2 * Copyright (C) 2015, 2018 "IoT.bzh"
3 * Author "Romain Forlot" <romain.forlot@iot.bzh>
4 * Author "Loic Collignon" <loic.collignon@iot.bzh>
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
10 * http://www.apache.org/licenses/LICENSE-2.0
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.
19 #include "low-can-hat.hpp"
20 #include "low-can-apidef.h"
28 #include <wrap-json.h>
29 #include <systemd/sd-event.h>
30 #include <ctl-config.h>
31 #include "openxc.pb.h"
32 #include "application.hpp"
33 #include "../can/can-encoder.hpp"
34 #include "../can/can-bus.hpp"
35 #include "../can/signals.hpp"
36 #include "../can/message/message.hpp"
37 #include "../utils/signals.hpp"
38 #include "../diagnostic/diagnostic-message.hpp"
39 #include "../utils/openxc-utils.hpp"
40 #include "../utils/signals.hpp"
42 #ifdef USE_FEATURE_J1939
43 #include "../can/message/j1939-message.hpp"
44 #include <linux/can/j1939.h>
47 ///*****************************************************************************
49 /// Controller Definitions and Callbacks
51 ///****************************************************************************/
53 int config_low_can(afb_api_t apiHandle, CtlSectionT *section, json_object *json_obj)
55 AFB_DEBUG("Config %s", json_object_to_json_string(json_obj));
56 CtlConfigT *ctrlConfig = (CtlConfigT *) afb_api_get_userdata(apiHandle);
57 int active_message_set = 0;
58 json_object *dev_mapping = nullptr;
59 const char *diagnotic_bus = nullptr;
61 if(! ctrlConfig || ! ctrlConfig->external)
64 application_t *application = (application_t*) ctrlConfig->external;
66 if(wrap_json_unpack(json_obj, "{si, s?s}",
67 "active_message_set", &active_message_set,
68 "diagnostic_bus", &diagnotic_bus))
71 application->set_active_message_set((uint8_t)active_message_set);
73 if(wrap_json_unpack(json_obj, "{so}",
74 "dev-mapping", &dev_mapping))
77 application->get_can_bus_manager().set_can_devices(dev_mapping);
79 /// Initialize Diagnostic manager that will handle obd2 requests.
80 /// We pass by default the first CAN bus device to its Initialization.
81 if(! diagnotic_bus || application_t::instance().get_diagnostic_manager().initialize(diagnotic_bus))
82 AFB_WARNING("Diagnostic Manager: not initialized. No diagnostic messages will be processed.");
87 CtlSectionT ctlSections_[] = {
88 [0]={.key="config" , .uid="config", .info=nullptr,
89 .loadCB=config_low_can,
92 [1]={.key="plugins" , .uid="plugins", .info=nullptr,
96 [2]={.key=nullptr , .uid=nullptr, .info=nullptr,
102 ///*****************************************************************************
104 /// Subscription and unsubscription
106 ///****************************************************************************/
108 /// @brief This will determine if an event handle needs to be created and checks if
109 /// we got a valid afb_event to get subscribe or unsubscribe. After that launch the subscription or unsubscription
110 /// against the application framework using that event handle.
