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
  39 #ifdef USE_FEATURE_J1939
  40         #include "../can/message/j1939-message.hpp"
  41         #include <linux/can/j1939.h>
  42 #endif
  43 ///******************************************************************************
  44 ///
  45 ///             SystemD event loop Callbacks
  46 ///
  47 ///*******************************************************************************/
  48
  49 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)
  50 {
  51         bool is_permanent_recurring_request = false;
  52
  53         if( ! can_subscription->get_diagnostic_message().empty() && can_subscription->get_diagnostic_message(pid) != nullptr)
  54         {
  55                 DiagnosticRequest diag_req = can_subscription->get_diagnostic_message(pid)->build_diagnostic_request();
  56                 active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
  57                 if( adr != nullptr)
  58                 {
  59                         is_permanent_recurring_request = adr->get_permanent();
  60
  61                         if(! is_permanent_recurring_request)
  62                                 application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
  63                 }
  64         }
  65
  66         if(! is_permanent_recurring_request)
  67                 on_no_clients(can_subscription, s);
  68 }
  69
  70 void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
  71 {
  72         auto it = s.find(can_subscription->get_index());
  73         s.erase(it);
  74 }
  75
  76 static void push_n_notify(std::shared_ptr<message_t> m)
  77 {
  78         can_bus_t& cbm = application_t::instance().get_can_bus_manager();
  79         {
  80                 std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
  81                 cbm.push_new_can_message(m);
  82         }
  83         cbm.get_new_can_message_cv().notify_one();
  84 }
  85
  86 int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata)
  87 {
  88
  89         low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata;
  90
  91
  92         if ((revents & EPOLLIN) != 0)
  93         {
  94                 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
  95                 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
  96                 if(can_subscription->get_index() != -1)
  97                 {
  98                         std::shared_ptr<utils::socketcan_t> s = can_subscription->get_socket();
  99                         if(s->socket() && s->socket() != -1)
 100                         {
 101                                 std::shared_ptr<message_t> message = s->read_message();
 102
 103                                 // Sure we got a valid CAN message ?
 104                                 if (! message->get_id() == 0 && ! message->get_length() == 0 && message->get_msg_format() != message_format_t::INVALID)
 105                                 {
 106                                         push_n_notify(message);
 107                                 }
 108                         }
 109                 }
 110         }
 111
 112         // check if error or hangup
 113         if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
 114         {
 115                 sd_event_source_unref(event_source);
 116                 can_subscription->get_socket()->close();
 117         }
 118
 119         return 0;
 120 }
 121
 122 ///******************************************************************************
 123 ///
 124 ///             Subscription and unsubscription
 125 ///
 126 ///*******************************************************************************/
 127
 128 /// @brief This will determine if an event handle needs to be created and checks if
 129 /// we got a valid afb_event to get subscribe or unsubscribe. After that launch the subscription or unsubscription
 130 /// against the application framework using that event handle.
 131 static int subscribe_unsubscribe_signal(afb_req_t request,
 132                                         bool subscribe,
 133                                         std::shared_ptr<low_can_subscription_t>& can_subscription,
 134                                         std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
 135 {
 136         int ret = 0;
 137         int sub_index = can_subscription->get_index();
 138         bool subscription_exists = s.count(sub_index);
 139
 140         // Susbcription part
 141         if(subscribe)
 142         {
 143                 /* There is no valid request to subscribe so this must be an
 144                  * internal permanent diagnostic request. Skip the subscription
 145                  * part and don't register it into the current "low-can"
 146                  * subsciptions.
