2 * Copyright (C) 2015, 2018 "IoT.bzh"
3 * Author "Romain Forlot" <romain.forlot@iot.bzh>
4 * Author "Loic Collignon" <loic.collignon@iot.bzh>
6 * Licensed under the Apache License, Version 2.0 (the "License");
7 * you may not use this file except in compliance with the License.
8 * You may obtain a copy of the License at
10 * http://www.apache.org/licenses/LICENSE-2.0
12 * Unless required by applicable law or agreed to in writing, software
13 * distributed under the License is distributed on an "AS IS" BASIS,
14 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
15 * See the License for the specific language governing permissions and
16 * limitations under the License.
19 #include "low-can-hat.hpp"
20 #include "low-can-apidef.h"
27 #include <wrap-json.h>
28 #include <systemd/sd-event.h>
29 #include <ctl-config.h>
30 #include "openxc.pb.h"
31 #include "application.hpp"
32 #include "../can/can-encoder.hpp"
33 #include "../can/can-bus.hpp"
34 #include "../can/signals.hpp"
35 #include "../can/message/message.hpp"
36 #include "../utils/signals.hpp"
37 #include "../diagnostic/diagnostic-message.hpp"
38 #include "../utils/openxc-utils.hpp"
39 #include "../utils/signals.hpp"
41 #ifdef USE_FEATURE_J1939
42 #include "../can/message/j1939-message.hpp"
43 #include <linux/can/j1939.h>
46 ///*****************************************************************************
48 /// Controller Definitions and Callbacks
50 ///****************************************************************************/
52 int config_low_can(afb_api_t apiHandle, CtlSectionT *section, json_object *json_obj)
54 AFB_DEBUG("Config %s", json_object_to_json_string(json_obj));
55 CtlConfigT *ctrlConfig;
57 ctrlConfig = (CtlConfigT *) afb_api_get_userdata(apiHandle);
64 application_t *application = (application_t*) section->handle;
67 int active_message_set;
68 const char *diagnotic_bus = nullptr;
70 if(wrap_json_unpack(json_obj, "{si, ss}",
71 "active_message_set", &active_message_set,
72 "diagnostic_bus", &diagnotic_bus))
75 application->set_active_message_set((uint8_t)active_message_set);
77 /// Initialize Diagnostic manager that will handle obd2 requests.
78 /// We pass by default the first CAN bus device to its Initialization.
79 if(! application_t::instance().get_diagnostic_manager().initialize(diagnotic_bus))
81 AFB_ERROR("Diagnostic Manager: error at initialization");
88 CtlSectionT ctlSections_[] = {
89 [0]={.key="config" , .uid="config", .info=nullptr, .prefix=nullptr,
90 .loadCB=config_low_can,
93 [1]={.key="plugins" , .uid="plugins", .info=nullptr, .prefix=nullptr,
99 ///*****************************************************************************
101 /// Subscription and unsubscription
103 ///****************************************************************************/
105 /// @brief This will determine if an event handle needs to be created and checks if
106 /// we got a valid afb_event to get subscribe or unsubscribe. After that launch the subscription or unsubscription
107 /// against the application framework using that event handle.
108 static int subscribe_unsubscribe_signal(afb_req_t request,
110 std::shared_ptr<low_can_subscription_t>& can_subscription,
114 int sub_index = can_subscription->get_index();
115 bool subscription_exists = s.count(sub_index);
120 /* There is no valid request to subscribe so this must be an
121 * internal permanent diagnostic request. Skip the subscription
122 * part and don't register it into the current "low-can"
130 // Event doesn't exist , so let's create it
131 if ((ret = can_subscription->subscribe(request)) < 0)
134 if(! subscription_exists)
135 s[sub_index] = can_subscription;
140 // Unsubscrition part
141 if(! subscription_exists)
143 AFB_NOTICE("There isn't any valid subscriptions for that request.");
146 else if (subscription_exists &&
147 ! afb_event_is_valid(s[sub_index]->get_event()) )
149 AFB_NOTICE("Event isn't valid, no need to unsubscribed.");
153 if( (ret = s[sub_index]->unsubscribe(request)) < 0)
155 s.find(sub_index)->second->set_index(-1);
160 static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription)
162 struct sd_event_source* event_source = nullptr;
163 return ( sd_event_add_io(afb_daemon_get_event_loop(),
165 can_subscription->get_socket()->socket(),
168 can_subscription.get()));
171 static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request,
173 list_ptr_diag_msg_t diagnostic_messages,
174 struct event_filter_t& event_filter,
176 bool perm_rec_diag_req)
179 application_t& app = application_t::instance();
180 diagnostic_manager_t& diag_m = app.get_diagnostic_manager();
182 for(const auto& sig : diagnostic_messages)
184 DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request());
185 event_filter.frequency = event_filter.frequency == 0 ? sig->get_frequency() : event_filter.frequency;
186 std::shared_ptr<low_can_subscription_t> can_subscription;
188 auto it = std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
190 return (! sub.second->get_diagnostic_message().empty());
192 can_subscription = it != s.end() ?
