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, std::map<int, std::shared_ptr<low_can_subscription_t> >& 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, std::map<int, std::shared_ptr<low_can_subscription_t> >& 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                                         std::map<int, std::shared_ptr<low_can_subscription_t> >& 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                                                          std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages,
 198                                                          struct event_filter_t& event_filter,
 199                                                          std::map<int, std::shared_ptr<low_can_subscription_t> >& 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                                                  std::vector<std::shared_ptr<signal_t> > signals,
 263                                                  struct event_filter_t& event_filter,
 264                                                  std::map<int, std::shared_ptr<low_can_subscription_t> >& 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 ///
 301 /// @return Number of correctly subscribed signal
 302 ///
 303 static int subscribe_unsubscribe_signals(afb_req_t request,
 304                                          bool subscribe,
 305                                          const struct utils::signals_found& signals,
 306                                          struct event_filter_t& event_filter)
 307 {
 308         int rets = 0;
 309         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 310
 311         std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 312         std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
 313
 314         rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s, false);
 315         rets += subscribe_unsubscribe_signals(request, subscribe, signals.signals, event_filter, s);
 316
 317         return rets;
 318 }
 319
 320 static event_filter_t generate_filter(json_object* args)
 321 {
 322         event_filter_t event_filter;
 323         struct json_object  *filter, *obj;
 324
 325                 // computes the filter
 326         if (json_object_object_get_ex(args, "filter", &filter))
 327         {
 328                 if (json_object_object_get_ex(filter, "frequency", &obj)
 329                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 330                         {event_filter.frequency = (float)json_object_get_double(obj);}
 331                 if (json_object_object_get_ex(filter, "min", &obj)
 332                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 333                         {event_filter.min = (float)json_object_get_double(obj);}
 334                 if (json_object_object_get_ex(filter, "max", &obj)
 335                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 336                         {event_filter.max = (float)json_object_get_double(obj);}
 337                 if (json_object_object_get_ex(filter, "rx_id", &obj)
 338                 && (json_object_is_type(obj, json_type_int)))
 339                         {event_filter.rx_id = (canid_t) json_object_get_int(obj);}
 340                 if (json_object_object_get_ex(filter, "tx_id", &obj)
 341                 && (json_object_is_type(obj, json_type_int)))
 342                         {event_filter.tx_id = (canid_t) json_object_get_int(obj);}
 343         }
 344         return event_filter;
 345 }
 346
 347
 348 static int one_subscribe_unsubscribe_events(afb_req_t request, bool subscribe, const std::string& tag, json_object* args)
 349 {
 350         int ret = 0;
 351         struct utils::signals_found sf;
 352
 353         // subscribe or unsubscribe
 354         openxc_DynamicField search_key = build_DynamicField(tag);
 355         sf = utils::signals_manager_t::instance().find_signals(search_key);
 356         if (sf.signals.empty() && sf.diagnostic_messages.empty())
 357         {
 358                 AFB_NOTICE("No signal(s) found for %s.", tag.c_str());
 359                 ret = -1;
 360         }
 361         else
 362         {
 363                 event_filter_t event_filter = generate_filter(args);
 364                 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
 365         }
 366         return ret;
 367 }
 368
 369 static int one_subscribe_unsubscribe_id(afb_req_t request, bool subscribe, const uint32_t& id ,json_object *args)
 370 {
 371         int ret = 0;
