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 <algorithm>
  28 #include <wrap-json.h>
  29 #include <systemd/sd-event.h>
  30 #include <ctl-config.h>
  31 #include "openxc.pb.h"
  32 #include "application.hpp"
  33 #include "../can/can-encoder.hpp"
  34 #include "../can/can-bus.hpp"
  35 #include "../can/signals.hpp"
  36 #include "../can/message/message.hpp"
  37 #include "../utils/signals.hpp"
  38 #include "../diagnostic/diagnostic-message.hpp"
  39 #include "../utils/openxc-utils.hpp"
  40 #include "../utils/signals.hpp"
  41
  42 #ifdef USE_FEATURE_J1939
  43         #include "../can/message/j1939-message.hpp"
  44         #include <linux/can/j1939.h>
  45 #endif
  46
  47 ///*****************************************************************************
  48 ///
  49 ///             Controller Definitions and Callbacks
  50 ///
  51 ///****************************************************************************/
  52
  53 int config_low_can(afb_api_t apiHandle, CtlSectionT *section, json_object *json_obj)
  54 {
  55         AFB_DEBUG("Config %s", json_object_to_json_string(json_obj));
  56         CtlConfigT *ctrlConfig = (CtlConfigT *) afb_api_get_userdata(apiHandle);
  57         int active_message_set = 0;
  58         json_object *dev_mapping = nullptr;
  59         const char *diagnotic_bus = nullptr;
  60
  61         if(! ctrlConfig || ! ctrlConfig->external)
  62                 return -1;
  63
  64         application_t *application = (application_t*) ctrlConfig->external;
  65
  66         if(wrap_json_unpack(json_obj, "{si, s?s}",
  67                               "active_message_set", &active_message_set,
  68                               "diagnostic_bus", &diagnotic_bus))
  69                 return -1;
  70
  71         application->set_active_message_set((uint8_t)active_message_set);
  72
  73         if(wrap_json_unpack(json_obj, "{so}",
  74                             "dev-mapping", &dev_mapping))
  75                 return -1;
  76
  77         application->get_can_bus_manager().set_can_devices(dev_mapping);
  78
  79         /// Initialize Diagnostic manager that will handle obd2 requests.
  80         /// We pass by default the first CAN bus device to its Initialization.
  81         if(! diagnotic_bus || application_t::instance().get_diagnostic_manager().initialize(diagnotic_bus))
  82                 AFB_WARNING("Diagnostic Manager: not initialized. No diagnostic messages will be processed.");
  83
  84         return 0;
  85 }
  86
  87 CtlSectionT ctlSections_[] = {
  88         [0]={.key="config" , .uid="config", .info=nullptr,
  89                  .loadCB=config_low_can,
  90                  .handle=nullptr,
  91                  .actions=nullptr},
  92         [1]={.key="plugins" , .uid="plugins", .info=nullptr,
  93                 .loadCB=PluginConfig,
  94                 .handle=nullptr,
  95                 .actions=nullptr},
  96         [2]={.key=nullptr , .uid=nullptr, .info=nullptr,
  97                 .loadCB=nullptr,
  98                 .handle=nullptr,
  99                 .actions=nullptr},
 100 };
 101
 102 ///*****************************************************************************
 103 ///
 104 ///             Subscription and unsubscription
 105 ///
 106 ///****************************************************************************/
 107
 108 /// @brief This will determine if an event handle needs to be created and checks if
 109 /// we got a valid afb_event to get subscribe or unsubscribe. After that launch the subscription or unsubscription
 110 /// against the application framework using that event handle.
 111 static int subscribe_unsubscribe_signal(afb_req_t request,
 112                                         bool subscribe,
 113                                         std::shared_ptr<low_can_subscription_t>& can_subscription,
 114                                         map_subscription& s)
 115 {
 116         int ret = 0;
 117         int sub_index = can_subscription->get_index();
 118         bool subscription_exists = s.count(sub_index);
 119
 120         // Susbcription part
 121         if(subscribe)
 122         {
 123                 /* There is no valid request to subscribe so this must be an
 124                  * internal permanent diagnostic request. Skip the subscription
 125                  * part and don't register it into the current "low-can"
 126                  * subsciptions.