194 std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
195 // If the requested diagnostic message is not supported by the car then unsubcribe it
196 // no matter what we want, worst case will be a failed unsubscription but at least we won't
197 // poll a PID for nothing.
198 if(sig->get_supported() && subscribe)
200 if (!app.is_engine_on())
201 AFB_WARNING("signal: Engine is off, %s won't received responses until it's on", sig->get_name().c_str());
203 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);
204 if(can_subscription->create_rx_filter(sig) < 0)
206 AFB_DEBUG("Signal: %s subscribed", sig->get_name().c_str());
207 if(it == s.end() && add_to_event_loop(can_subscription) < 0)
209 diag_m.cleanup_request(
210 diag_m.find_recurring_request(*diag_req), true);
211 AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
217 if(sig->get_supported())
219 AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());
223 AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
227 int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s);
236 static int subscribe_unsubscribe_signals(afb_req_t request,
238 list_ptr_signal_t signals,
239 struct event_filter_t& event_filter,
243 for(const auto& sig: signals)
245 auto it = std::find_if(s.begin(), s.end(), [&sig, &event_filter](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
247 return sub.second->is_signal_subscription_corresponding(sig, event_filter) ;
249 std::shared_ptr<low_can_subscription_t> can_subscription;
251 can_subscription = it->second;
254 can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
255 if(can_subscription->create_rx_filter(sig) < 0)
257 if(add_to_event_loop(can_subscription) < 0)
261 if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
265 AFB_DEBUG("%s Signal: %s %ssubscribed", sig->get_message()->is_fd() ? "FD": "", sig->get_name().c_str(), subscribe ? "":"un");
271 /// @brief subscribe to all signals in the vector signals
273 /// @param[in] afb_req request : contains original request use to subscribe or unsubscribe
274 /// @param[in] subscribe boolean value, which chooses between a subscription operation or an unsubscription
275 /// @param[in] signals - struct containing vectors with signal_t and diagnostic_messages to subscribe
276 /// @param[in] event_filter - stuct containing filter on the signal
278 /// @return Number of correctly subscribed signal
280 static int subscribe_unsubscribe_signals(afb_req_t request,
282 const struct utils::signals_found& signals,
283 struct event_filter_t& event_filter)
286 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
288 std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
289 map_subscription& s = sm.get_subscribed_signals();
291 rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s, false);
292 rets += subscribe_unsubscribe_signals(request, subscribe, signals.signals, event_filter, s);
297 static event_filter_t generate_filter(json_object* args)
299 event_filter_t event_filter;
300 struct json_object *filter, *obj;
302 // computes the filter
303 if (json_object_object_get_ex(args, "filter", &filter))
305 if (json_object_object_get_ex(filter, "frequency", &obj)
306 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
307 event_filter.frequency = (float)json_object_get_double(obj);
308 if (json_object_object_get_ex(filter, "min", &obj)
309 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
310 event_filter.min = (float)json_object_get_double(obj);
311 if (json_object_object_get_ex(filter, "max", &obj)
312 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
313 event_filter.max = (float)json_object_get_double(obj);
314 if (json_object_object_get_ex(filter, "rx_id", &obj)
315 && (json_object_is_type(obj, json_type_int)))
316 event_filter.rx_id = (canid_t) json_object_get_int(obj);
317 if (json_object_object_get_ex(filter, "tx_id", &obj)
318 && (json_object_is_type(obj, json_type_int)))
319 event_filter.tx_id = (canid_t) json_object_get_int(obj);
325 static int one_subscribe_unsubscribe_events(afb_req_t request, bool subscribe, const std::string& tag, json_object* args)
328 struct utils::signals_found sf;
330 // subscribe or unsubscribe
