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

   1 /*
   2  * Copyright (C) 2015, 2016 "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 <json-c/json.h>
  28 #include <systemd/sd-event.h>
  29
  30 #include "openxc.pb.h"
  31 #include "application.hpp"
  32 #include "../can/can-encoder.hpp"
  33 #include "../can/can-bus.hpp"
  34 #include "../can/can-signals.hpp"
  35 #include "../can/can-message.hpp"
  36 #include "../utils/signals.hpp"
  37 #include "../diagnostic/diagnostic-message.hpp"
  38 #include "../utils/openxc-utils.hpp"
  39
  40 ///******************************************************************************
  41 ///
  42 ///             SystemD event loop Callbacks
  43 ///
  44 ///*******************************************************************************/
  45
  46 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)
  47 {
  48         bool is_permanent_recurring_request = false;
  49
  50         if( ! can_subscription->get_diagnostic_message().empty() && can_subscription->get_diagnostic_message(pid) != nullptr)
  51         {
  52                 DiagnosticRequest diag_req = can_subscription->get_diagnostic_message(pid)->build_diagnostic_request();
  53                 active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
  54                 if( adr != nullptr)
  55                 {
  56                         is_permanent_recurring_request = adr->get_permanent();
  57
  58                         if(! is_permanent_recurring_request)
  59                                 application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
  60                 }
  61         }
  62
  63         if(! is_permanent_recurring_request)
  64                 on_no_clients(can_subscription, s);
  65 }
  66
  67 void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
  68 {
  69         auto it = s.find(can_subscription->get_index());
  70         s.erase(it);
  71 }
  72
  73 static void push_n_notify(const can_message_t& cm)
  74 {
  75         can_bus_t& cbm = application_t::instance().get_can_bus_manager();
  76         {
  77                 std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
  78                 cbm.push_new_can_message(cm);
  79         }
  80         cbm.get_new_can_message_cv().notify_one();
  81 }
  82
  83 int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata)
  84 {
  85         low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata;
  86         if ((revents & EPOLLIN) != 0)
  87         {
  88                 can_message_t cm;
  89                 utils::socketcan_bcm_t& s = can_subscription->get_socket();
  90                 s >> cm;
  91
  92                 // Sure we got a valid CAN message ?
  93                 if(! cm.get_id() == 0 && ! cm.get_length() == 0)
  94                         {push_n_notify(cm);}
  95         }
  96
  97         // check if error or hangup
  98         if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
  99         {
 100                 sd_event_source_unref(event_source);
 101                 can_subscription->get_socket().close();
 102         }
 103         return 0;
 104 }
 105
 106 ///******************************************************************************
 107 ///
 108 ///             Subscription and unsubscription
 109 ///
 110 ///*******************************************************************************/
 111
 112 static int make_subscription_unsubscription(struct afb_req request,
 113                                                                                         std::shared_ptr<low_can_subscription_t>& can_subscription,
 114                                                                                         std::map<int, std::shared_ptr<low_can_subscription_t> >& s,
 115                                                                                         bool subscribe)
 116 {
 117         /* Make the subscription or unsubscription to the event (if request contents are not null) */
 118         if(request.itf && request.closure &&
 119            ((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[can_subscription->get_index()]->get_event())) < 0)
 120         {
 121                 AFB_ERROR("Operation goes wrong for signal: %s", can_subscription->get_name().c_str());
 122                 return -1;
 123         }
 124         return 0;
 125 }
 126
 127 static int create_event_handle(std::shared_ptr<low_can_subscription_t>& can_subscription,
 128                                                         std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
 129 {
 130         int sub_index = can_subscription->get_index();
 131         can_subscription->set_event(afb_daemon_make_event(can_subscription->get_name().c_str()));
 132         s[sub_index] = can_subscription;
 133         if (!afb_event_is_valid(s[sub_index]->get_event()))
 134         {
 135                 AFB_ERROR("Can't create an event for %s, something goes wrong.", can_subscription->get_name().c_str());
 136                 return -1;
 137         }
 138         return 0;
 139 }
 140
 141 /// @brief Will determine if it is needed or not to create the event handle and checks it to be sure that
 142 /// we got a valid afb_event to get subscribe or unsubscribe. Then launch the subscription or unsubscription
 143 /// against the application framework using that event handle.