 147                  */
 148                 if(! request)
 149                 {
 150                         return 0;
 151                 }
 152
 153                 // Event doesn't exist , so let's create it
 154                 if ((ret = can_subscription->subscribe(request)) < 0)
 155                         return ret;
 156
 157                 if(! subscription_exists)
 158                                 s[sub_index] = can_subscription;
 159
 160                 return ret;
 161         }
 162
 163         // Unsubscrition part
 164         if(! subscription_exists)
 165         {
 166                 AFB_NOTICE("There isn't any valid subscriptions for that request.");
 167                 return ret;
 168         }
 169         else if (subscription_exists &&
 170                  ! afb_event_is_valid(s[sub_index]->get_event()) )
 171         {
 172                 AFB_NOTICE("Event isn't valid, no need to unsubscribed.");
 173                 return ret;
 174         }
 175
 176         if( (ret = s[sub_index]->unsubscribe(request)) < 0)
 177                 return ret;
 178         s.find(sub_index)->second->set_index(-1);
 179         s.erase(sub_index);
 180         return ret;
 181 }
 182
 183 static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription)
 184 {
 185                 struct sd_event_source* event_source = nullptr;
 186                 return ( sd_event_add_io(afb_daemon_get_event_loop(),
 187                         &event_source,
 188                         can_subscription->get_socket()->socket(),
 189                         EPOLLIN,
 190                         read_message,
 191                         can_subscription.get()));
 192 }
 193
 194 static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request,
 195                                                      bool subscribe,
 196                                                      std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages,
 197                                                      struct event_filter_t& event_filter,
 198                                                      std::map<int, std::shared_ptr<low_can_subscription_t> >& s,
 199                                                      bool perm_rec_diag_req)
 200 {
 201         int rets = 0;
 202         application_t& app = application_t::instance();
 203         diagnostic_manager_t& diag_m = app.get_diagnostic_manager();
 204
 205         for(const auto& sig : diagnostic_messages)
 206         {
 207                 DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request());
 208                 event_filter.frequency = event_filter.frequency == 0 ? sig->get_frequency() : event_filter.frequency;
 209                 std::shared_ptr<low_can_subscription_t> can_subscription;
 210
 211                 auto it =  std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
 212                 {
 213                         return (! sub.second->get_diagnostic_message().empty());
 214                 });
 215                 can_subscription = it != s.end() ?
 216                         it->second :
 217                         std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 218                 // If the requested diagnostic message is not supported by the car then unsubcribe it
 219                 // no matter what we want, worst case will be a failed unsubscription but at least we won't
 220                 // poll a PID for nothing.
 221                 if(sig->get_supported() && subscribe)
 222                 {
 223                         if (!app.isEngineOn())
 224                                 AFB_WARNING("signal: Engine is off, %s won't received responses until it's on",  sig->get_name().c_str());
 225
 226                         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);
 227                         if(can_subscription->create_rx_filter(sig) < 0)
 228                                 {return -1;}
 229                         AFB_DEBUG("Signal: %s subscribed", sig->get_name().c_str());
 230                         if(it == s.end() && add_to_event_loop(can_subscription) < 0)
 231                         {
 232                                 diag_m.cleanup_request(
 233                                         diag_m.find_recurring_request(*diag_req), true);
 234                                 AFB_WARNING("signal: %s isn't supported. Canceling operation.",  sig->get_name().c_str());
 235                                 return -1;
 236                         }
 237                 }
 238                 else
 239                 {
 240                         if(sig->get_supported())
 241                         {
 242                                 AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());
 243                         }
 244                         else
 245                         {
 246                                 AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
 247                                 return -1;
 248                         }
 249                 }
 250                 int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s);
 251                 if(ret < 0)
 252                         return ret;
 253
 254                 rets++;
 255         }
 256         return rets;
 257 }
 258
 259 static int subscribe_unsubscribe_signals(afb_req_t request,
 260                                              bool subscribe,
 261                                              std::vector<std::shared_ptr<signal_t> > signals,
 262                                              struct event_filter_t& event_filter,
 263                                              std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
 264 {
 265         int rets = 0;
 266         for(const auto& sig: signals)
 267         {
 268                 auto it =  std::find_if(s.begin(), s.end(), [&sig, &event_filter](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