331 openxc_DynamicField search_key = build_DynamicField(tag);
332 sf = utils::signals_manager_t::instance().find_signals(search_key);
335 #ifdef USE_FEATURE_ISOTP
336 if(sf.signals.size() > 1)
338 sf.signals.remove_if([](std::shared_ptr<signal_t> x){
339 bool isotp = x->get_message()->is_isotp();
341 AFB_NOTICE("ISO TP messages need to be subscribed one by one (rx, tx)");
348 if (sf.signals.empty() && sf.diagnostic_messages.empty())
350 AFB_NOTICE("No signal(s) found for %s.", tag.c_str());
355 event_filter_t event_filter = generate_filter(args);
356 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
361 static int one_subscribe_unsubscribe_id(afb_req_t request, bool subscribe, const uint32_t& id, json_object *args)
364 std::shared_ptr<message_definition_t> message_definition = application_t::instance().get_message_definition(id);
365 struct utils::signals_found sf;
367 if(message_definition)
368 sf.signals = list_ptr_signal_t(message_definition->get_signals().begin(), message_definition->get_signals().end());
370 if(sf.signals.empty())
372 AFB_NOTICE("No signal(s) found for %d.", id);
377 event_filter_t event_filter = generate_filter(args);
378 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
385 static int process_one_subscribe_args(afb_req_t request, bool subscribe, json_object *args)
388 json_object *x = nullptr, *event = nullptr, *id = nullptr;
391 // 2 cases : ID(PGN) and event
393 json_object_object_get_ex(args,"event",&event);
394 json_bool test_id = json_object_object_get_ex(args,"id",&id);
396 test_id = json_object_object_get_ex(args,"pgn",&id);
398 if( args == NULL || (id && ((std::string)json_object_get_string(id)).compare("*") == 0))
400 rc = one_subscribe_unsubscribe_events(request, subscribe, "*", args);
406 if (json_object_get_type(event) != json_type_array) // event is set before and check if it's an array
408 rc = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(event), args);
410 else // event is set and it's not an array
412 for (int i = 0 ; i < json_object_array_length(event); i++)
414 x = json_object_array_get_idx(event, i);
415 rc2 = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(x), args);
417 rc = rc2 >= 0 ? rc + rc2 : rc2;
424 if (json_object_get_type(id) != json_type_array) // id is set before and check if it's an array
426 rc = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(id), args);
428 else // event is set and it's not an array
430 for (int i = 0 ; i < json_object_array_length(id); i++)
432 x = json_object_array_get_idx(id, i);
433 rc2 = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(x), args);
435 rc = rc2 >= 0 ? rc + rc2 : rc2;
443 static void do_subscribe_unsubscribe(afb_req_t request, bool subscribe)
446 struct json_object *args, *x;
448 args = afb_req_json(request);
449 if (json_object_get_type(args) == json_type_array)
451 for(int i = 0; i < json_object_array_length(args); i++)
453 x = json_object_array_get_idx(args, i);
454 rc += process_one_subscribe_args(request, subscribe, x);
459 rc += process_one_subscribe_args(request, subscribe, args);
463 afb_req_success(request, NULL, NULL);
465 afb_req_fail(request, "error", NULL);
468 void auth(afb_req_t request)
470 afb_req_session_set_LOA(request, 1);
471 afb_req_success(request, NULL, NULL);
474 void subscribe(afb_req_t request)
476 do_subscribe_unsubscribe(request, true);
479 void unsubscribe(afb_req_t request)
481 do_subscribe_unsubscribe(request, false);
485 static int send_frame(struct canfd_frame& cfd, const std::string& bus_name, socket_type type)
492 std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
494 if( cd.count(bus_name) == 0)
496 cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t());
500 if(type == socket_type::BCM)
502 return low_can_subscription_t::tx_send(*cd[bus_name], cfd, bus_name);
504 else if(type == socket_type::J1939)
506 return low_can_subscription_t::j1939_send(*cd[bus_name], cfd, bus_name);
513 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)
518 std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
520 if( cd.count(bus_name) == 0)
521 cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
523 cd[bus_name]->set_signal(signal);