111 static int subscribe_unsubscribe_signal(afb_req_t request,
113 std::shared_ptr<low_can_subscription_t>& can_subscription,
117 int sub_index = can_subscription->get_index();
118 bool subscription_exists = s.count(sub_index);
123 /* There is no valid request to subscribe so this must be an
124 * internal permanent diagnostic request. Skip the subscription
125 * part and don't register it into the current "low-can"
131 // Event doesn't exist , so let's create it
132 if ((ret = can_subscription->subscribe(request)) < 0)
135 if(! subscription_exists)
136 s[sub_index] = can_subscription;
141 // Unsubscrition part
142 if(! subscription_exists)
144 AFB_NOTICE("There isn't any valid subscriptions for that request.");
147 else if (subscription_exists &&
148 ! afb_event_is_valid(s[sub_index]->get_event()) )
150 AFB_NOTICE("Event isn't valid, no need to unsubscribed.");
154 if( (ret = s[sub_index]->unsubscribe(request)) < 0)
156 s.find(sub_index)->second->set_index(-1);
161 static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription)
163 struct sd_event_source* event_source = nullptr;
164 return ( sd_event_add_io(afb_daemon_get_event_loop(),
166 can_subscription->get_socket()->socket(),
169 can_subscription.get()));
172 static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request,
174 list_ptr_diag_msg_t diagnostic_messages,
175 struct event_filter_t& event_filter,
177 bool perm_rec_diag_req)
180 application_t& app = application_t::instance();
181 diagnostic_manager_t& diag_m = app.get_diagnostic_manager();
183 for(const auto& sig : diagnostic_messages)
185 DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request());
186 event_filter.frequency = event_filter.frequency == 0 ? sig->get_frequency() : event_filter.frequency;
187 std::shared_ptr<low_can_subscription_t> can_subscription;
189 auto it = std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
191 return (! sub.second->get_diagnostic_message().empty());
193 can_subscription = it != s.end() ?
195 std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
196 // If the requested diagnostic message is not supported by the car then unsubcribe it
197 // no matter what we want, worst case will be a failed unsubscription but at least we won't
198 // poll a PID for nothing.
199 if(sig->get_supported() && subscribe)
201 if (!app.is_engine_on())
202 AFB_WARNING("signal: Engine is off, %s won't received responses until it's on", sig->get_name().c_str());
204 diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), event_filter.frequency, perm_rec_diag_req);
205 if(can_subscription->create_rx_filter(sig) < 0)
207 AFB_DEBUG("Signal: %s subscribed", sig->get_name().c_str());
208 if(it == s.end() && add_to_event_loop(can_subscription) < 0)
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());
218 if(sig->get_supported())
220 AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());
224 AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
228 int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s);
237 static int subscribe_unsubscribe_signals(afb_req_t request,
239 list_ptr_signal_t signals,
240 struct event_filter_t& event_filter,
244 for(const auto& sig: signals)
246 auto it = std::find_if(s.begin(), s.end(), [&sig, &event_filter](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
248 return sub.second->is_signal_subscription_corresponding(sig, event_filter) ;
250 std::shared_ptr<low_can_subscription_t> can_subscription;
252 can_subscription = it->second;
255 can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
256 if(can_subscription->create_rx_filter(sig) < 0)
258 if(add_to_event_loop(can_subscription) < 0)
262 if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
266 AFB_DEBUG("%s Signal: %s %ssubscribed", sig->get_message()->is_fd() ? "FD": "", sig->get_name().c_str(), subscribe ? "":"un");
272 /// @brief subscribe to all signals in the vector signals
274 /// @param[in] afb_req request : contains original request use to subscribe or unsubscribe
275 /// @param[in] subscribe boolean value, which chooses between a subscription operation or an unsubscription