 269                 {
 270                         return sub.second->is_signal_subscription_corresponding(sig, event_filter) ;
 271                 });
 272                 std::shared_ptr<low_can_subscription_t> can_subscription;
 273                 if(it != s.end())
 274                         {can_subscription = it->second;}
 275                 else
 276                 {
 277                         can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 278                         if(can_subscription->create_rx_filter(sig) < 0)
 279                                 {return -1;}
 280                         if(add_to_event_loop(can_subscription) < 0)
 281                                 {return -1;}
 282                 }
 283
 284                 if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
 285                         {return -1;}
 286
 287                 rets++;
 288                 AFB_DEBUG("%s Signal: %s %ssubscribed", sig->get_message()->is_fd() ? "FD": "", sig->get_name().c_str(), subscribe ? "":"un");
 289         }
 290         return rets;
 291 }
 292
 293 ///
 294 /// @brief subscribe to all signals in the vector signals
 295 ///
 296 /// @param[in] afb_req request : contains original request use to subscribe or unsubscribe
 297 /// @param[in] subscribe boolean value, which chooses between a subscription operation or an unsubscription
 298 /// @param[in] signals -  struct containing vectors with signal_t and diagnostic_messages to subscribe
 299 ///
 300 /// @return Number of correctly subscribed signal
 301 ///
 302 static int subscribe_unsubscribe_signals(afb_req_t request,
 303                                          bool subscribe,
 304                                          const struct utils::signals_found& signals,
 305                                          struct event_filter_t& event_filter)
 306 {
 307         int rets = 0;
 308         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 309
 310         std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 311         std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
 312
 313         rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s, false);
 314         rets += subscribe_unsubscribe_signals(request, subscribe, signals.signals, event_filter, s);
 315
 316         return rets;
 317 }
 318
 319 static event_filter_t generate_filter(json_object* args)
 320 {
 321         event_filter_t event_filter;
 322         struct json_object  *filter, *obj;
 323
 324                 // computes the filter
 325         if (json_object_object_get_ex(args, "filter", &filter))
 326         {
 327                 if (json_object_object_get_ex(filter, "frequency", &obj)
 328                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 329                         {event_filter.frequency = (float)json_object_get_double(obj);}
 330                 if (json_object_object_get_ex(filter, "min", &obj)
 331                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 332                         {event_filter.min = (float)json_object_get_double(obj);}
 333                 if (json_object_object_get_ex(filter, "max", &obj)
 334                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 335                         {event_filter.max = (float)json_object_get_double(obj);}
 336         }
 337         return event_filter;
 338 }
 339
 340
 341 static int one_subscribe_unsubscribe_events(afb_req_t request, bool subscribe, const std::string& tag, json_object* args)
 342 {
 343         int ret = 0;
 344         struct utils::signals_found sf;
 345
 346         // subscribe or unsubscribe
 347         openxc_DynamicField search_key = build_DynamicField(tag);
 348         sf = utils::signals_manager_t::instance().find_signals(search_key);
 349         if (sf.signals.empty() && sf.diagnostic_messages.empty())
 350         {
 351                 AFB_NOTICE("No signal(s) found for %s.", tag.c_str());
 352                 ret = -1;
 353         }
 354         else
 355         {
 356                 event_filter_t event_filter = generate_filter(args);
 357                 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
 358         }
 359         return ret;
 360 }
 361
 362 static int one_subscribe_unsubscribe_id(afb_req_t request, bool subscribe, const uint32_t& id ,json_object *args)
 363 {
 364         int ret = 0;
 365         std::shared_ptr<message_definition_t> message_definition = application_t::instance().get_message_definition(id);
 366         struct utils::signals_found sf;
 367
 368         if(message_definition)
 369         {
 370                 sf.signals = message_definition->get_signals();
 371         }
 372
 373         if(sf.signals.empty())
 374         {
 375                 AFB_NOTICE("No signal(s) found for %d.", id);
 376                 ret = -1;
 377         }
 378         else
 379         {
 380                 event_filter_t event_filter = generate_filter(args);
 381                 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
 382         }
 383         return ret;
 384 }
 385
 386
 387 static int process_one_subscribe_args(afb_req_t request, bool subscribe, json_object *args)
 388 {
 389         int rc = 0, rc2=0;
 390         json_object *x = nullptr, *event = nullptr, *id = nullptr;
 391
 392
 393         // 2 cases : ID(PGN) and event
 394
 395         json_object_object_get_ex(args,"event",&event);
 396         json_bool test_id = json_object_object_get_ex(args,"id",&id);
 397         if(!test_id)
 398         {
 399                 test_id = json_object_object_get_ex(args,"pgn",&id);
 400         }
 401
 402         if(     args == NULL || (id && ((std::string)json_object_get_string(id)).compare("*") == 0))
 403         {
 404                 rc = one_subscribe_unsubscribe_events(request, subscribe, "*", args);
 405         }
 406         else
