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                                 AFB_NOTICE("ISO TP messages need to be subscribed one by one (rx, tx)");
 366
 367                         return isotp;
 368                 });
 369         }
 370 #endif
 371
 372         if (sf.signals.empty() && sf.diagnostic_messages.empty())
 373         {
 374                 AFB_NOTICE("No signal(s) found for %s.", tag.c_str());
 375                 ret = -1;
 376         }
 377         else
 378         {
 379                 event_filter_t event_filter = generate_filter(args);
 380                 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
 381         }
 382         return ret;
 383 }
 384
 385 static int one_subscribe_unsubscribe_id(afb_req_t request, bool subscribe, const uint32_t& id ,json_object *args)
 386 {
 387         int ret = 0;
 388         std::shared_ptr<message_definition_t> message_definition = application_t::instance().get_message_definition(id);
 389         struct utils::signals_found sf;
 390
 391         if(message_definition)
 392                 sf.signals = list_ptr_signal_t(message_definition->get_signals().begin(),message_definition->get_signals().end());
 393
 394         if(sf.signals.empty())
 395         {
 396                 AFB_NOTICE("No signal(s) found for %d.", id);
 397                 ret = -1;
 398         }
 399         else
 400         {
 401                 event_filter_t event_filter = generate_filter(args);
 402                 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
 403         }
 404
 405         return ret;
 406 }
 407
 408
 409 static int process_one_subscribe_args(afb_req_t request, bool subscribe, json_object *args)
 410 {
 411         int rc = 0, rc2=0;
 412         json_object *x = nullptr, *event = nullptr, *id = nullptr;
 413
 414
 415         // 2 cases : ID(PGN) and event
 416
 417         json_object_object_get_ex(args,"event",&event);
 418         json_bool test_id = json_object_object_get_ex(args,"id",&id);
 419         if(!test_id)
 420                 test_id = json_object_object_get_ex(args,"pgn",&id);
 421
 422         if(     args == NULL || (id && ((std::string)json_object_get_string(id)).compare("*") == 0))
 423         {
 424                 rc = one_subscribe_unsubscribe_events(request, subscribe, "*", args);
 425         }
 426         else
 427         {
 428                 if(event)
 429                 {
 430                         if (json_object_get_type(event) != json_type_array) // event is set before and check if it's an array
 431                         {
 432                                 rc = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(event), args);
 433                         }
 434                         else // event is set and it's not an array
 435                         {
 436                                 for (int i = 0 ; i < json_object_array_length(event); i++)
 437                                 {
 438                                         x = json_object_array_get_idx(event, i);
 439                                         rc2 = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(x), args);
 440                                         if (rc >= 0)
 441                                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 442                                 }
 443                         }
 444                 }
 445
 446                 if(id)
 447                 {
 448                         if (json_object_get_type(id) != json_type_array) // id is set before and check if it's an array
 449                         {
 450                                 rc = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(id), args);
 451                         }
 452                         else // event is set and it's not an array
 453                         {
 454                                 for (int i = 0 ; i < json_object_array_length(id); i++)
 455                                 {
 456                                         x = json_object_array_get_idx(id, i);
 457                                         rc2 = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(x), args);
 458                                         if (rc >= 0)
 459                                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 460                                 }
 461                         }
 462                 }
 463         }
 464         return rc;
 465 }
 466
 467 static void do_subscribe_unsubscribe(afb_req_t request, bool subscribe)
 468 {
 469         int rc = 0;
 470         struct json_object *args, *x;
 471
 472         args = afb_req_json(request);
 473         if (json_object_get_type(args) == json_type_array)
 474         {
 475                 for(int i = 0; i < json_object_array_length(args); i++)
 476                 {
 477                         x = json_object_array_get_idx(args, i);