 372         std::shared_ptr<message_definition_t> message_definition = application_t::instance().get_message_definition(id);
 373         struct utils::signals_found sf;
 374
 375         if(message_definition)
 376         {
 377                 sf.signals = message_definition->get_signals();
 378         }
 379
 380         if(sf.signals.empty())
 381         {
 382                 AFB_NOTICE("No signal(s) found for %d.", id);
 383                 ret = -1;
 384         }
 385         else
 386         {
 387                 event_filter_t event_filter = generate_filter(args);
 388                 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
 389         }
 390         return ret;
 391 }
 392
 393
 394 static int process_one_subscribe_args(afb_req_t request, bool subscribe, json_object *args)
 395 {
 396         int rc = 0, rc2=0;
 397         json_object *x = nullptr, *event = nullptr, *id = nullptr;
 398
 399
 400         // 2 cases : ID(PGN) and event
 401
 402         json_object_object_get_ex(args,"event",&event);
 403         json_bool test_id = json_object_object_get_ex(args,"id",&id);
 404         if(!test_id)
 405         {
 406                 test_id = json_object_object_get_ex(args,"pgn",&id);
 407         }
 408
 409         if(     args == NULL || (id && ((std::string)json_object_get_string(id)).compare("*") == 0))
 410         {
 411                 rc = one_subscribe_unsubscribe_events(request, subscribe, "*", args);
 412         }
 413         else
 414         {
 415                 if(event)
 416                 {
 417                         if (json_object_get_type(event) != json_type_array) // event is set before and check if it's an array
 418                         {
 419                                 rc = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(event), args);
 420                         }
 421                         else // event is set and it's not an array
 422                         {
 423                                 for (int i = 0 ; i < json_object_array_length(event); i++)
 424                                 {
 425                                         x = json_object_array_get_idx(event, i);
 426                                         rc2 = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(x), args);
 427                                         if (rc >= 0)
 428                                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 429                                 }
 430                         }
 431                 }
 432
 433                 if(id)
 434                 {
 435                         if (json_object_get_type(id) != json_type_array) // id is set before and check if it's an array
 436                         {
 437                                 rc = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(id), args);
 438                         }
 439                         else // event is set and it's not an array
 440                         {
 441                                 for (int i = 0 ; i < json_object_array_length(id); i++)
 442                                 {
 443                                         x = json_object_array_get_idx(id, i);
 444                                         rc2 = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(x), args);
 445                                         if (rc >= 0)
 446                                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 447                                 }
 448                         }
 449                 }
 450         }
 451         return rc;
 452 }
 453
 454 static void do_subscribe_unsubscribe(afb_req_t request, bool subscribe)
 455 {
 456         int rc = 0;
 457         struct json_object *args, *x;
 458
 459         args = afb_req_json(request);
 460         if (json_object_get_type(args) == json_type_array)
 461         {
 462                 for(int i = 0; i < json_object_array_length(args); i++)
 463                 {
 464                         x = json_object_array_get_idx(args, i);
 465                         rc += process_one_subscribe_args(request, subscribe, x);
 466                 }
 467         }
 468         else
 469         {
 470                 rc += process_one_subscribe_args(request, subscribe, args);
 471         }
 472
 473         if (rc >= 0)
 474                 afb_req_success(request, NULL, NULL);
 475         else
 476                 afb_req_fail(request, "error", NULL);
 477 }
 478
 479 void auth(afb_req_t request)
 480 {
 481         afb_req_session_set_LOA(request, 1);