 144 static int subscribe_unsubscribe_signal(struct afb_req request,
 145                                                                                 bool subscribe,
 146                                                                                 std::shared_ptr<low_can_subscription_t>& can_subscription,
 147                                                                                 std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
 148 {
 149         int ret = -1;
 150         int sub_index = can_subscription->get_index();
 151
 152         if (can_subscription && s.find(sub_index) != s.end())
 153         {
 154                 if (!afb_event_is_valid(s[sub_index]->get_event()) && !subscribe)
 155                 {
 156                         AFB_NOTICE("Event isn't valid, no need to unsubscribed.");
 157                         ret = -1;
 158                 }
 159                 ret = 0;
 160         }
 161         else
 162         {
 163                 /* Event doesn't exist , so let's create it */
 164                 can_subscription->set_event({nullptr, nullptr});
 165                 s[sub_index] = can_subscription;
 166                 ret = create_event_handle(can_subscription, s);
 167         }
 168
 169         // Check whether or not the event handler has been correctly created and
 170         // make the subscription/unsubscription operation is so.
 171         if (ret < 0)
 172                 return ret;
 173         return make_subscription_unsubscription(request, can_subscription, s, subscribe);
 174 }
 175
 176 static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription)
 177 {
 178                 struct sd_event_source* event_source = nullptr;
 179                 return ( sd_event_add_io(afb_daemon_get_event_loop(),
 180                         &event_source,
 181                         can_subscription->get_socket().socket(),
 182                         EPOLLIN,
 183                         read_message,
 184                         can_subscription.get()));
 185 }
 186
 187 static int subscribe_unsubscribe_diagnostic_messages(struct afb_req request,
 188                                                                                                         bool subscribe,
 189                                                                                                         std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages,
 190                                                                                                         struct event_filter_t& event_filter,
 191                                                                                                         std::map<int, std::shared_ptr<low_can_subscription_t> >& s,
 192                                                                                                         bool perm_rec_diag_req)
 193 {
 194         int rets = 0;
 195         application_t& app = application_t::instance();
 196         diagnostic_manager_t& diag_m = app.get_diagnostic_manager();
 197
 198         for(const auto& sig : diagnostic_messages)
 199         {
 200                 DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request());
 201                 event_filter.frequency = event_filter.frequency == 0 ? sig->get_frequency() : event_filter.frequency;
 202                 std::shared_ptr<low_can_subscription_t> can_subscription;
 203
 204                 auto it =  std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub){ return (! sub.second->get_diagnostic_message().empty());});
 205                 can_subscription = it != s.end() ?
 206                         it->second :
 207                         std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 208                 // If the requested diagnostic message isn't supported by the car then unsubcribe it
 209                 // no matter what we want, worse case will be a fail unsubscription but at least we don't
 210                 // poll a PID for nothing.