 478                         rc += process_one_subscribe_args(request, subscribe, x);
 479                 }
 480         }
 481         else
 482         {
 483                 rc += process_one_subscribe_args(request, subscribe, args);
 484         }
 485
 486         if (rc >= 0)
 487                 afb_req_success(request, NULL, NULL);
 488         else
 489                 afb_req_fail(request, "error", NULL);
 490 }
 491
 492 void auth(afb_req_t request)
 493 {
 494         afb_req_session_set_LOA(request, 1);
 495         afb_req_success(request, NULL, NULL);
 496 }
 497
 498 void subscribe(afb_req_t request)
 499 {
 500         do_subscribe_unsubscribe(request, true);
 501 }
 502
 503 void unsubscribe(afb_req_t request)
 504 {
 505         do_subscribe_unsubscribe(request, false);
 506 }
 507
 508 /*
 509 static int send_frame(struct canfd_frame& cfd, const std::string& bus_name, socket_type type)
 510 {
 511         if(bus_name.empty())
 512         {
 513                 return -1;
 514         }
 515
 516         std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
 517
 518         if( cd.count(bus_name) == 0)
 519         {
 520                 cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t());
 521         }
 522
 523
 524         if(type == socket_type::BCM)
 525         {
 526                 return low_can_subscription_t::tx_send(*cd[bus_name], cfd, bus_name);
 527         }
 528         else if(type == socket_type::J1939)
 529         {
 530                 return low_can_subscription_t::j1939_send(*cd[bus_name], cfd, bus_name);
 531         }
 532         else{
 533                 return -1;
 534         }
 535 }
 536 */
 537 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)
 538 {
 539         if(bus_name.empty())
 540                 return -1;
 541
 542         std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
 543
 544         if( cd.count(bus_name) == 0)
 545                 cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 546
 547         cd[bus_name]->set_signal(signal);
 548
 549
 550         if(flags&BCM_PROTOCOL)
 551                 return low_can_subscription_t::tx_send(*cd[bus_name], message, bus_name);
 552 #ifdef USE_FEATURE_ISOTP
 553         else if(flags&ISOTP_PROTOCOL)
 554                 return low_can_subscription_t::isotp_send(*cd[bus_name], message, bus_name);
 555 #endif
 556 #ifdef USE_FEATURE_J1939
 557         else if(flags&J1939_PROTOCOL)
 558                 return low_can_subscription_t::j1939_send(*cd[bus_name], message, bus_name);
 559 #endif
 560         else
 561                 return -1;
 562 }
 563
 564
 565 static void write_raw_frame(afb_req_t request, const std::string& bus_name, message_t *message,
 566                                                         struct json_object *can_data, uint32_t flags, event_filter_t &event_filter)
 567 {
 568
 569         struct utils::signals_found sf;
 570
 571         utils::signals_manager_t::instance().lookup_signals_by_id(message->get_id(), application_t::instance().get_all_signals(), sf.signals);
 572
 573         if( !sf.signals.empty() )
 574         {
 575                 AFB_DEBUG("ID WRITE RAW : %d",sf.signals.front()->get_message()->get_id());
 576                 if(flags & BCM_PROTOCOL)
 577                 {
 578                         if(sf.signals.front()->get_message()->is_fd())
 579                         {
 580                                 AFB_DEBUG("CANFD_MAX_DLEN");
 581                                 message->set_flags(CAN_FD_FRAME);
 582                                 message->set_maxdlen(CANFD_MAX_DLEN);
 583                         }
 584                         else
 585                         {
 586                                 AFB_DEBUG("CAN_MAX_DLEN");
 587                                 message->set_maxdlen(CAN_MAX_DLEN);
 588                         }
 589
 590                         if(sf.signals.front()->get_message()->is_isotp())
 591                         {
 592                                 flags = ISOTP_PROTOCOL;
 593                                 message->set_maxdlen(MAX_ISOTP_FRAMES * message->get_maxdlen());
 594                         }
 595                 }
 596
 597 #ifdef USE_FEATURE_J1939
 598                 if(flags&J1939_PROTOCOL)
 599                         message->set_maxdlen(J1939_MAX_DLEN);
 600 #endif
 601
 602                 if(message->get_length() > 0 && message->get_length() <= message->get_maxdlen())
 603                 {
 604                         std::vector<uint8_t> data;
 605                         for (int i = 0 ; i < message->get_length() ; i++)
 606                         {
 607                                 struct json_object *one_can_data = json_object_array_get_idx(can_data, i);
 608                                 data.push_back((json_object_is_type(one_can_data, json_type_int)) ?