 407         {
 408                 if(event)
 409                 {
 410                         if (json_object_get_type(event) != json_type_array) // event is set before and check if it's an array
 411                         {
 412                                 rc = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(event), args);
 413                         }
 414                         else // event is set and it's not an array
 415                         {
 416                                 for (int i = 0 ; i < json_object_array_length(event); i++)
 417                                 {
 418                                         x = json_object_array_get_idx(event, i);
 419                                         rc2 = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(x), args);
 420                                         if (rc >= 0)
 421                                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 422                                 }
 423                         }
 424                 }
 425
 426                 if(id)
 427                 {
 428                         if (json_object_get_type(id) != json_type_array) // id is set before and check if it's an array
 429                         {
 430                                 rc = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(id), args);
 431                         }
 432                         else // event is set and it's not an array
 433                         {
 434                                 for (int i = 0 ; i < json_object_array_length(id); i++)
 435                                 {
 436                                         x = json_object_array_get_idx(id, i);
 437                                         rc2 = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(x), args);
 438                                         if (rc >= 0)
 439                                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 440                                 }
 441                         }
 442                 }
 443         }
 444         return rc;
 445 }
 446
 447 static void do_subscribe_unsubscribe(afb_req_t request, bool subscribe)
 448 {
 449         int rc = 0;
 450         struct json_object *args, *x;
 451
 452         args = afb_req_json(request);
 453         if (json_object_get_type(args) == json_type_array)
 454         {
 455                 for(int i = 0; i < json_object_array_length(args); i++)
 456                 {
 457                         x = json_object_array_get_idx(args, i);
 458                         rc += process_one_subscribe_args(request, subscribe, x);
 459                 }
 460         }
 461         else
 462         {
 463                 rc += process_one_subscribe_args(request, subscribe, args);
 464         }
 465
 466         if (rc >= 0)
 467                 afb_req_success(request, NULL, NULL);
 468         else
 469                 afb_req_fail(request, "error", NULL);
 470 }
 471
 472 void auth(afb_req_t request)
 473 {
 474         afb_req_session_set_LOA(request, 1);
 475         afb_req_success(request, NULL, NULL);
 476 }
 477
 478 void subscribe(afb_req_t request)
 479 {
 480         do_subscribe_unsubscribe(request, true);
 481 }
 482
 483 void unsubscribe(afb_req_t request)
 484 {
 485         do_subscribe_unsubscribe(request, false);
 486 }
 487
 488 /*
 489 static int send_frame(struct canfd_frame& cfd, const std::string& bus_name, socket_type type)
 490 {
 491         if(bus_name.empty())
 492         {
 493                 return -1;
 494         }
 495
 496         std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
 497
 498         if( cd.count(bus_name) == 0)
 499         {
 500                 cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t());
 501         }
 502
 503
 504         if(type == socket_type::BCM)
 505         {
 506                 return low_can_subscription_t::tx_send(*cd[bus_name], cfd, bus_name);
 507         }
 508         else if(type == socket_type::J1939)
 509         {
 510                 return low_can_subscription_t::j1939_send(*cd[bus_name], cfd, bus_name);
 511         }
 512         else{
 513                 return -1;
 514         }
 515 }
 516 */
 517 static int send_message(message_t *message, const std::string& bus_name, socket_type type)
 518 {
 519         if(bus_name.empty())
 520         {
 521                 return -1;
 522         }
 523
 524         std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
 525
 526         if( cd.count(bus_name) == 0)
 527         {
 528                 cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t());
 529         }
 530
 531
 532         if(type == socket_type::BCM)
 533         {
 534                 return low_can_subscription_t::tx_send(*cd[bus_name], message, bus_name);
 535         }
 536 #ifdef USE_FEATURE_J1939
 537         else if(type == socket_type::J1939)
 538         {
 539                 return low_can_subscription_t::j1939_send(*cd[bus_name], message, bus_name);
 540         }
 541 #endif
 542         else
 543         {
 544                 return -1;
 545         }
 546 }
 547
 548
 549 static void write_raw_frame(afb_req_t request, const std::string& bus_name, message_t *message, struct json_object *can_data, socket_type type)
 550 {
 551         if((message->get_length() <= 8 && message->get_length() > 0 && type == socket_type::BCM)
 552 #ifdef USE_FEATURE_J1939
 553         || (message->get_length() < J1939_MAX_DLEN && type == socket_type::J1939)
 554 #endif
 555         )
 556         {
 557
 558                 std::vector<uint8_t> data;
 559                 for (int i = 0 ; i < message->get_length() ; i++)
 560                 {
 561                         struct json_object *one_can_data = json_object_array_get_idx(can_data, i);
 562                         data.push_back((json_object_is_type(one_can_data, json_type_int)) ?