 482         afb_req_success(request, NULL, NULL);
 483 }
 484
 485 void subscribe(afb_req_t request)
 486 {
 487         do_subscribe_unsubscribe(request, true);
 488 }
 489
 490 void unsubscribe(afb_req_t request)
 491 {
 492         do_subscribe_unsubscribe(request, false);
 493 }
 494
 495 /*
 496 static int send_frame(struct canfd_frame& cfd, const std::string& bus_name, socket_type type)
 497 {
 498         if(bus_name.empty())
 499         {
 500                 return -1;
 501         }
 502
 503         std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
 504
 505         if( cd.count(bus_name) == 0)
 506         {
 507                 cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t());
 508         }
 509
 510
 511         if(type == socket_type::BCM)
 512         {
 513                 return low_can_subscription_t::tx_send(*cd[bus_name], cfd, bus_name);
 514         }
 515         else if(type == socket_type::J1939)
 516         {
 517                 return low_can_subscription_t::j1939_send(*cd[bus_name], cfd, bus_name);
 518         }
 519         else{
 520                 return -1;
 521         }
 522 }
 523 */
 524 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)
 525 {
 526         if(bus_name.empty())
 527         {
 528                 return -1;
 529         }
 530
 531         std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
 532
 533         if( cd.count(bus_name) == 0)
 534         {
 535                 cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 536         }
 537
 538         cd[bus_name]->set_signal(signal);
 539
 540
 541         if(flags&BCM_PROTOCOL)
 542         {
 543                 return low_can_subscription_t::tx_send(*cd[bus_name], message, bus_name);
 544         }
 545 #ifdef USE_FEATURE_ISOTP
 546         else if(flags&ISOTP_PROTOCOL)
 547         {
 548                 return low_can_subscription_t::isotp_send(*cd[bus_name], message, bus_name);
 549         }
 550 #endif
 551 #ifdef USE_FEATURE_J1939
 552         else if(flags&J1939_PROTOCOL)
 553         {
 554                 return low_can_subscription_t::j1939_send(*cd[bus_name], message, bus_name);
 555         }
 556 #endif
 557         else
 558         {
 559                 return -1;
 560         }
 561 }
 562
 563
 564 static void write_raw_frame(afb_req_t request, const std::string& bus_name, message_t *message,
 565                                                         struct json_object *can_data, uint32_t flags, event_filter_t &event_filter)
 566 {
 567
 568         struct utils::signals_found sf;
 569
 570         utils::signals_manager_t::instance().lookup_signals_by_id(message->get_id(), application_t::instance().get_all_signals(), sf.signals);
 571
 572         if( !sf.signals.empty() )
 573         {
 574                 AFB_DEBUG("ID WRITE RAW : %d",sf.signals[0]->get_message()->get_id());
 575                 if(flags&BCM_PROTOCOL)
 576                 {
 577                         if(sf.signals[0]->get_message()->is_fd())
 578                         {
 579                                 AFB_DEBUG("CANFD_MAX_DLEN");
 580                                 message->set_flags(CAN_FD_FRAME);
 581                                 message->set_maxdlen(CANFD_MAX_DLEN);
 582                         }
 583                         else
 584                         {
 585                                 AFB_DEBUG("CAN_MAX_DLEN");
 586                                 message->set_maxdlen(CAN_MAX_DLEN);
 587                         }
 588
 589                         if(sf.signals[0]->get_message()->is_isotp())
 590                         {
 591                                 flags = ISOTP_PROTOCOL;
 592                                 message->set_maxdlen(MAX_ISOTP_FRAMES * message->get_maxdlen());
 593                         }
 594                 }
 595
 596 #ifdef USE_FEATURE_J1939
 597                 if(flags&J1939_PROTOCOL)
 598                 {
 599                         message->set_maxdlen(J1939_MAX_DLEN);
 600                 }
 601 #endif
 602
 603                 if(message->get_length() > 0 && message->get_length() <= message->get_maxdlen())
 604                 {
 605                         std::vector<uint8_t> data;
 606                         for (int i = 0 ; i < message->get_length() ; i++)
 607                         {
 608                                 struct json_object *one_can_data = json_object_array_get_idx(can_data, i);
 609                                 data.push_back((json_object_is_type(one_can_data, json_type_int)) ?