276 /// @param[in] signals - struct containing vectors with signal_t and diagnostic_messages to subscribe
277 /// @param[in] event_filter - stuct containing filter on the signal
279 /// @return Number of correctly subscribed signal
281 static int subscribe_unsubscribe_signals(afb_req_t request,
283 const struct utils::signals_found& signals,
284 struct event_filter_t& event_filter)
287 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
289 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
290 map_subscription& s = sm.get_subscribed_signals();
292 rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s, false);
293 rets += subscribe_unsubscribe_signals(request, subscribe, signals.signals, event_filter, s);
298 static event_filter_t generate_filter(json_object* args)
300 event_filter_t event_filter;
301 struct json_object *filter, *obj;
303 // computes the filter
304 if (json_object_object_get_ex(args, "filter", &filter))
306 if (json_object_object_get_ex(filter, "frequency", &obj)
307 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
308 event_filter.frequency = (float)json_object_get_double(obj);
309 if (json_object_object_get_ex(filter, "min", &obj)
310 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
311 event_filter.min = (float)json_object_get_double(obj);
312 if (json_object_object_get_ex(filter, "max", &obj)
313 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
314 event_filter.max = (float)json_object_get_double(obj);
315 if (json_object_object_get_ex(filter, "promisc", &obj)
316 && (json_object_is_type(obj, json_type_boolean)))
317 event_filter.promisc = (bool)json_object_get_boolean(obj);
318 if (json_object_object_get_ex(filter, "rx_id", &obj)
319 && (json_object_is_type(obj, json_type_int)))
320 event_filter.rx_id = (canid_t) json_object_get_int(obj);
321 if (json_object_object_get_ex(filter, "tx_id", &obj)
322 && (json_object_is_type(obj, json_type_int)))
323 event_filter.tx_id = (canid_t) json_object_get_int(obj);
329 static int one_subscribe_unsubscribe_events(afb_req_t request, bool subscribe, const std::string& tag, json_object* args)
332 struct utils::signals_found sf;
334 // subscribe or unsubscribe
335 openxc_DynamicField search_key = build_DynamicField(tag);
336 sf = utils::signals_manager_t::instance().find_signals(search_key);
339 #ifdef USE_FEATURE_ISOTP
340 if(sf.signals.size() > 1)
342 sf.signals.remove_if([](std::shared_ptr<signal_t> x){
343 bool isotp = x->get_message()->is_isotp();
345 AFB_NOTICE("ISO TP messages need to be subscribed one by one (rx, tx)");
352 if (sf.signals.empty() && sf.diagnostic_messages.empty())
354 AFB_NOTICE("No signal(s) found for %s.", tag.c_str());
359 event_filter_t event_filter = generate_filter(args);
360 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
365 static int one_subscribe_unsubscribe_id(afb_req_t request, bool subscribe, const uint32_t& id, json_object *args)
367 std::shared_ptr<message_definition_t> message_definition = application_t::instance().get_message_definition(id);
368 struct utils::signals_found sf;
370 if(message_definition)
371 sf.signals = list_ptr_signal_t(message_definition->get_signals().begin(), message_definition->get_signals().end());
373 if(sf.signals.empty())
375 AFB_NOTICE("No signal(s) found for %d.", id);
379 event_filter_t event_filter = generate_filter(args);
380 std::shared_ptr<low_can_subscription_t> can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
381 can_subscription->set_message_definition(message_definition);
383 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
384 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
385 map_subscription& s = sm.get_subscribed_signals();
387 if(can_subscription->create_rx_filter(message_definition) < 0)
389 if(add_to_event_loop(can_subscription) < 0)
392 if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
399 static int process_one_subscribe_args(afb_req_t request, bool subscribe, json_object *args)
402 json_object *x = nullptr, *event = nullptr, *id = nullptr;