 609                                                 (uint8_t)json_object_get_int(one_can_data) : 0);
 610                         }
 611                         message->set_data(data);
 612                 }
 613                 else
 614                 {
 615                         if(flags&BCM_PROTOCOL)
 616                                 afb_req_fail(request, "Invalid", "Frame BCM");
 617                         else if(flags&J1939_PROTOCOL)
 618                                 afb_req_fail(request, "Invalid", "Frame J1939");
 619                         else if(flags&ISOTP_PROTOCOL)
 620                                 afb_req_fail(request, "Invalid", "Frame ISOTP");
 621                         else
 622                                 afb_req_fail(request, "Invalid", "Frame");
 623
 624                         return;
 625                 }
 626
 627                 if(! send_message(message, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name), flags, event_filter, sf.signals.front()))
 628                         afb_req_success(request, nullptr, "Message correctly sent");
 629                 else
 630                         afb_req_fail(request, "Error", "sending the message. See the log for more details.");
 631         }
 632         else
 633         {
 634                 afb_req_fail(request, "Error", "no find id in signals. See the log for more details.");
 635         }
 636
 637 }
 638
 639 static void write_frame(afb_req_t request, const std::string& bus_name, json_object *json_value, event_filter_t &event_filter)
 640 {
 641         message_t *message;
 642         int id;
 643         int length;
 644         struct json_object *can_data = nullptr;
 645         std::vector<uint8_t> data;
 646
 647         AFB_DEBUG("JSON content %s",json_object_get_string(json_value));
 648
 649         if(!wrap_json_unpack(json_value, "{si, si, so !}",
 650                                   "can_id", &id,
 651                                   "can_dlc", &length,
 652                                   "can_data", &can_data))
 653         {
 654                 message = new can_message_t(0,(uint32_t)id,(uint32_t)length,false,0,data,0);
 655                 write_raw_frame(request,bus_name,message,can_data,BCM_PROTOCOL,event_filter);
 656         }
 657 #ifdef USE_FEATURE_J1939
 658         else if(!wrap_json_unpack(json_value, "{si, si, so !}",
 659                                   "pgn", &id,
 660                                   "length", &length,
 661                                   "data", &can_data))
 662         {
 663                 message = new j1939_message_t((uint32_t)length,data,0,J1939_NO_NAME,(pgn_t)id,J1939_NO_ADDR);
 664                 write_raw_frame(request,bus_name,message,can_data,J1939_PROTOCOL, event_filter);
 665         }
 666 #endif
 667         else
 668         {
 669                 afb_req_fail(request, "Invalid", "Frame object malformed");
 670                 return;
 671         }
 672         delete message;
 673 }
 674
 675 static void write_signal(afb_req_t request, const std::string& name, json_object *json_value, event_filter_t &event_filter)
 676 {
 677         struct canfd_frame cfd;
 678         struct utils::signals_found sf;
 679         signal_encoder encoder = nullptr;
 680         bool send = true;
 681
 682         ::memset(&cfd, 0, sizeof(cfd));
 683
 684         openxc_DynamicField search_key = build_DynamicField(name);
 685         sf = utils::signals_manager_t::instance().find_signals(search_key);
 686         openxc_DynamicField dynafield_value = build_DynamicField(json_value);
 687
 688         if (sf.signals.empty())
 689         {
 690                 afb_req_fail_f(request, "No signal(s) found for %s. Message not sent.", name.c_str());
 691                 return;
 692         }
 693
 694         std::shared_ptr<signal_t> sig = sf.signals.front();
 695         if(! sig->get_writable())
 696         {
 697                 afb_req_fail_f(request, "%s isn't writable. Message not sent.", sig->get_name().c_str());
 698                 return;
 699         }
 700
 701         uint64_t value = (encoder = sig->get_encoder()) ?