 610                                                 (uint8_t)json_object_get_int(one_can_data) : 0);
 611                         }
 612                         message->set_data(data);
 613                 }
 614                 else
 615                 {
 616                         if(flags&BCM_PROTOCOL)
 617                         {
 618                                 afb_req_fail(request, "Invalid", "Frame BCM");
 619                         }
 620                         else if(flags&J1939_PROTOCOL)
 621                         {
 622                                 afb_req_fail(request, "Invalid", "Frame J1939");
 623                         }
 624                         else if(flags&ISOTP_PROTOCOL)
 625                         {
 626                                 afb_req_fail(request, "Invalid", "Frame ISOTP");
 627                         }
 628                         else
 629                         {
 630                                 afb_req_fail(request, "Invalid", "Frame");
 631                         }
 632                         return;
 633                 }
 634
 635                 if(! send_message(message, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name), flags, event_filter, sf.signals[0]))
 636                 {
 637                         afb_req_success(request, nullptr, "Message correctly sent");
 638                 }
 639                 else
 640                 {
 641                         afb_req_fail(request, "Error", "sending the message. See the log for more details.");
 642                 }
 643         }
 644         else
 645         {
 646                 afb_req_fail(request, "Error", "no find id in signals. See the log for more details.");
 647         }
 648
 649 }
 650
 651 static void write_frame(afb_req_t request, const std::string& bus_name, json_object *json_value, event_filter_t &event_filter)
 652 {
 653         message_t *message;
 654         int id;
 655         int length;
 656         struct json_object *can_data = nullptr;
 657         std::vector<uint8_t> data;
 658
 659         AFB_DEBUG("JSON content %s",json_object_get_string(json_value));
 660
 661         if(!wrap_json_unpack(json_value, "{si, si, so !}",
 662                                   "can_id", &id,
 663                                   "can_dlc", &length,
 664                                   "can_data", &can_data))
 665         {
 666                 message = new can_message_t(0,(uint32_t)id,(uint32_t)length,false,0,data,0);
 667                 write_raw_frame(request,bus_name,message,can_data,BCM_PROTOCOL,event_filter);
 668         }
 669 #ifdef USE_FEATURE_J1939
 670         else if(!wrap_json_unpack(json_value, "{si, si, so !}",
 671                                   "pgn", &id,
 672                                   "length", &length,
 673                                   "data", &can_data))
 674         {
 675                 message = new j1939_message_t((uint32_t)length,data,0,J1939_NO_NAME,(pgn_t)id,J1939_NO_ADDR);
 676                 write_raw_frame(request,bus_name,message,can_data,J1939_PROTOCOL, event_filter);
 677         }
 678 #endif
 679         else
 680         {
 681                 afb_req_fail(request, "Invalid", "Frame object malformed");
 682                 return;
 683         }
 684         delete message;
 685 }
 686
 687 static void write_signal(afb_req_t request, const std::string& name, json_object *json_value, event_filter_t &event_filter)
 688 {
 689         struct canfd_frame cfd;
 690         struct utils::signals_found sf;
 691         signal_encoder encoder = nullptr;
 692         bool send = true;
 693
 694         ::memset(&cfd, 0, sizeof(cfd));
 695
 696         openxc_DynamicField search_key = build_DynamicField(name);
 697         sf = utils::signals_manager_t::instance().find_signals(search_key);
 698         openxc_DynamicField dynafield_value = build_DynamicField(json_value);
 699
 700         if (sf.signals.empty())
 701         {
 702                 afb_req_fail_f(request, "No signal(s) found for %s. Message not sent.", name.c_str());
 703                 return;
 704         }
 705
 706         std::shared_ptr<signal_t> sig = sf.signals[0];
 707         if(! sig->get_writable())
 708         {
 709                 afb_req_fail_f(request, "%s isn't writable. Message not sent.", sig->get_name().c_str());
 710                 return;
 711         }
 712
 713         uint64_t value = (encoder = sig->get_encoder()) ?