 563                                         (uint8_t)json_object_get_int(one_can_data) : 0);
 564                 }
 565                 message->set_data(data);
 566         }
 567         else
 568         {
 569                 if(type == socket_type::BCM)
 570                 {
 571                         afb_req_fail(request, "Invalid", "Data array must hold 1 to 8 values.");
 572                 }
 573                 else if(type == socket_type::J1939)
 574                 {
 575                         afb_req_fail(request, "Invalid", "Data array too large");
 576                 }
 577                 else
 578                 {
 579                         afb_req_fail(request, "Invalid", "Invalid socket type");
 580                 }
 581                 return;
 582         }
 583
 584         if(! send_message(message, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name),type))
 585         {
 586                 afb_req_success(request, nullptr, "Message correctly sent");
 587         }
 588         else
 589         {
 590                 afb_req_fail(request, "Error", "sending the message. See the log for more details.");
 591         }
 592 }
 593
 594 static void write_frame(afb_req_t request, const std::string& bus_name, json_object *json_value)
 595 {
 596         message_t *message;
 597         int id;
 598         int length;
 599         struct json_object *can_data = nullptr;
 600         std::vector<uint8_t> data;
 601
 602         AFB_DEBUG("JSON content %s",json_object_get_string(json_value));
 603
 604         if(!wrap_json_unpack(json_value, "{si, si, so !}",
 605                               "can_id", &id,
 606                               "can_dlc", &length,
 607                               "can_data", &can_data))
 608         {
 609                 message = new can_message_t(CANFD_MAX_DLEN,(uint32_t)id,(uint32_t)length,message_format_t::STANDARD,false,0,data,0);
 610                 write_raw_frame(request,bus_name,message,can_data,socket_type::BCM);
 611         }
 612 #ifdef USE_FEATURE_J1939
 613         else if(!wrap_json_unpack(json_value, "{si, si, so !}",
 614                               "pgn", &id,
 615                               "length", &length,
 616                               "data", &can_data))
 617         {
 618                 message = new j1939_message_t(J1939_MAX_DLEN,(uint32_t)length,message_format_t::J1939,data,0,J1939_NO_NAME,(pgn_t)id,J1939_NO_ADDR);
 619                 write_raw_frame(request,bus_name,message,can_data,socket_type::J1939);
 620         }
 621 #endif
 622         else
 623         {
 624                 afb_req_fail(request, "Invalid", "Frame object malformed");
 625                 return;
 626         }
 627         delete message;
 628 }
 629
 630 static void write_signal(afb_req_t request, const std::string& name, json_object *json_value)
 631 {
 632         struct canfd_frame cfd;
 633         struct utils::signals_found sf;
 634         signal_encoder encoder = nullptr;
 635         bool send = true;
 636
 637         ::memset(&cfd, 0, sizeof(cfd));
 638
 639         openxc_DynamicField search_key = build_DynamicField(name);
 640         sf = utils::signals_manager_t::instance().find_signals(search_key);
 641         openxc_DynamicField dynafield_value = build_DynamicField(json_value);
 642
 643         if (sf.signals.empty())
 644         {
 645                 afb_req_fail_f(request, "No signal(s) found for %s. Message not sent.", name.c_str());
 646                 return;
 647         }
 648
 649         std::shared_ptr<signal_t>& sig = sf.signals[0];
 650         if(! sig->get_writable())
 651         {
 652                 afb_req_fail_f(request, "%s isn't writable. Message not sent.", sig->get_name().c_str());
 653                 return;
 654         }
 655
 656         uint64_t value = (encoder = sig->get_encoder()) ?