 702                         encoder(*sig, dynafield_value, &send) :
 703                         encoder_t::encode_DynamicField(*sig, dynafield_value, &send);
 704
 705         uint32_t flags = INVALID_FLAG;
 706
 707         if(sig->get_message()->is_j1939())
 708                 flags = J1939_PROTOCOL;
 709         else if(sig->get_message()->is_isotp())
 710                 flags = ISOTP_PROTOCOL;
 711         else
 712                 flags = BCM_PROTOCOL;
 713
 714 //      cfd = encoder_t::build_frame(sig, value);
 715         message_t *message = encoder_t::build_message(sig,value,false,false);
 716
 717         if(! send_message(message, sig->get_message()->get_bus_device_name(), flags, event_filter, sig) && send)
 718                 afb_req_success(request, nullptr, "Message correctly sent");
 719         else
 720                 afb_req_fail(request, "Error", "Sending the message. See the log for more details.");
 721
 722         if(sig->get_message()->is_j1939())
 723 #ifdef USE_FEATURE_J1939
 724                 delete (j1939_message_t*) message;
 725 #else
 726                 afb_req_fail(request, "Warning", "J1939 not implemented in your kernel.");
 727 #endif
 728         else
 729                 delete (can_message_t*) message;
 730 }
 731
 732 void write(afb_req_t request)
 733 {
 734         struct json_object* args = nullptr, *json_value = nullptr, *name = nullptr;
 735         args = afb_req_json(request);
 736
 737         if(args != NULL)
 738         {
 739                 event_filter_t event_filter = generate_filter(args);
 740
 741                 if(json_object_object_get_ex(args,"bus_name",&name))
 742                 {
 743                         if(json_object_object_get_ex(args,"frame",&json_value))
 744                                 write_frame(request, (std::string)json_object_get_string(name), json_value, event_filter);
 745                         else
 746                                 afb_req_fail(request, "Error", "Request argument malformed");
 747                 }
 748                 else if(json_object_object_get_ex(args,"signal_name",&name))
 749                 {
 750                         if(json_object_object_get_ex(args,"signal_value",&json_value))
 751                                 write_signal(request, (std::string)json_object_get_string(name), json_value, event_filter);
 752                         else
 753                                 afb_req_fail(request, "Error", "Request argument malformed");
 754                 }
 755                 else
 756                 {
 757                         afb_req_fail(request, "Error", "Request argument malformed");
 758                 }
 759         }
 760         else
 761         {
 762                 afb_req_fail(request, "Error", "Request argument null");
 763         }
 764 }
 765
 766 static struct json_object *get_signals_value(const std::string& name)
 767 {
 768         struct utils::signals_found sf;
 769         struct json_object *ans = nullptr;
 770
 771         openxc_DynamicField search_key = build_DynamicField(name);
 772         sf = utils::signals_manager_t::instance().find_signals(search_key);
 773
 774         if (sf.signals.empty())
 775         {
 776                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 777                 return NULL;
 778         }
 779         ans = json_object_new_array();
 780         for(const auto& sig: sf.signals)
 781         {
 782                 struct json_object *jobj = json_object_new_object();
 783                 json_object_object_add(jobj, "event", json_object_new_string(sig->get_name().c_str()));
 784                 json_object_object_add(jobj, "value", json_object_new_double(sig->get_last_value()));
 785                 json_object_array_add(ans, jobj);
 786         }
 787
 788         return ans;
 789 }
 790 void get(afb_req_t request)
 791 {
 792         int rc = 0;
 793         struct json_object* args = nullptr,
 794                 *json_name = nullptr;
 795         json_object *ans = nullptr;
 796
 797         args = afb_req_json(request);
 798
 799         // Process about Raw CAN message on CAN bus directly
 800         if (args != nullptr &&
 801                 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string) ))
 802         {
 803                 ans = get_signals_value(json_object_get_string(json_name));
 804                 if (!ans)
 805                         rc = -1;
 806         }
 807         else
 808         {
 809                 AFB_ERROR("Request argument malformed. Please use the following syntax:");
 810                 rc = -1;
 811         }
 812
 813         if (rc >= 0)
 814                 afb_req_success(request, ans, NULL);
 815         else
 816                 afb_req_fail(request, "error", NULL);
 817 }
 818
 819
 820 static struct json_object *list_can_message(const std::string& name)
 821 {
 822         struct utils::signals_found sf;
 823         struct json_object *ans = nullptr;
 824