405 // 2 cases : ID(PGN) and event
407 json_object_object_get_ex(args,"event",&event);
408 json_object_object_get_ex(args,"id",&id) || json_object_object_get_ex(args,"pgn",&id);
410 if( args == NULL || (id && ((std::string)json_object_get_string(id)).compare("*") == 0))
412 rc = one_subscribe_unsubscribe_events(request, subscribe, "*", args);
418 if (json_object_get_type(event) != json_type_array) // event is set before and check if it's an array
420 rc = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(event), args);
422 else // event is set and it's not an array
424 for (int i = 0 ; i < json_object_array_length(event); i++)
426 x = json_object_array_get_idx(event, i);
427 rc2 = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(x), args);
429 rc = rc2 >= 0 ? rc + rc2 : rc2;
436 if (json_object_get_type(id) != json_type_array) // id is set before and check if it's an array
438 rc = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(id), args);
440 else // event is set and it's not an array
442 for (int i = 0 ; i < json_object_array_length(id); i++)
444 x = json_object_array_get_idx(id, i);
445 rc2 = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(x), args);
447 rc = rc2 >= 0 ? rc + rc2 : rc2;
455 static void do_subscribe_unsubscribe(afb_req_t request, bool subscribe)
458 struct json_object *args, *x;
460 args = afb_req_json(request);
461 if (json_object_get_type(args) == json_type_array)
463 for(int i = 0; i < json_object_array_length(args); i++)
465 x = json_object_array_get_idx(args, i);
466 rc += process_one_subscribe_args(request, subscribe, x);
471 rc += process_one_subscribe_args(request, subscribe, args);
475 afb_req_success(request, NULL, NULL);
477 afb_req_fail(request, "error", NULL);
480 void auth(afb_req_t request)
482 afb_req_session_set_LOA(request, 1);
483 afb_req_success(request, NULL, NULL);
486 void subscribe(afb_req_t request)
488 do_subscribe_unsubscribe(request, true);
491 void unsubscribe(afb_req_t request)
493 do_subscribe_unsubscribe(request, false);
496 static int send_message(message_t *message, const std::string& bus_name, uint32_t flags, event_filter_t &event_filter, std::shared_ptr<signal_t> signal)
501 std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
503 if( cd.count(bus_name) == 0)
504 cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
506 cd[bus_name]->set_signal(signal);
509 if(flags&CAN_PROTOCOL)
510 return low_can_subscription_t::tx_send(*cd[bus_name], message, bus_name);
511 #ifdef USE_FEATURE_ISOTP
512 else if(flags&ISOTP_PROTOCOL)
513 return low_can_subscription_t::isotp_send(*cd[bus_name], message, bus_name);
515 #ifdef USE_FEATURE_J1939
516 else if(flags&J1939_PROTOCOL)
517 return low_can_subscription_t::j1939_send(*cd[bus_name], message, bus_name);
524 static void write_raw_frame(afb_req_t request, const std::string& bus_name, message_t *message,
525 struct json_object *can_data, uint32_t flags, event_filter_t &event_filter)
528 struct utils::signals_found sf;
530 utils::signals_manager_t::instance().lookup_signals_by_id(message->get_id(), application_t::instance().get_all_signals(), sf.signals);
532 if( !sf.signals.empty() )
534 AFB_DEBUG("ID WRITE RAW : %d", sf.signals.front()->get_message()->get_id());
535 if(flags & CAN_PROTOCOL)
537 if(sf.signals.front()->get_message()->is_fd())
539 AFB_DEBUG("CANFD_MAX_DLEN");
540 message->set_flags(CAN_PROTOCOL_WITH_FD_FRAME);
541 message->set_maxdlen(CANFD_MAX_DLEN);
545 AFB_DEBUG("CAN_MAX_DLEN");
546 message->set_maxdlen(CAN_MAX_DLEN);
549 if(sf.signals.front()->get_message()->is_isotp())
551 flags = ISOTP_PROTOCOL;
552 message->set_maxdlen(MAX_ISOTP_FRAMES * message->get_maxdlen());
556 #ifdef USE_FEATURE_J1939
557 if(flags&J1939_PROTOCOL)
558 message->set_maxdlen(J1939_MAX_DLEN);
561 if(message->get_length() > 0 && message->get_length() <= message->get_maxdlen())
563 std::vector<uint8_t> data;
564 for (int i = 0 ; i < message->get_length() ; i++)
566 struct json_object *one_can_data = json_object_array_get_idx(can_data, i);
567 data.push_back((json_object_is_type(one_can_data, json_type_int)) ?