 127                  */
 128                 if(! request)
 129                 {
 130                         return 0;
 131                 }
 132
 133                 // Event doesn't exist , so let's create it
 134                 if ((ret = can_subscription->subscribe(request)) < 0)
 135                         return ret;
 136
 137                 if(! subscription_exists)
 138                                 s[sub_index] = can_subscription;
 139
 140                 return ret;
 141         }
 142
 143         // Unsubscrition part
 144         if(! subscription_exists)
 145         {
 146                 AFB_NOTICE("There isn't any valid subscriptions for that request.");
 147                 return ret;
 148         }
 149         else if (subscription_exists &&
 150                  ! afb_event_is_valid(s[sub_index]->get_event()) )
 151         {
 152                 AFB_NOTICE("Event isn't valid, no need to unsubscribed.");
 153                 return ret;
 154         }
 155
 156         if( (ret = s[sub_index]->unsubscribe(request)) < 0)
 157                 return ret;
 158         s.find(sub_index)->second->set_index(-1);
 159         s.erase(sub_index);
 160         return ret;
 161 }
 162
 163 static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription)
 164 {
 165                 struct sd_event_source* event_source = nullptr;
 166                 return ( sd_event_add_io(afb_daemon_get_event_loop(),
 167                         &event_source,
 168                         can_subscription->get_socket()->socket(),
 169                         EPOLLIN,
 170                         read_message,
 171                         can_subscription.get()));
 172 }
 173
 174 static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request,
 175                                                      bool subscribe,
 176                                                      list_ptr_diag_msg_t diagnostic_messages,
 177                                                      struct event_filter_t& event_filter,
 178                                                      map_subscription& s,
 179                                                      bool perm_rec_diag_req)
 180 {
 181         int rets = 0;
 182         application_t& app = application_t::instance();
 183         diagnostic_manager_t& diag_m = app.get_diagnostic_manager();
 184
 185         for(const auto& sig : diagnostic_messages)
 186         {
 187                 DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request());
 188                 event_filter.frequency = event_filter.frequency == 0 ? sig->get_frequency() : event_filter.frequency;
 189                 std::shared_ptr<low_can_subscription_t> can_subscription;
 190
 191                 auto it = std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
 192                 {
 193                         return (! sub.second->get_diagnostic_message().empty());
 194                 });
 195                 can_subscription = it != s.end() ?
 196                         it->second :
 197                         std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 198                 // If the requested diagnostic message is not supported by the car then unsubcribe it
 199                 // no matter what we want, worst case will be a failed unsubscription but at least we won't
 200                 // poll a PID for nothing.