 211                 if(sig->get_supported() && subscribe)
 212                 {
 213                         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);
 214                         if(can_subscription->create_rx_filter(sig) < 0)
 215                                 {return -1;}
 216                         AFB_DEBUG("Signal: %s subscribed", sig->get_name().c_str());
 217                         if(it == s.end() && add_to_event_loop(can_subscription) < 0)
 218                         {
 219                                 diag_m.cleanup_request(
 220                                         diag_m.find_recurring_request(*diag_req), true);
 221                                 AFB_WARNING("signal: %s isn't supported. Canceling operation.",  sig->get_name().c_str());
 222                                 return -1;
 223                         }
 224                 }
 225                 else
 226                 {
 227                         if(sig->get_supported())
 228                         {AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());}
 229                         else
 230                         {
 231                                 AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
 232                                 return -1;
 233                         }
 234                 }
 235                 int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s);
 236                 if(ret < 0)
 237                         return ret;
 238
 239                 rets++;
 240         }
 241
 242         return rets;
 243 }
 244
 245 static int subscribe_unsubscribe_can_signals(struct afb_req request,
 246                                                                                         bool subscribe,
 247                                                                                         std::vector<std::shared_ptr<can_signal_t> > can_signals,
 248                                                                                         struct event_filter_t& event_filter,
 249                                                                                         std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
 250 {
 251         int rets = 0;
 252         for(const auto& sig: can_signals)
 253         {
 254                 auto it =  std::find_if(s.begin(), s.end(), [&sig, &event_filter](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub){ return sub.second->is_signal_subscription_corresponding(sig, event_filter) ; });
 255                 std::shared_ptr<low_can_subscription_t> can_subscription;
 256                 if(it != s.end())
 257                 {
 258                          can_subscription = it->second;
 259                 }
 260                 else
 261                 {
 262                          can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 263                         if(can_subscription->create_rx_filter(sig) < 0)
 264                                 {return -1;}
 265                         if(add_to_event_loop(can_subscription) < 0)
 266                                 {return -1;}
 267                 }
 268
 269                 if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
 270                         {return -1;}
 271
 272                 rets++;
 273                 AFB_DEBUG("signal: %s subscribed", sig->get_name().c_str());
 274         }
 275         return rets;
 276 }
 277
 278 ///
 279 /// @brief subscribe to all signals in the vector signals
 280 ///
 281 /// @param[in] afb_req request : contain original request use to subscribe or unsubscribe
 282 /// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription
 283 /// @param[in] signals -  struct containing vectors with can_signal_t and diagnostic_messages to subscribe
 284 ///
 285 /// @return Number of correctly subscribed signal
 286 ///
 287 static int subscribe_unsubscribe_signals(struct afb_req request,
 288                                                                                 bool subscribe,
 289                                                                                 const struct utils::signals_found& signals,
 290                                                                                 struct event_filter_t& event_filter)
 291 {
 292         int rets = 0;
 293         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 294
 295         std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 296         std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
 297
 298         rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s, false);