 825         openxc_DynamicField search_key = build_DynamicField(name);
 826         sf = utils::signals_manager_t::instance().find_signals(search_key);
 827
 828         if (sf.signals.empty() && sf.diagnostic_messages.empty())
 829         {
 830                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 831                 return NULL;
 832         }
 833         ans = json_object_new_array();
 834         for(const auto& sig: sf.signals)
 835         {
 836                 json_object_array_add(ans,
 837                         json_object_new_string(sig->get_name().c_str()));
 838         }
 839         for(const auto& sig: sf.diagnostic_messages)
 840         {
 841                 json_object_array_add(ans,
 842                         json_object_new_string(sig->get_name().c_str()));
 843         }
 844
 845         return ans;
 846 }
 847
 848 void list(afb_req_t request)
 849 {
 850         int rc = 0;
 851         json_object *ans = nullptr;
 852         struct json_object* args = nullptr,
 853                 *json_name = nullptr;
 854         args = afb_req_json(request);
 855         const char *name;
 856         if ((args != nullptr) &&
 857                 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string)))
 858                 name = json_object_get_string(json_name);
 859         else
 860                 name = "*";
 861
 862         ans = list_can_message(name);
 863         if (!ans)
 864                 rc = -1;
 865
 866         if (rc >= 0)
 867                 afb_req_success(request, ans, NULL);
 868         else
 869                 afb_req_fail(request, "error", NULL);
 870
 871 }
 872
 873 /// @brief Initialize the binding.
 874 ///
 875 /// @param[in] service Structure which represent the Application Framework Binder.
 876 ///
 877 /// @return Exit code, zero if success.
 878 int init_binding(afb_api_t api)
 879 {
 880         int ret = 1;
 881         application_t& application = application_t::instance();
 882         can_bus_t& can_bus_manager = application.get_can_bus_manager();
 883
 884         can_bus_manager.set_can_devices();
 885         can_bus_manager.start_threads();
 886         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 887
 888         /// Initialize Diagnostic manager that will handle obd2 requests.
 889         /// We pass by default the first CAN bus device to its Initialization.
 890         /// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus.
 891         if(application_t::instance().get_diagnostic_manager().initialize())
 892                 ret = 0;
 893
 894         // Add a recurring dignostic message request to get engine speed at all times.
 895         openxc_DynamicField search_key = build_DynamicField("diagnostic_messages.engine.speed");
 896         struct utils::signals_found sf = sm.find_signals(search_key);
 897
 898         if(sf.signals.empty() && sf.diagnostic_messages.size() == 1)
 899         {
 900                 afb_req_t request = nullptr;
 901
 902                 struct event_filter_t event_filter;
 903                 event_filter.frequency = sf.diagnostic_messages.front()->get_frequency();
 904
 905                 map_subscription& s = sm.get_subscribed_signals();
 906
 907                 subscribe_unsubscribe_diagnostic_messages(request, true, sf.diagnostic_messages, event_filter, s, true);
 908         }
 909
 910
 911 #ifdef USE_FEATURE_J1939
 912         vect_ptr_msg_def_t current_messages_definition = application.get_messages_definition();
 913         for(std::shared_ptr<message_definition_t> message_definition: current_messages_definition)
 914         {
 915                 if(message_definition->is_j1939())
 916                 {
 917                         std::shared_ptr<low_can_subscription_t> low_can_j1939 = std::make_shared<low_can_subscription_t>();
 918
 919                         application.set_subscription_address_claiming(low_can_j1939);
 920
 921                         ret = low_can_subscription_t::open_socket(*low_can_j1939,
 922                                                                                                         message_definition->get_bus_device_name(),
 923                                                                                                         J1939_ADDR_CLAIM_PROTOCOL);
 924                         if(ret < 0)
 925                         {
 926                                 AFB_ERROR("Error open socket address claiming for j1939 protocol");
 927                                 return -1;
 928                         }
 929
 930 //                      std::shared_ptr<low_can_subscription_t> saddrclaim = application.get_subscription_address_claiming();
 931
 932                         add_to_event_loop(low_can_j1939);
 933                         break;
 934                 }
 935         }
 936 #endif
 937
 938         if(ret)
 939                 AFB_ERROR("There was something wrong with CAN device Initialization.");
 940
 941         return ret;
 942 }