 201                 if(sig->get_supported() && subscribe)
 202                 {
 203                         if (!app.is_engine_on())
 204                                 AFB_WARNING("signal: Engine is off, %s won't received responses until it's on",  sig->get_name().c_str());
 205
 206                         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);
 207                         if(can_subscription->create_rx_filter(sig) < 0)
 208                                 return -1;
 209                         AFB_DEBUG("Signal: %s subscribed", sig->get_name().c_str());
 210                         if(it == s.end() && add_to_event_loop(can_subscription) < 0)
 211                         {
 212                                 diag_m.cleanup_request(
 213                                         diag_m.find_recurring_request(*diag_req), true);
 214                                 AFB_WARNING("signal: %s isn't supported. Canceling operation.",  sig->get_name().c_str());
 215                                 return -1;
 216                         }
 217                 }
 218                 else
 219                 {
 220                         if(sig->get_supported())
 221                         {
 222                                 AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());
 223                         }
 224                         else
 225                         {
 226                                 AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
 227                                 return -1;
 228                         }
 229                 }
 230                 int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s);
 231                 if(ret < 0)
 232                         return ret;
 233
 234                 rets++;
 235         }
 236         return rets;
 237 }
 238
 239 static int subscribe_unsubscribe_signals(afb_req_t request,
 240                                          bool subscribe,
 241                                          list_ptr_signal_t signals,
 242                                          struct event_filter_t& event_filter,
 243                                          map_subscription& s)
 244 {
 245         int rets = 0;
 246         for(const auto& sig: signals)
 247         {
 248                 auto it =  std::find_if(s.begin(), s.end(), [&sig, &event_filter](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
 249                 {
 250                         return sub.second->is_signal_subscription_corresponding(sig, event_filter) ;
 251                 });
 252                 std::shared_ptr<low_can_subscription_t> can_subscription;
 253                 if(it != s.end())
 254                         can_subscription = it->second;
 255                 else
 256                 {
 257                         can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 258                         if(can_subscription->create_rx_filter(sig) < 0)
 259                                 return -1;
 260                         if(add_to_event_loop(can_subscription) < 0)
 261                                 return -1;
 262                 }
 263
 264                 if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
 265                         return -1;
 266
 267                 rets++;
 268                 AFB_DEBUG("%s Signal: %s %ssubscribed", sig->get_message()->is_fd() ? "FD": "", sig->get_name().c_str(), subscribe ? "":"un");
 269         }
 270         return rets;
 271 }
 272
 273 ///
 274 /// @brief subscribe to all signals in the vector signals
 275 ///
 276 /// @param[in] afb_req request : contains original request use to subscribe or unsubscribe
 277 /// @param[in] subscribe boolean value, which chooses between a subscription operation or an unsubscription
 278 /// @param[in] signals -  struct containing vectors with signal_t and diagnostic_messages to subscribe
 279 /// @param[in] event_filter - stuct containing filter on the signal
 280 ///
 281 /// @return Number of correctly subscribed signal
 282 ///
 283 static int subscribe_unsubscribe_signals(afb_req_t request,
 284                                          bool subscribe,
 285                                          const struct utils::signals_found& signals,
 286                                          struct event_filter_t& event_filter)
 287 {
 288         int rets = 0;
 289         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 290
 291         std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 292         map_subscription& s = sm.get_subscribed_signals();
 293
 294         rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s, false);
 295         rets += subscribe_unsubscribe_signals(request, subscribe, signals.signals, event_filter, s);
 296
 297         return rets;
 298 }
 299
 300 static event_filter_t generate_filter(json_object* args)
 301 {
 302         event_filter_t event_filter;
 303         struct json_object  *filter, *obj;
 304
 305                 // computes the filter
 306         if (json_object_object_get_ex(args, "filter", &filter))