 299         rets += subscribe_unsubscribe_can_signals(request, subscribe, signals.can_signals, event_filter, s);
 300
 301         return rets;
 302 }
 303
 304 static int one_subscribe_unsubscribe(struct afb_req request,
 305                                                                         bool subscribe,
 306                                                                         const std::string& tag,
 307                                                                         json_object* args)
 308 {
 309         int ret = 0;
 310         struct event_filter_t event_filter;
 311         struct json_object  *filter, *obj;
 312         struct utils::signals_found sf;
 313
 314         // computes the filter
 315         if (json_object_object_get_ex(args, "filter", &filter))
 316         {
 317                 if (json_object_object_get_ex(filter, "frequency", &obj)
 318                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 319                         {event_filter.frequency = (float)json_object_get_double(obj);}
 320                 if (json_object_object_get_ex(filter, "min", &obj)
 321                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 322                         {event_filter.min = (float)json_object_get_double(obj);}
 323                 if (json_object_object_get_ex(filter, "max", &obj)
 324                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 325                         {event_filter.max = (float)json_object_get_double(obj);}
 326         }
 327
 328         // subscribe or unsubscribe
 329         openxc_DynamicField search_key = build_DynamicField(tag);
 330         sf = utils::signals_manager_t::instance().find_signals(search_key);
 331         if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
 332         {
 333                 AFB_NOTICE("No signal(s) found for %s.", tag.c_str());
 334                 ret = -1;
 335         }
 336         else
 337                 {ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);}
 338
 339         return ret;
 340 }
 341 static int process_one_subscribe_args(struct afb_req request, bool subscribe, json_object *args)
 342 {
 343         int rc = 0, rc2=0;
 344         json_object *x = nullptr, *event = nullptr;
 345         if(args == NULL ||
 346                 !json_object_object_get_ex(args, "event", &event))
 347         {
 348                 rc = one_subscribe_unsubscribe(request, subscribe, "*", args);
 349         }
 350         else if (json_object_get_type(event) != json_type_array)
 351         {
 352                 rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), args);
 353         }
 354         else
 355         {
 356                 for (int i = 0 ; i < json_object_array_length(event); i++)
 357                 {
 358                         x = json_object_array_get_idx(event, i);
 359                         rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), args);
 360                         if (rc >= 0)
 361                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 362                 }
 363         }
 364         return rc;
 365 }
 366
 367 static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe)
 368 {
 369         int rc = 0;
 370         struct json_object *args, *x;
 371
 372         args = afb_req_json(request);
 373         if (json_object_get_type(args) == json_type_array)
 374         {
 375                 for(int i = 0; i < json_object_array_length(args); i++)
 376                 {
 377                         x = json_object_array_get_idx(args, i);
 378                         rc += process_one_subscribe_args(request, subscribe, x);
 379                 }
 380         }
 381         else
 382         {
 383                 rc += process_one_subscribe_args(request, subscribe, args);
 384         }
 385
 386         if (rc >= 0)
 387                 afb_req_success(request, NULL, NULL);
 388         else
 389                 afb_req_fail(request, "error", NULL);
 390 }
 391
 392 void auth(struct afb_req request)
 393 {
 394         afb_req_session_set_LOA(request, 1);
 395         afb_req_success(request, NULL, NULL);
 396 }
 397
 398 void subscribe(struct afb_req request)
 399 {
 400         do_subscribe_unsubscribe(request, true);
 401 }
 402
 403 void unsubscribe(struct afb_req request)
 404 {
 405         do_subscribe_unsubscribe(request, false);
 406 }
 407
 408 static int send_frame(const std::string& bus_name, const struct can_frame& cf)
 409 {
 410         std::map<std::string, std::shared_ptr<low_can_socket_t> >& cd = application_t::instance().get_can_devices();
 411
 412         if( cd.count(bus_name) == 0)