568 (uint8_t)json_object_get_int(one_can_data) : 0);
570 message->set_data(data);
574 if(flags&CAN_PROTOCOL)
575 afb_req_fail(request, "Invalid", "Frame BCM");
576 else if(flags&J1939_PROTOCOL)
577 afb_req_fail(request, "Invalid", "Frame J1939");
578 else if(flags&ISOTP_PROTOCOL)
579 afb_req_fail(request, "Invalid", "Frame ISOTP");
581 afb_req_fail(request, "Invalid", "Frame");
586 if(! send_message(message, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name), flags, event_filter, sf.signals.front()))
587 afb_req_success(request, nullptr, "Message correctly sent");
589 afb_req_fail(request, "Error", "sending the message. See the log for more details.");
593 afb_req_fail(request, "Error", "no find id in signals. See the log for more details.");
598 static void write_frame(afb_req_t request, const std::string& bus_name, json_object *json_value, event_filter_t &event_filter)
603 struct json_object *can_data = nullptr;
604 std::vector<uint8_t> data;
606 AFB_DEBUG("JSON content %s", json_object_get_string(json_value));
608 if(!wrap_json_unpack(json_value, "{si, si, so !}",
611 "can_data", &can_data))
613 message = new can_message_t(0, id, length, false, 0, data, 0);
614 write_raw_frame(request, bus_name, message, can_data, CAN_PROTOCOL, event_filter);
616 #ifdef USE_FEATURE_J1939
617 else if(!wrap_json_unpack(json_value, "{si, si, so !}",
622 message = new j1939_message_t(length, data, 0, J1939_NO_NAME, (pgn_t)id, J1939_NO_ADDR);
623 write_raw_frame(request, bus_name, message, can_data, J1939_PROTOCOL, event_filter);
628 afb_req_fail(request, "Invalid", "Frame object malformed");
634 static void write_signal(afb_req_t request, const std::string& name, json_object *json_value, event_filter_t &event_filter)
636 struct canfd_frame cfd;
637 struct utils::signals_found sf;
638 signal_encoder encoder = nullptr;
641 ::memset(&cfd, 0, sizeof(cfd));
643 openxc_DynamicField search_key = build_DynamicField(name);
644 sf = utils::signals_manager_t::instance().find_signals(search_key);
645 openxc_DynamicField dynafield_value = build_DynamicField(json_value);
647 if (sf.signals.empty())
649 afb_req_fail_f(request, "No signal(s) found for %s. Message not sent.", name.c_str());
653 std::shared_ptr<signal_t> sig = sf.signals.front();
654 if(! sig->get_writable())
656 afb_req_fail_f(request, "%s isn't writable. Message not sent.", sig->get_name().c_str());
660 uint64_t value = (encoder = sig->get_encoder()) ?
661 encoder(*sig, dynafield_value, &send) :
662 encoder_t::encode_DynamicField(*sig, dynafield_value, &send);
664 uint32_t flags = INVALID_FLAG;
666 if(sig->get_message()->is_j1939())
667 flags = J1939_PROTOCOL;
668 else if(sig->get_message()->is_isotp())
669 flags = ISOTP_PROTOCOL;
671 flags = CAN_PROTOCOL;
673 // cfd = encoder_t::build_frame(sig, value);
674 message_t *message = encoder_t::build_message(sig, value, false, false);
676 if(! send_message(message, sig->get_message()->get_bus_device_name(), flags, event_filter, sig) && send)
677 afb_req_success(request, nullptr, "Message correctly sent");
679 afb_req_fail(request, "Error", "Sending the message. See the log for more details.");
681 if(sig->get_message()->is_j1939())
682 #ifdef USE_FEATURE_J1939
683 delete (j1939_message_t*) message;
685 afb_req_fail(request, "Warning", "J1939 not implemented in your kernel.");
688 delete (can_message_t*) message;
691 void write(afb_req_t request)
693 struct json_object* args = nullptr, *json_value = nullptr, *name = nullptr;
694 args = afb_req_json(request);
698 event_filter_t event_filter = generate_filter(args);
700 if(json_object_object_get_ex(args,"bus_name",&name))
702 if(json_object_object_get_ex(args,"frame",&json_value))
703 write_frame(request, (std::string)json_object_get_string(name), json_value, event_filter);
705 afb_req_fail(request, "Error", "Request argument malformed");
707 else if(json_object_object_get_ex(args,"signal_name",&name))
709 if(json_object_object_get_ex(args,"signal_value",&json_value))
710 write_signal(request, (std::string)json_object_get_string(name), json_value, event_filter);
712 afb_req_fail(request, "Error", "Request argument malformed");
716 afb_req_fail(request, "Error", "Request argument malformed");
721 afb_req_fail(request, "Error", "Request argument null");