 657                         encoder(*sig, dynafield_value, &send) :
 658                         encoder_t::encode_DynamicField(*sig, dynafield_value, &send);
 659
 660         socket_type type = socket_type::INVALID;
 661
 662         if(sig->get_message()->is_j1939())
 663         {
 664                 type = socket_type::J1939;
 665         }
 666         else
 667         {
 668                 type = socket_type::BCM;
 669         }
 670
 671 //      cfd = encoder_t::build_frame(sig, value);
 672         message_t *message = encoder_t::build_message(sig,value);
 673
 674         if(! send_message(message, sig->get_message()->get_bus_device_name(), type) && send)
 675         {
 676                 afb_req_success(request, nullptr, "Message correctly sent");
 677         }
 678         else
 679         {
 680                 afb_req_fail(request, "Error", "Sending the message. See the log for more details.");
 681         }
 682
 683         if(sig->get_message()->is_j1939())
 684         {
 685 #ifdef USE_FEATURE_J1939
 686                 delete (j1939_message_t*) message;
 687 #endif
 688         }
 689         else
 690         {
 691                 delete (can_message_t*) message;
 692         }
 693 }
 694
 695 void write(afb_req_t request)
 696 {
 697         struct json_object* args = nullptr, *json_value = nullptr;
 698         const char *name = nullptr;
 699
 700         args = afb_req_json(request);
 701
 702         // Process about Raw CAN message on CAN bus directly
 703         if (args != NULL && ! wrap_json_unpack(args, "{ss, so !}",
 704                                                "bus_name", &name,
 705                                                "frame", &json_value))
 706                 write_frame(request, name, json_value);
 707
 708         // Search signal then encode value.
 709         else if(args != NULL &&
 710                 ! wrap_json_unpack(args, "{ss, so !}",
 711                                    "signal_name", &name,
 712                                    "signal_value", &json_value))
 713                 write_signal(request, std::string(name), json_value);
 714         else
 715                 afb_req_fail(request, "Error", "Request argument malformed");
 716 }
 717
 718 static struct json_object *get_signals_value(const std::string& name)
 719 {
 720         struct utils::signals_found sf;
 721         struct json_object *ans = nullptr;
 722
 723         openxc_DynamicField search_key = build_DynamicField(name);
 724         sf = utils::signals_manager_t::instance().find_signals(search_key);
 725
 726         if (sf.signals.empty())
 727         {
 728                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 729                 return NULL;
 730         }
 731         ans = json_object_new_array();
 732         for(const auto& sig: sf.signals)
 733         {
 734                 struct json_object *jobj = json_object_new_object();
 735                 json_object_object_add(jobj, "event", json_object_new_string(sig->get_name().c_str()));
 736                 json_object_object_add(jobj, "value", json_object_new_double(sig->get_last_value()));
 737                 json_object_array_add(ans, jobj);
 738         }
 739
 740         return ans;
 741 }
 742 void get(afb_req_t request)
 743 {
 744         int rc = 0;
 745         struct json_object* args = nullptr,
 746                 *json_name = nullptr;
 747         json_object *ans = nullptr;
 748
 749         args = afb_req_json(request);
 750
 751         // Process about Raw CAN message on CAN bus directly
 752         if (args != nullptr &&
 753                 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string) ))
 754         {
 755                 ans = get_signals_value(json_object_get_string(json_name));
 756                 if (!ans)
 757                         rc = -1;
 758         }
 759         else
 760         {
 761                 AFB_ERROR("Request argument malformed. Please use the following syntax:");
 762                 rc = -1;
 763         }
 764
 765         if (rc >= 0)
 766                 afb_req_success(request, ans, NULL);
 767         else
 768                 afb_req_fail(request, "error", NULL);
 769 }
 770
 771
 772 static struct json_object *list_can_message(const std::string& name)
 773 {
 774         struct utils::signals_found sf;
 775         struct json_object *ans = nullptr;
 776
 777         openxc_DynamicField search_key = build_DynamicField(name);
 778         sf = utils::signals_manager_t::instance().find_signals(search_key);
 779
 780         if (sf.signals.empty() && sf.diagnostic_messages.empty())
 781         {
 782                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 783                 return NULL;
 784         }
 785         ans = json_object_new_array();