 413                 {cd[bus_name] = std::make_shared<low_can_socket_t>(low_can_socket_t());}
 414
 415         return cd[bus_name]->tx_send(cf, bus_name);
 416 }
 417
 418 static int write_raw_frame(const std::string& bus_name, uint32_t can_id, uint8_t can_dlc, struct json_object* can_data)
 419 {
 420         int rc = 0;
 421         struct can_frame cf;
 422
 423         ::memset(&cf, 0, sizeof(cf));
 424
 425         cf.can_id = can_id;
 426         cf.can_dlc = can_dlc;
 427
 428         struct json_object *x;
 429         int n = json_object_array_length(can_data);
 430         if(n <= 8)
 431         {
 432                 for (int i = 0 ; i < n ; i++)
 433                 {
 434                         x = json_object_array_get_idx(can_data, i);
 435                         cf.data[i] = json_object_get_type(x) == json_type_int ? (uint8_t)json_object_get_int(x) : 0;
 436                 }
 437         }
 438
 439         const std::string found_device = application_t::instance().get_can_bus_manager().get_can_device_name(bus_name);
 440         if( ! found_device.empty())
 441         {
 442                 rc = send_frame(found_device, cf);
 443         }
 444
 445         return rc;
 446 }
 447 static int write_signal(const std::string& name, uint64_t value)
 448 {
 449         int rc = 0;
 450         struct can_frame cf;
 451         struct utils::signals_found sf;
 452
 453         ::memset(&cf, 0, sizeof(cf));
 454
 455         openxc_DynamicField search_key = build_DynamicField(name);
 456         sf = utils::signals_manager_t::instance().find_signals(search_key);
 457
 458         if (sf.can_signals.empty())
 459         {
 460                 AFB_WARNING("No signal(s) found for %s. Message not sent.", name.c_str());
 461                 rc = -1;
 462         }
 463         else
 464         {
 465                 for(const auto& sig: sf.can_signals)
 466                 {
 467                         if(sig->get_writable())
 468                         {
 469                                 cf = encoder_t::build_frame(sig, value);
 470                                 const std::string bus_name = sig->get_message()->get_bus_device_name();
 471                                 rc = send_frame(bus_name, cf);
 472                         }
 473                         else
 474                         {
 475                                 AFB_WARNING("%s isn't writable. Message not sent.", sig->get_name().c_str());
 476                                 return -1;
 477                         }
 478                 }
 479         }
 480
 481         return rc;
 482 }
 483
 484 void write(struct afb_req request)
 485 {
 486         int rc = 0;
 487         struct json_object* args = nullptr,
 488                 *json_name = nullptr,
 489                 *json_value = nullptr;
 490
 491         args = afb_req_json(request);
 492
 493         // Process about Raw CAN message on CAN bus directly
 494         if (args != NULL &&
 495                 (json_object_object_get_ex(args, "bus_name", &json_name) && json_object_is_type(json_name, json_type_string) ) &&
 496                 (json_object_object_get_ex(args, "frame", &json_value) && json_object_is_type(json_value, json_type_object) ))
 497         {
 498                 struct json_object* json_can_id = nullptr,
 499                         *json_can_dlc = nullptr,
 500                         *json_can_data = nullptr;
 501
 502                 if( (json_object_object_get_ex(json_value, "can_id", &json_can_id) && (json_object_is_type(json_can_id, json_type_double) || json_object_is_type(json_can_id, json_type_int))) &&
 503                         (json_object_object_get_ex(json_value, "can_dlc", &json_can_dlc) && (json_object_is_type(json_can_dlc, json_type_double) || json_object_is_type(json_can_dlc, json_type_int))) &&
 504                         (json_object_object_get_ex(json_value, "can_data", &json_can_data) && json_object_is_type(json_can_data, json_type_array) ))
 505                 {
 506                         rc = write_raw_frame(json_object_get_string(json_name),
 507                                 json_object_get_int(json_can_id),
 508                                 (uint8_t)json_object_get_int(json_can_dlc),
 509                                 json_can_data);
 510                 }
 511                 else
 512                 {
 513                         AFB_ERROR("Frame object malformed (must be \n \"frame\": {\"can_id\": int, \"can_dlc\": int, \"can_data\": [ int, int , int, int ,int , int ,int ,int]}");
 514                         rc = -1;
 515                 }
 516         }
 517         // Search signal then encode value.