526 if(flags&BCM_PROTOCOL)
527 return low_can_subscription_t::tx_send(*cd[bus_name], message, bus_name);
528 #ifdef USE_FEATURE_ISOTP
529 else if(flags&ISOTP_PROTOCOL)
530 return low_can_subscription_t::isotp_send(*cd[bus_name], message, bus_name);
532 #ifdef USE_FEATURE_J1939
533 else if(flags&J1939_PROTOCOL)
534 return low_can_subscription_t::j1939_send(*cd[bus_name], message, bus_name);
541 static void write_raw_frame(afb_req_t request, const std::string& bus_name, message_t *message,
542 struct json_object *can_data, uint32_t flags, event_filter_t &event_filter)
545 struct utils::signals_found sf;
547 utils::signals_manager_t::instance().lookup_signals_by_id(message->get_id(), application_t::instance().get_all_signals(), sf.signals);
549 if( !sf.signals.empty() )
551 AFB_DEBUG("ID WRITE RAW : %d", sf.signals.front()->get_message()->get_id());
552 if(flags & BCM_PROTOCOL)
554 if(sf.signals.front()->get_message()->is_fd())
556 AFB_DEBUG("CANFD_MAX_DLEN");
557 message->set_flags(CAN_FD_FRAME);
558 message->set_maxdlen(CANFD_MAX_DLEN);
562 AFB_DEBUG("CAN_MAX_DLEN");
563 message->set_maxdlen(CAN_MAX_DLEN);
566 if(sf.signals.front()->get_message()->is_isotp())
568 flags = ISOTP_PROTOCOL;
569 message->set_maxdlen(MAX_ISOTP_FRAMES * message->get_maxdlen());
573 #ifdef USE_FEATURE_J1939
574 if(flags&J1939_PROTOCOL)
575 message->set_maxdlen(J1939_MAX_DLEN);
578 if(message->get_length() > 0 && message->get_length() <= message->get_maxdlen())
580 std::vector<uint8_t> data;
581 for (int i = 0 ; i < message->get_length() ; i++)
583 struct json_object *one_can_data = json_object_array_get_idx(can_data, i);
584 data.push_back((json_object_is_type(one_can_data, json_type_int)) ?
585 (uint8_t)json_object_get_int(one_can_data) : 0);
587 message->set_data(data);
591 if(flags&BCM_PROTOCOL)
592 afb_req_fail(request, "Invalid", "Frame BCM");
593 else if(flags&J1939_PROTOCOL)
594 afb_req_fail(request, "Invalid", "Frame J1939");
595 else if(flags&ISOTP_PROTOCOL)
596 afb_req_fail(request, "Invalid", "Frame ISOTP");
598 afb_req_fail(request, "Invalid", "Frame");
603 if(! send_message(message, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name), flags, event_filter, sf.signals.front()))
604 afb_req_success(request, nullptr, "Message correctly sent");
606 afb_req_fail(request, "Error", "sending the message. See the log for more details.");
610 afb_req_fail(request, "Error", "no find id in signals. See the log for more details.");
615 static void write_frame(afb_req_t request, const std::string& bus_name, json_object *json_value, event_filter_t &event_filter)
620 struct json_object *can_data = nullptr;
621 std::vector<uint8_t> data;
623 AFB_DEBUG("JSON content %s", json_object_get_string(json_value));
625 if(!wrap_json_unpack(json_value, "{si, si, so !}",
628 "can_data", &can_data))
630 message = new can_message_t(0, id, length, false, 0, data, 0);
631 write_raw_frame(request, bus_name, message, can_data, BCM_PROTOCOL, event_filter);
633 #ifdef USE_FEATURE_J1939
634 else if(!wrap_json_unpack(json_value, "{si, si, so !}",
639 message = new j1939_message_t(length, data, 0, J1939_NO_NAME, (pgn_t)id, J1939_NO_ADDR);
640 write_raw_frame(request, bus_name, message, can_data, J1939_PROTOCOL, event_filter);
645 afb_req_fail(request, "Invalid", "Frame object malformed");
651 static void write_signal(afb_req_t request, const std::string& name, json_object *json_value, event_filter_t &event_filter)
653 struct canfd_frame cfd;
654 struct utils::signals_found sf;
655 signal_encoder encoder = nullptr;
658 ::memset(&cfd, 0, sizeof(cfd));
660 openxc_DynamicField search_key = build_DynamicField(name);
661 sf = utils::signals_manager_t::instance().find_signals(search_key);
662 openxc_DynamicField dynafield_value = build_DynamicField(json_value);
664 if (sf.signals.empty())
666 afb_req_fail_f(request, "No signal(s) found for %s. Message not sent.", name.c_str());
670 std::shared_ptr<signal_t> sig = sf.signals.front();
671 if(! sig->get_writable())
673 afb_req_fail_f(request, "%s isn't writable. Message not sent.", sig->get_name().c_str());
677 uint64_t value = (encoder = sig->get_encoder()) ?