 307         {
 308                 if (json_object_object_get_ex(filter, "frequency", &obj)
 309                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 310                         event_filter.frequency = (float)json_object_get_double(obj);
 311                 if (json_object_object_get_ex(filter, "min", &obj)
 312                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 313                         event_filter.min = (float)json_object_get_double(obj);
 314                 if (json_object_object_get_ex(filter, "max", &obj)
 315                 && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
 316                         event_filter.max = (float)json_object_get_double(obj);
 317                 if (json_object_object_get_ex(filter, "promisc", &obj)
 318                         && (json_object_is_type(obj, json_type_boolean)))
 319                         event_filter.promisc = (bool)json_object_get_boolean(obj);
 320                 if (json_object_object_get_ex(filter, "rx_id", &obj)
 321                 && (json_object_is_type(obj, json_type_int)))
 322                         event_filter.rx_id = (canid_t) json_object_get_int(obj);
 323                 if (json_object_object_get_ex(filter, "tx_id", &obj)
 324                 && (json_object_is_type(obj, json_type_int)))
 325                         event_filter.tx_id = (canid_t) json_object_get_int(obj);
 326         }
 327         return event_filter;
 328 }
 329
 330
 331 static int one_subscribe_unsubscribe_events(afb_req_t request, bool subscribe, const std::string& tag, json_object* args)
 332 {
 333         int ret = 0;
 334         struct utils::signals_found sf;
 335
 336         // subscribe or unsubscribe
 337         openxc_DynamicField search_key = build_DynamicField(tag);
 338         sf = utils::signals_manager_t::instance().find_signals(search_key);
 339
 340
 341 #ifdef USE_FEATURE_ISOTP
 342         if(sf.signals.size() > 1)
 343         {
 344                 sf.signals.remove_if([](std::shared_ptr<signal_t> x){
 345                         bool isotp = x->get_message()->is_isotp();
 346                         if(isotp)
 347                                 AFB_NOTICE("ISO TP messages need to be subscribed one by one (rx, tx)");
 348
 349                         return isotp;
 350                 });
 351         }
 352 #endif
 353
 354         if (sf.signals.empty() && sf.diagnostic_messages.empty())
 355         {
 356                 AFB_NOTICE("No signal(s) found for %s.", tag.c_str());
 357                 ret = -1;
 358         }
 359         else
 360         {
 361                 event_filter_t event_filter = generate_filter(args);
 362                 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
 363         }
 364         return ret;
 365 }
 366
 367 static int one_subscribe_unsubscribe_id(afb_req_t request, bool subscribe, const uint32_t& id, json_object *args)
 368 {
 369         int ret = 0;
 370         std::shared_ptr<message_definition_t> message_definition = application_t::instance().get_message_definition(id);
 371         struct utils::signals_found sf;
 372
 373         if(message_definition)
 374                 sf.signals = list_ptr_signal_t(message_definition->get_signals().begin(), message_definition->get_signals().end());
 375
 376         if(sf.signals.empty())
 377         {
 378                 AFB_NOTICE("No signal(s) found for %d.", id);
 379                 ret = -1;
 380         }
 381         else
 382         {
 383                 event_filter_t event_filter = generate_filter(args);
 384                 ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
 385         }
 386
 387         return ret;
 388 }
 389
 390
 391 static int process_one_subscribe_args(afb_req_t request, bool subscribe, json_object *args)
 392 {
 393         int rc = 0, rc2=0;
 394         json_object *x = nullptr, *event = nullptr, *id = nullptr;
 395
 396
 397         // 2 cases : ID(PGN) and event
 398
 399         json_object_object_get_ex(args,"event",&event);
 400         json_object_object_get_ex(args,"id",&id) || json_object_object_get_ex(args,"pgn",&id);
 401
 402         if( args == NULL || (id && ((std::string)json_object_get_string(id)).compare("*") == 0))
 403         {
 404                 rc = one_subscribe_unsubscribe_events(request, subscribe, "*", args);
 405         }
 406         else
 407         {
 408                 if(event)
 409                 {
 410                         if (json_object_get_type(event) != json_type_array) // event is set before and check if it's an array
 411                         {
 412                                 rc = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(event), args);
 413                         }
 414                         else // event is set and it's not an array
 415                         {
 416                                 for (int i = 0 ; i < json_object_array_length(event); i++)
 417                                 {
 418                                         x = json_object_array_get_idx(event, i);