 714                         encoder(*sig, dynafield_value, &send) :
 715                         encoder_t::encode_DynamicField(*sig, dynafield_value, &send);
 716
 717         uint32_t flags = INVALID_FLAG;
 718
 719         if(sig->get_message()->is_j1939())
 720         {
 721                 flags = J1939_PROTOCOL;
 722         }
 723         else if(sig->get_message()->is_isotp())
 724         {
 725                 flags = ISOTP_PROTOCOL;
 726         }
 727         else
 728         {
 729                 flags = BCM_PROTOCOL;
 730         }
 731
 732 //      cfd = encoder_t::build_frame(sig, value);
 733         message_t *message = encoder_t::build_message(sig,value,false,false);
 734
 735         if(! send_message(message, sig->get_message()->get_bus_device_name(), flags, event_filter, sig) && send)
 736         {
 737                 afb_req_success(request, nullptr, "Message correctly sent");
 738         }
 739         else
 740         {
 741                 afb_req_fail(request, "Error", "Sending the message. See the log for more details.");
 742         }
 743
 744         if(sig->get_message()->is_j1939())
 745         {
 746 #ifdef USE_FEATURE_J1939
 747                 delete (j1939_message_t*) message;
 748 #endif
 749         }
 750         else
 751         {
 752                 delete (can_message_t*) message;
 753         }
 754 }
 755
 756 void write(afb_req_t request)
 757 {
 758         struct json_object* args = nullptr, *json_value = nullptr, *name = nullptr;
 759         args = afb_req_json(request);
 760
 761         if(args != NULL)
 762         {
 763                 event_filter_t event_filter = generate_filter(args);
 764
 765                 if(json_object_object_get_ex(args,"bus_name",&name))
 766                 {
 767                         if(json_object_object_get_ex(args,"frame",&json_value))
 768                         {
 769                                 write_frame(request, (std::string)json_object_get_string(name), json_value, event_filter);
 770                         }
 771                         else
 772                         {
 773                                 afb_req_fail(request, "Error", "Request argument malformed");
 774                         }
 775                 }
 776                 else if(json_object_object_get_ex(args,"signal_name",&name))
 777                 {
 778                         if(json_object_object_get_ex(args,"signal_value",&json_value))
 779                         {
 780                                 write_signal(request, (std::string)json_object_get_string(name), json_value, event_filter);
 781                         }
 782                         else
 783                         {
 784                                 afb_req_fail(request, "Error", "Request argument malformed");
 785                         }
 786                 }
 787                 else {
 788                         afb_req_fail(request, "Error", "Request argument malformed");
 789                 }
 790         }
 791         else
 792         {
 793                 afb_req_fail(request, "Error", "Request argument null");
 794         }
 795 }
 796
 797 static struct json_object *get_signals_value(const std::string& name)
 798 {
 799         struct utils::signals_found sf;
 800         struct json_object *ans = nullptr;
 801
 802         openxc_DynamicField search_key = build_DynamicField(name);
 803         sf = utils::signals_manager_t::instance().find_signals(search_key);
 804
 805         if (sf.signals.empty())
 806         {
 807                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 808                 return NULL;
 809         }
 810         ans = json_object_new_array();
 811         for(const auto& sig: sf.signals)
 812         {
 813                 struct json_object *jobj = json_object_new_object();
 814                 json_object_object_add(jobj, "event", json_object_new_string(sig->get_name().c_str()));
 815                 json_object_object_add(jobj, "value", json_object_new_double(sig->get_last_value()));
 816                 json_object_array_add(ans, jobj);
 817         }
 818
 819         return ans;
 820 }
 821 void get(afb_req_t request)
 822 {
 823         int rc = 0;
 824         struct json_object* args = nullptr,
 825                 *json_name = nullptr;
 826         json_object *ans = nullptr;
 827
 828         args = afb_req_json(request);
 829
 830         // Process about Raw CAN message on CAN bus directly
 831         if (args != nullptr &&
 832                 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string) ))
 833         {
 834                 ans = get_signals_value(json_object_get_string(json_name));
 835                 if (!ans)
 836                         rc = -1;
 837         }
 838         else
 839         {
 840                 AFB_ERROR("Request argument malformed. Please use the following syntax:");
 841                 rc = -1;
 842         }
 843
 844         if (rc >= 0)
 845                 afb_req_success(request, ans, NULL);
 846         else
 847                 afb_req_fail(request, "error", NULL);
 848 }
 849
 850
 851 static struct json_object *list_can_message(const std::string& name)
 852 {
 853         struct utils::signals_found sf;
 854         struct json_object *ans = nullptr;
 855
 856         openxc_DynamicField search_key = build_DynamicField(name);
 857         sf = utils::signals_manager_t::instance().find_signals(search_key);
 858
 859         if (sf.signals.empty() && sf.diagnostic_messages.empty())
 860         {
 861                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 862                 return NULL;
 863         }
 864         ans = json_object_new_array();
 865         for(const auto& sig: sf.signals)
 866         {
 867                 json_object_array_add(ans,
 868                         json_object_new_string(sig->get_name().c_str()));
 869         }
 870         for(const auto& sig: sf.diagnostic_messages)
 871         {
 872                 json_object_array_add(ans,
 873                         json_object_new_string(sig->get_name().c_str()));
 874         }
 875
 876         return ans;
 877 }
 878
 879 void list(afb_req_t request)
 880 {
 881         int rc = 0;
 882         json_object *ans = nullptr;
 883         struct json_object* args = nullptr,
 884                 *json_name = nullptr;
 885         args = afb_req_json(request);
 886         const char *name;
 887         if ((args != nullptr) &&
 888                 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string)))
 889         {
 890                 name = json_object_get_string(json_name);
 891         }
 892         else
 893         {
 894                 name = "*";
 895         }
 896
 897         ans = list_can_message(name);
 898         if (!ans)
 899                 rc = -1;
 900
 901         if (rc >= 0)
 902         {
 903                 afb_req_success(request, ans, NULL);
 904         }
 905         else
 906         {
 907                 afb_req_fail(request, "error", NULL);
 908         }
 909 }
 910
 911 /// @brief Initialize the binding.