678 encoder(*sig, dynafield_value, &send) :
679 encoder_t::encode_DynamicField(*sig, dynafield_value, &send);
681 uint32_t flags = INVALID_FLAG;
683 if(sig->get_message()->is_j1939())
684 flags = J1939_PROTOCOL;
685 else if(sig->get_message()->is_isotp())
686 flags = ISOTP_PROTOCOL;
688 flags = BCM_PROTOCOL;
690 // cfd = encoder_t::build_frame(sig, value);
691 message_t *message = encoder_t::build_message(sig, value, false, false);
693 if(! send_message(message, sig->get_message()->get_bus_device_name(), flags, event_filter, sig) && send)
694 afb_req_success(request, nullptr, "Message correctly sent");
696 afb_req_fail(request, "Error", "Sending the message. See the log for more details.");
698 if(sig->get_message()->is_j1939())
699 #ifdef USE_FEATURE_J1939
700 delete (j1939_message_t*) message;
702 afb_req_fail(request, "Warning", "J1939 not implemented in your kernel.");
705 delete (can_message_t*) message;
708 void write(afb_req_t request)
710 struct json_object* args = nullptr, *json_value = nullptr, *name = nullptr;
711 args = afb_req_json(request);
715 event_filter_t event_filter = generate_filter(args);
717 if(json_object_object_get_ex(args,"bus_name",&name))
719 if(json_object_object_get_ex(args,"frame",&json_value))
720 write_frame(request, (std::string)json_object_get_string(name), json_value, event_filter);
722 afb_req_fail(request, "Error", "Request argument malformed");
724 else if(json_object_object_get_ex(args,"signal_name",&name))
726 if(json_object_object_get_ex(args,"signal_value",&json_value))
727 write_signal(request, (std::string)json_object_get_string(name), json_value, event_filter);
729 afb_req_fail(request, "Error", "Request argument malformed");
733 afb_req_fail(request, "Error", "Request argument malformed");
738 afb_req_fail(request, "Error", "Request argument null");
742 static struct json_object *get_signals_value(const std::string& name)
744 struct utils::signals_found sf;
745 struct json_object *ans = nullptr;
747 openxc_DynamicField search_key = build_DynamicField(name);
748 sf = utils::signals_manager_t::instance().find_signals(search_key);
750 if (sf.signals.empty())
752 AFB_WARNING("No signal(s) found for %s.", name.c_str());
755 ans = json_object_new_array();
756 for(const auto& sig: sf.signals)
758 struct json_object *jobj = json_object_new_object();
759 json_object_object_add(jobj, "event", json_object_new_string(sig->get_name().c_str()));
760 json_object_object_add(jobj, "value", json_object_new_double(sig->get_last_value()));
761 json_object_array_add(ans, jobj);
766 void get(afb_req_t request)
769 struct json_object* args = nullptr,
770 *json_name = nullptr;
771 json_object *ans = nullptr;
773 args = afb_req_json(request);
775 // Process about Raw CAN message on CAN bus directly
776 if (args != nullptr &&
777 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string) ))
779 ans = get_signals_value(json_object_get_string(json_name));
785 AFB_ERROR("Request argument malformed. Please use the following syntax:");
790 afb_req_success(request, ans, NULL);
792 afb_req_fail(request, "error", NULL);
796 static struct json_object *list_can_message(const std::string& name)
798 struct utils::signals_found sf;
799 struct json_object *ans = nullptr;
801 openxc_DynamicField search_key = build_DynamicField(name);
802 sf = utils::signals_manager_t::instance().find_signals(search_key);
804 if (sf.signals.empty() && sf.diagnostic_messages.empty())
806 AFB_WARNING("No signal(s) found for %s.", name.c_str());
809 ans = json_object_new_array();
810 for(const auto& sig: sf.signals)
812 json_object_array_add(ans,
813 json_object_new_string(sig->get_name().c_str()));
815 for(const auto& sig: sf.diagnostic_messages)
817 json_object_array_add(ans,
818 json_object_new_string(sig->get_name().c_str()));
824 void list(afb_req_t request)
827 json_object *ans = nullptr;
828 struct json_object* args = nullptr,
829 *json_name = nullptr;
830 args = afb_req_json(request);
832 if ((args != nullptr) &&
833 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string)))
834 name = json_object_get_string(json_name);
838 ans = list_can_message(name);
843 afb_req_success(request, ans, NULL);
845 afb_req_fail(request, "error", NULL);
848 /// @brief Initialize the binding.
