 if (!ans)
 853                         rc = -1;
 854         }
 855         else
 856         {
 857                 AFB_ERROR("Request argument malformed. Please use the following syntax:");
 858                 rc = -1;
 859         }
 860
 861         if (rc >= 0)
 862                 afb_req_success(request, ans, NULL);
 863         else
 864                 afb_req_fail(request, "error", NULL);
 865 }
 866
 867
 868 static struct json_object *list_can_message(const std::string& name)
 869 {
 870         struct utils::signals_found sf;
 871         struct json_object *ans = nullptr;
 872
 873         openxc_DynamicField search_key = build_DynamicField(name);
 874         sf = utils::signals_manager_t::instance().find_signals(search_key);
 875
 876         if (sf.signals.empty() && sf.diagnostic_messages.empty())
 877         {
 878                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 879                 return NULL;
 880         }
 881         ans = json_object_new_array();
 882         for(const auto& sig: sf.signals)
 883         {
 884                 json_object_array_add(ans,
 885                         json_object_new_string(sig->get_name().c_str()));
 886         }
 887         for(const auto& sig: sf.diagnostic_messages)
 888         {
 889                 json_object_array_add(ans,
 890                         json_object_new_string(sig->get_name().c_str()));
 891         }
 892
 893         return ans;
 894 }
 895
 896 void list(afb_req_t request)
 897 {
 898         int rc = 0;
 899         json_object *ans = nullptr;
 900         struct json_object* args = nullptr,
 901                 *json_name = nullptr;
 902         args = afb_req_json(request);
 903         const char *name;
 904         if ((args != nullptr) &&
 905                 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string)))
 906         {
 907                 name = json_object_get_string(json_name);
 908         }
 909         else
 910         {
 911                 name = "*";
 912         }
 913
 914         ans = list_can_message(name);
 915         if (!ans)
 916                 rc = -1;
 917
 918         if (rc >= 0)
 919         {
 920                 afb_req_success(request, ans, NULL);
 921         }
 922         else
 923         {
 924                 afb_req_fail(request, "error", NULL);
 925         }
 926 }
 927
 928 /// @brief Initialize the binding.
 929 ///
 930 /// @param[in] service Structure which represent the Application Framework Binder.
 931 ///
 932 /// @return Exit code, zero if success.
 933 int init_binding(afb_api_t api)
 934 {
 935         int ret = 1;
 936         application_t& application = application_t::instance();
 937         can_bus_t& can_bus_manager = application.get_can_bus_manager();
 938
 939         can_bus_manager.set_can_devices();
 940         can_bus_manager.start_threads();
 941         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 942
 943         /// Initialize Diagnostic manager that will handle obd2 requests.
 944         /// We pass by default the first CAN bus device to its Initialization.
 945         /// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus.
 946         if(application_t::instance().get_diagnostic_manager().initialize())
 947                 ret = 0;
 948
 949         // Add a recurring dignostic message request to get engine speed at all times.
 950         openxc_DynamicField search_key = build_DynamicField("diagnostic_messages.engine.speed");
 951         struct utils::signals_found sf = sm.find_signals(search_key);
 952
 953         if(sf.signals.empty() && sf.diagnostic_messages.size() == 1)
 954         {
 955                 afb_req_t request = nullptr;
 956
 957                 struct event_filter_t event_filter;
 958                 event_filter.frequency = sf.diagnostic_messages.front()->get_frequency();
 959
 960                 map_subscription& s = sm.get_subscribed_signals();
 961
 962                 subscribe_unsubscribe_diagnostic_messages(request, true, sf.diagnostic_messages, event_filter, s, true);
 963         }
 964
 965
 966 #ifdef USE_FEATURE_J1939
 967         vect_ptr_msg_def_t current_messages_definition = application.get_messages_definition();
 968         for(std::shared_ptr<message_definition_t> message_definition: current_messages_definition)
 969         {
 970                 if(message_definition->is_j1939())
 971                 {
 972                         std::shared_ptr<low_can_subscription_t> low_can_j1939 = std::make_shared<low_can_subscription_t>();
 973
 974                         application.set_subscription_address_claiming(low_can_j1939);
 975
 976                         ret = low_can_subscription_t::open_socket(*low_can_j1939,
 977                                                                                                         message_definition->get_bus_device_name(),
 978                                                                                                         J1939_ADDR_CLAIM_PROTOCOL);
 979                         if(ret < 0)
 980                         {
 981                                 AFB_ERROR("Error open socket address claiming for j1939 protocol");
 982                                 return -1;
 983                         }
 984
 985 //                      std::shared_ptr<low_can_subscription_t> saddrclaim = application.get_subscription_address_claiming();
 986
 987                         add_to_event_loop(low_can_j1939);
 988                         break;
 989                 }
 990         }
 991 #endif
 992
 993         if(ret)
 994         {
 995                 AFB_ERROR("There was something wrong with CAN device Initialization.");
 996         }
 997
 998         return ret;
 999 }