 786         for(const auto& sig: sf.signals)
 787         {
 788                 json_object_array_add(ans,
 789                         json_object_new_string(sig->get_name().c_str()));
 790         }
 791         for(const auto& sig: sf.diagnostic_messages)
 792         {
 793                 json_object_array_add(ans,
 794                         json_object_new_string(sig->get_name().c_str()));
 795         }
 796
 797         return ans;
 798 }
 799
 800 void list(afb_req_t request)
 801 {
 802         int rc = 0;
 803         json_object *ans = nullptr;
 804         struct json_object* args = nullptr,
 805                 *json_name = nullptr;
 806         args = afb_req_json(request);
 807         const char *name;
 808         if ((args != nullptr) &&
 809                 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string)))
 810         {
 811                 name = json_object_get_string(json_name);
 812         }
 813         else
 814         {
 815                 name = "*";
 816         }
 817
 818         ans = list_can_message(name);
 819         if (!ans)
 820                 rc = -1;
 821
 822         if (rc >= 0)
 823         {
 824                 afb_req_success(request, ans, NULL);
 825         }
 826         else
 827         {
 828                 afb_req_fail(request, "error", NULL);
 829         }
 830 }
 831
 832 /// @brief Initialize the binding.
 833 ///
 834 /// @param[in] service Structure which represent the Application Framework Binder.
 835 ///
 836 /// @return Exit code, zero if success.
 837 int init_binding(afb_api_t api)
 838 {
 839         int ret = 1;
 840         application_t& application = application_t::instance();
 841         can_bus_t& can_bus_manager = application.get_can_bus_manager();
 842
 843         can_bus_manager.set_can_devices();
 844         can_bus_manager.start_threads();
 845         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 846
 847         /// Initialize Diagnostic manager that will handle obd2 requests.
 848         /// We pass by default the first CAN bus device to its Initialization.
 849         /// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus.
 850         if(application_t::instance().get_diagnostic_manager().initialize())
 851                 ret = 0;
 852
 853         // Add a recurring dignostic message request to get engine speed at all times.
 854         openxc_DynamicField search_key = build_DynamicField("diagnostic_messages.engine.speed");
 855         struct utils::signals_found sf = sm.find_signals(search_key);
 856
 857         if(sf.signals.empty() && sf.diagnostic_messages.size() == 1)
 858         {
 859                 afb_req_t request = nullptr;
 860
 861                 struct event_filter_t event_filter;
 862                 event_filter.frequency = sf.diagnostic_messages.front()->get_frequency();
 863
 864                 std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
 865
 866                 subscribe_unsubscribe_diagnostic_messages(request, true, sf.diagnostic_messages, event_filter, s, true);
 867         }
 868
 869
 870 #ifdef USE_FEATURE_J1939
 871         std::vector<std::shared_ptr<message_definition_t>> current_messages_definition = application.get_messages_definition();
 872         for(std::shared_ptr<message_definition_t> message_definition: current_messages_definition)
 873         {
 874                 if(message_definition->is_j1939())
 875                 {
 876                         std::shared_ptr<low_can_subscription_t> low_can_j1939 = std::make_shared<low_can_subscription_t>();
 877
 878                         application.set_subscription_address_claiming(low_can_j1939);
 879
 880                         ret = low_can_subscription_t::open_socket(*low_can_j1939,
 881                                                                                                         message_definition->get_bus_device_name(),
 882                                                                                                         socket_type::J1939_ADDR_CLAIM);
 883                         if(ret < 0)
 884                         {
 885                                 AFB_ERROR("Error open socket address claiming for j1939 protocol");
 886                                 return -1;
 887                         }
 888
 889 //                      std::shared_ptr<low_can_subscription_t> saddrclaim = application.get_subscription_address_claiming();
 890
 891                         add_to_event_loop(low_can_j1939);
 892                         break;
 893                 }
 894         }
 895 #endif
 896
 897         if(ret)
 898         {
 899                 AFB_ERROR("There was something wrong with CAN device Initialization.");
 900         }
 901
 902         return ret;
 903 }