725 static struct json_object *get_signals_value(const std::string& name)
727 struct utils::signals_found sf;
728 struct json_object *ans = nullptr;
730 openxc_DynamicField search_key = build_DynamicField(name);
731 sf = utils::signals_manager_t::instance().find_signals(search_key);
733 if (sf.signals.empty())
735 AFB_WARNING("No signal(s) found for %s.", name.c_str());
738 ans = json_object_new_array();
739 for(const auto& sig: sf.signals)
741 struct json_object *jobj = json_object_new_object();
742 json_object_object_add(jobj, "event", json_object_new_string(sig->get_name().c_str()));
743 json_object_object_add(jobj, "value", json_object_new_double(sig->get_last_value()));
744 json_object_array_add(ans, jobj);
750 static struct json_object *get_id_value(const uint32_t& id)
752 std::shared_ptr<message_definition_t> message_definition = application_t::instance().get_message_definition(id);
753 struct utils::signals_found sf;
754 struct json_object *ans = nullptr;
756 if(message_definition)
757 sf.signals = list_ptr_signal_t(message_definition->get_signals().begin(), message_definition->get_signals().end());
759 if(sf.signals.empty())
761 AFB_WARNING("no signal(s) found for %d.", id);
765 ans = json_object_new_object();
766 struct json_object *jsignals = json_object_new_array();
767 json_object_object_add(ans, "signals", jsignals);
768 for(const auto& sig: sf.signals)
770 struct json_object *jobj = json_object_new_object();
771 json_object_object_add(jobj, "name", json_object_new_string(sig->get_name().c_str()));
772 json_object_object_add(jobj, "value", json_object_new_double(sig->get_last_value()));
773 json_object_array_add(jsignals, jobj);
779 void get(afb_req_t request)
782 struct json_object* args = nullptr,
783 *json_name = nullptr;
784 json_object *ans = nullptr;
786 args = afb_req_json(request);
788 // Process about Raw CAN message on CAN bus directly
789 if (args != nullptr &&
790 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string) ))
792 ans = get_signals_value(json_object_get_string(json_name));
796 else if (args != nullptr &&
797 (json_object_object_get_ex(args, "id", &json_name)))
799 if (json_object_get_type(json_name) == json_type_string) // id is set before and check if it's an array
801 ans = get_id_value(json_object_get_int(json_name));
803 else if(json_object_get_type(json_name) == json_type_array)
805 ans = json_object_new_array();
806 for (int i = 0 ; i < json_object_array_length(json_name); i++)
808 json_object *sub_ans = nullptr;
809 json_object *x = json_object_array_get_idx(json_name, i);
810 sub_ans = get_id_value(json_object_get_int(x));
814 struct json_object *jobj = json_object_new_object();
815 struct json_object *jid = json_object_new_string(json_object_get_string(x));
816 json_object_object_add(jobj, "id", jid);
817 json_object_object_add(jobj, "data", sub_ans);
818 json_object_array_add(ans, jobj);
829 AFB_ERROR("Request argument malformed. Please use the following syntax:");
834 afb_req_success(request, ans, NULL);
836 afb_req_fail(request, "error", NULL);
840 static struct json_object *list_can_message(const std::string& name)
842 struct utils::signals_found sf;
843 struct json_object *ans = nullptr;
845 openxc_DynamicField search_key = build_DynamicField(name);
846 sf = utils::signals_manager_t::instance().find_signals(search_key);
848 if (sf.signals.empty() && sf.diagnostic_messages.empty())
850 AFB_WARNING("No signal(s) found for %s.", name.c_str());
853 ans = json_object_new_array();
854 for(const auto& sig: sf.signals)
856 json_object_array_add(ans,
857 json_object_new_string(sig->get_name().c_str()));
859 for(const auto& sig: sf.diagnostic_messages)
861 json_object_array_add(ans,
862 json_object_new_string(sig->get_name().c_str()));
868 void list(afb_req_t request)
871 json_object *ans = nullptr;
872 struct json_object* args = nullptr,
873 *json_name = nullptr;
874 args = afb_req_json(request);
876 if ((args != nullptr) &&
877 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string)))
878 name = json_object_get_string(json_name);
882 ans = list_can_message(name);
887 afb_req_success(request, ans, NULL);
889 afb_req_fail(request, "error", NULL);
893 /// @brief Initialize the binding.