850 /// @param[in] service Structure which represent the Application Framework Binder.
852 /// @return Exit code, zero if success.
853 int init_binding(afb_api_t api)
856 application_t& application = application_t::instance();
857 can_bus_t& can_bus_manager = application.get_can_bus_manager();
859 if(application.get_message_set().empty())
861 AFB_ERROR("No message_set defined");
866 can_bus_manager.set_can_devices();
867 can_bus_manager.start_threads();
868 utils::signals_manager_t& sm = utils::signals_manager_t::instance();
870 // Add a recurring dignostic message request to get engine speed at all times.
871 openxc_DynamicField search_key = build_DynamicField("diagnostic_messages.engine.speed");
872 struct utils::signals_found sf = sm.find_signals(search_key);
874 if(sf.signals.empty() && sf.diagnostic_messages.size() == 1)
876 afb_req_t request = nullptr;
878 struct event_filter_t event_filter;
879 event_filter.frequency = sf.diagnostic_messages.front()->get_frequency();
881 map_subscription& s = sm.get_subscribed_signals();
883 subscribe_unsubscribe_diagnostic_messages(request, true, sf.diagnostic_messages, event_filter, s, true);
887 #ifdef USE_FEATURE_J1939
888 std::string j1939_bus;
889 vect_ptr_msg_def_t current_messages_definition = application.get_messages_definition();
890 for(std::shared_ptr<message_definition_t> message_definition: current_messages_definition)
892 if(message_definition->is_j1939())
894 if (j1939_bus == message_definition->get_bus_device_name() )
896 j1939_bus = message_definition->get_bus_device_name();
898 std::shared_ptr<low_can_subscription_t> low_can_j1939 = std::make_shared<low_can_subscription_t>();
899 application.set_subscription_address_claiming(low_can_j1939);
901 ret = low_can_subscription_t::open_socket(*low_can_j1939,
903 J1939_ADDR_CLAIM_PROTOCOL);
907 AFB_ERROR("Error open socket address claiming for j1939 protocol");
910 add_to_event_loop(low_can_j1939);
917 AFB_ERROR("There was something wrong with CAN device Initialization.");
922 int load_conf(afb_api_t api)
925 CtlConfigT *ctlConfig;
926 const char *dirList = getenv("CONTROL_CONFIG_PATH");
927 std::string bindingDirPath = GetBindingDirPath(api);
928 std::string filepath = bindingDirPath + "/etc";
931 dirList=CONTROL_CONFIG_PATH;
933 filepath.append(":");
934 filepath.append(dirList);
935 const char *configPath = CtlConfigSearch(api, filepath.c_str(), "control");
939 AFB_ERROR_V3("CtlPreInit: No control-* config found invalid JSON %s ", filepath.c_str());
943 // create one API per file
944 ctlConfig = CtlLoadMetaData(api, configPath);
947 AFB_ERROR_V3("CtrlPreInit No valid control config file in:\n-- %s", configPath);
951 // Save the config in the api userdata field
952 afb_api_set_userdata(api, ctlConfig);
954 setExternalData(ctlConfig, (void*) &application_t::instance());
955 ret= CtlLoadSections(api, ctlConfig, ctlSections_);