 518         else if(args != NULL &&
 519                 (json_object_object_get_ex(args, "signal_name", &json_name) && json_object_is_type(json_name, json_type_string)) &&
 520                 (json_object_object_get_ex(args, "signal_value", &json_value) && (json_object_is_type(json_value, json_type_double) || json_object_is_type(json_value, json_type_int))))
 521         {
 522                 rc = write_signal(json_object_get_string(json_name),
 523                         (uint64_t)json_object_get_double(json_value));
 524         }
 525         else
 526         {
 527                 AFB_ERROR("Request argument malformed. Please use the following syntax:");
 528                 rc = -1;
 529         }
 530
 531         if (rc >= 0)
 532                 afb_req_success(request, NULL, NULL);
 533         else
 534                 afb_req_fail(request, "error", NULL);
 535 }
 536
 537 static struct json_object *get_signals_value(const std::string& name)
 538 {
 539         struct utils::signals_found sf;
 540         struct json_object *ans = nullptr;
 541
 542         openxc_DynamicField search_key = build_DynamicField(name);
 543         sf = utils::signals_manager_t::instance().find_signals(search_key);
 544
 545         if (sf.can_signals.empty())
 546         {
 547                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 548                 return NULL;
 549         }
 550         ans = json_object_new_array();
 551         for(const auto& sig: sf.can_signals)
 552         {
 553                 struct json_object *jobj = json_object_new_object();
 554                 json_object_object_add(jobj, "event", json_object_new_string(sig->get_name().c_str()));
 555                 json_object_object_add(jobj, "value", json_object_new_double(sig->get_last_value()));
 556                 json_object_array_add(ans, jobj);
 557         }
 558
 559         return ans;
 560 }
 561 void get(struct afb_req request)
 562 {
 563         int rc = 0;
 564         struct json_object* args = nullptr,
 565                 *json_name = nullptr;
 566         json_object *ans = nullptr;
 567
 568         args = afb_req_json(request);
 569
 570         // Process about Raw CAN message on CAN bus directly
 571         if (args != nullptr &&
 572                 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string) ))
 573         {
 574                 ans = get_signals_value(json_object_get_string(json_name));
 575                 if (!ans)
 576                         rc = -1;
 577         }
 578         else
 579         {
 580                 AFB_ERROR("Request argument malformed. Please use the following syntax:");
 581                 rc = -1;
 582         }
 583
 584         if (rc >= 0)
 585                 afb_req_success(request, ans, NULL);
 586         else
 587                 afb_req_fail(request, "error", NULL);
 588 }
 589
 590
 591 static struct json_object *list_can_message(const std::string& name)
 592 {
 593         struct utils::signals_found sf;
 594         struct json_object *ans = nullptr;
 595
 596         openxc_DynamicField search_key = build_DynamicField(name);
 597         sf = utils::signals_manager_t::instance().find_signals(search_key);
 598
 599         if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
 600         {
 601                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 602                 return NULL;
 603         }
 604         ans = json_object_new_array();
 605         for(const auto& sig: sf.can_signals)
 606         {
 607                 json_object_array_add(ans,
 608                         json_object_new_string(sig->get_name().c_str()));
 609         }
 610         for(const auto& sig: sf.diagnostic_messages)
 611         {
 612                 json_object_array_add(ans,
 613                         json_object_new_string(sig->get_name().c_str()));
 614         }
 615
 616         return ans;
 617 }
 618
 619 void list(struct afb_req request)
 620 {
 621         int rc = 0;
 622         json_object *ans = nullptr;
 623         struct json_object* args = nullptr,
 624                 *json_name = nullptr;
 625         args = afb_req_json(request);
 626         const char *name;
 627         if ((args != nullptr) &&
 628                 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string)))
 629         {
 630                 name = json_object_get_string(json_name);
 631         }
 632         else
 633         {
 634                 name = "*";
 635         }
 636
 637         ans = list_can_message(name);
 638         if (!ans)
 639                 rc = -1;
 640
 641         if (rc >= 0)
 642                 afb_req_success(request, ans, NULL);
 643         else
 644                 afb_req_fail(request, "error", NULL);
 645 }
 646
 647 /// @brief Initialize the binding.
 648 ///
 649 /// @param[in] service Structure which represent the Application Framework Binder.
 650 ///
 651 /// @return Exit code, zero if success.
 652 int initv2()
 653 {
 654         can_bus_t& can_bus_manager = application_t::instance().get_can_bus_manager();
 655
 656         can_bus_manager.set_can_devices();
 657         can_bus_manager.start_threads();
 658
 659         /// Initialize Diagnostic manager that will handle obd2 requests.
 660         /// We pass by default the first CAN bus device to its Initialization.
 661         /// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus.
 662         if(application_t::instance().get_diagnostic_manager().initialize())
 663                 return 0;
 664
 665         AFB_ERROR("There was something wrong with CAN device Initialization.");
 666         return 1;
 667 }