 912 ///
 913 /// @param[in] service Structure which represent the Application Framework Binder.
 914 ///
 915 /// @return Exit code, zero if success.
 916 int init_binding(afb_api_t api)
 917 {
 918         int ret = 1;
 919         application_t& application = application_t::instance();
 920         can_bus_t& can_bus_manager = application.get_can_bus_manager();
 921
 922         can_bus_manager.set_can_devices();
 923         can_bus_manager.start_threads();
 924         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 925
 926         /// Initialize Diagnostic manager that will handle obd2 requests.
 927         /// We pass by default the first CAN bus device to its Initialization.
 928         /// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus.
 929         if(application_t::instance().get_diagnostic_manager().initialize())
 930                 ret = 0;
 931
 932         // Add a recurring dignostic message request to get engine speed at all times.
 933         openxc_DynamicField search_key = build_DynamicField("diagnostic_messages.engine.speed");
 934         struct utils::signals_found sf = sm.find_signals(search_key);
 935
 936         if(sf.signals.empty() && sf.diagnostic_messages.size() == 1)
 937         {
 938                 afb_req_t request = nullptr;
 939
 940                 struct event_filter_t event_filter;
 941                 event_filter.frequency = sf.diagnostic_messages.front()->get_frequency();
 942
 943                 std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
 944
 945                 subscribe_unsubscribe_diagnostic_messages(request, true, sf.diagnostic_messages, event_filter, s, true);
 946         }
 947
 948
 949 #ifdef USE_FEATURE_J1939
 950         std::vector<std::shared_ptr<message_definition_t>> current_messages_definition = application.get_messages_definition();
 951         for(std::shared_ptr<message_definition_t> message_definition: current_messages_definition)
 952         {
 953                 if(message_definition->is_j1939())
 954                 {
 955                         std::shared_ptr<low_can_subscription_t> low_can_j1939 = std::make_shared<low_can_subscription_t>();
 956
 957                         application.set_subscription_address_claiming(low_can_j1939);
 958
 959                         ret = low_can_subscription_t::open_socket(*low_can_j1939,
 960                                                                                                         message_definition->get_bus_device_name(),
 961                                                                                                         J1939_ADDR_CLAIM_PROTOCOL);
 962                         if(ret < 0)
 963                         {
 964                                 AFB_ERROR("Error open socket address claiming for j1939 protocol");
 965                                 return -1;
 966                         }
 967
 968 //                      std::shared_ptr<low_can_subscription_t> saddrclaim = application.get_subscription_address_claiming();
 969
 970                         add_to_event_loop(low_can_j1939);
 971                         break;
 972                 }
 973         }
 974 #endif
 975
 976         if(ret)
 977         {
 978                 AFB_ERROR("There was something wrong with CAN device Initialization.");
 979         }
 980
 981         return ret;
 982 }