895 /// @param[in] service Structure which represent the Application Framework Binder.
897 /// @return Exit code, zero if success.
898 int init_binding(afb_api_t api)
901 application_t& application = application_t::instance();
902 can_bus_t& can_bus_manager = application.get_can_bus_manager();
904 if(application.get_message_set().empty())
906 AFB_ERROR("No message_set defined");
910 can_bus_manager.start_threads();
911 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
913 if (application.get_diagnostic_manager().is_initialized())
915 // Add a recurring dignostic message request to get engine speed at all times.
916 openxc_DynamicField search_key = build_DynamicField("diagnostic_messages.engine.speed");
917 struct utils::signals_found sf = sm.find_signals(search_key);
919 if(sf.signals.empty() && sf.diagnostic_messages.size() == 1)
921 afb_req_t request = nullptr;
923 struct event_filter_t event_filter;
924 event_filter.frequency = sf.diagnostic_messages.front()->get_frequency();
926 map_subscription& s = sm.get_subscribed_signals();
928 subscribe_unsubscribe_diagnostic_messages(request, true, sf.diagnostic_messages, event_filter, s, true);
932 #ifdef USE_FEATURE_J1939
933 std::string j1939_bus;
934 vect_ptr_msg_def_t current_messages_definition = application.get_messages_definition();
935 for(std::shared_ptr<message_definition_t> message_definition: current_messages_definition)
937 if(message_definition->is_j1939())
939 if (j1939_bus == message_definition->get_bus_device_name() )
941 j1939_bus = message_definition->get_bus_device_name();
943 std::shared_ptr<low_can_subscription_t> low_can_j1939 = std::make_shared<low_can_subscription_t>();
944 application.set_subscription_address_claiming(low_can_j1939);
946 ret = low_can_subscription_t::open_socket(*low_can_j1939,
948 J1939_ADDR_CLAIM_PROTOCOL);
952 AFB_ERROR("Error open socket address claiming for j1939 protocol");
955 add_to_event_loop(low_can_j1939);
962 AFB_ERROR("There was something wrong with CAN device Initialization.");
967 int load_config(afb_api_t api)
970 CtlConfigT *ctlConfig;
971 const char *dirList = getenv("CONTROL_CONFIG_PATH");
972 std::string bindingDirPath = GetBindingDirPath(api);
973 std::string filepath = bindingDirPath + "/etc";
976 dirList=CONTROL_CONFIG_PATH;
978 filepath.append(":");
979 filepath.append(dirList);
980 const char *configPath = CtlConfigSearch(api, filepath.c_str(), "control");
984 AFB_ERROR_V3("CtlPreInit: No control-%s* config found invalid JSON %s ", GetBinderName(), filepath.c_str());
988 // create one API per file
989 ctlConfig = CtlLoadMetaData(api, configPath);
992 AFB_ERROR_V3("CtrlPreInit No valid control config file in:\n-- %s", configPath);
996 // Save the config in the api userdata field
997 afb_api_set_userdata(api, ctlConfig);
999 setExternalData(ctlConfig, (void*) &application_t::instance());
1000 ret= CtlLoadSections(api, ctlConfig, ctlSections_);