 419                                         rc2 = one_subscribe_unsubscribe_events(request, subscribe, json_object_get_string(x), args);
 420                                         if (rc >= 0)
 421                                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 422                                 }
 423                         }
 424                 }
 425
 426                 if(id)
 427                 {
 428                         if (json_object_get_type(id) != json_type_array) // id is set before and check if it's an array
 429                         {
 430                                 rc = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(id), args);
 431                         }
 432                         else // event is set and it's not an array
 433                         {
 434                                 for (int i = 0 ; i < json_object_array_length(id); i++)
 435                                 {
 436                                         x = json_object_array_get_idx(id, i);
 437                                         rc2 = one_subscribe_unsubscribe_id(request, subscribe, json_object_get_int(x), args);
 438                                         if (rc >= 0)
 439                                                 rc = rc2 >= 0 ? rc + rc2 : rc2;
 440                                 }
 441                         }
 442                 }
 443         }
 444         return rc;
 445 }
 446
 447 static void do_subscribe_unsubscribe(afb_req_t request, bool subscribe)
 448 {
 449         int rc = 0;
 450         struct json_object *args, *x;
 451
 452         args = afb_req_json(request);
 453         if (json_object_get_type(args) == json_type_array)
 454         {
 455                 for(int i = 0; i < json_object_array_length(args); i++)
 456                 {
 457                         x = json_object_array_get_idx(args, i);
 458                         rc += process_one_subscribe_args(request, subscribe, x);
 459                 }
 460         }
 461         else
 462         {
 463                 rc += process_one_subscribe_args(request, subscribe, args);
 464         }
 465
 466         if (rc >= 0)
 467                 afb_req_success(request, NULL, NULL);
 468         else
 469                 afb_req_fail(request, "error", NULL);
 470 }
 471
 472 void auth(afb_req_t request)
 473 {
 474         afb_req_session_set_LOA(request, 1);
 475         afb_req_success(request, NULL, NULL);
 476 }
 477
 478 void subscribe(afb_req_t request)
 479 {
 480         do_subscribe_unsubscribe(request, true);
 481 }
 482
 483 void unsubscribe(afb_req_t request)
 484 {
 485         do_subscribe_unsubscribe(request, false);
 486 }
 487
 488 /*
 489 static int send_frame(struct canfd_frame& cfd, const std::string& bus_name, socket_type type)
 490 {
 491         if(bus_name.empty())
 492         {
 493                 return -1;
 494         }
 495
 496         std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
 497
 498         if( cd.count(bus_name) == 0)
 499         {
 500                 cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t());
 501         }
 502
 503
 504         if(type == socket_type::BCM)
 505         {
 506                 return low_can_subscription_t::tx_send(*cd[bus_name], cfd, bus_name);
 507         }
 508         else if(type == socket_type::J1939)
 509         {
 510                 return low_can_subscription_t::j1939_send(*cd[bus_name], cfd, bus_name);
 511         }
 512         else{
 513                 return -1;
 514         }
 515 }
 516 */
 517 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 {
 519         if(bus_name.empty())
 520                 return -1;
 521
 522         std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
 523
 524         if( cd.count(bus_name) == 0)
 525                 cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
 526
 527         cd[bus_name]->set_signal(signal);
 528
 529
 530         if(flags&CAN_PROTOCOL)
 531                 return low_can_subscription_t::tx_send(*cd[bus_name], message, bus_name);
 532 #ifdef USE_FEATURE_ISOTP
 533         else if(flags&ISOTP_PROTOCOL)
 534                 return low_can_subscription_t::isotp_send(*cd[bus_name], message, bus_name);
 535 #endif
 536 #ifdef USE_FEATURE_J1939
 537         else if(flags&J1939_PROTOCOL)
 538                 return low_can_subscription_t::j1939_send(*cd[bus_name], message, bus_name);
 539 #endif
 540         else
 541                 return -1;
 542 }
 543
 544
 545 static void write_raw_frame(afb_req_t request, const std::string& bus_name, message_t *message,
 546                             struct json_object *can_data, uint32_t flags, event_filter_t &event_filter)
 547 {
 548
 549         struct utils::signals_found sf;
 550
 551         utils::signals_manager_t::instance().lookup_signals_by_id(message->get_id(), application_t::instance().get_all_signals(), sf.signals);
 552
 553         if( !sf.signals.empty() )
 554         {
 555                 AFB_DEBUG("ID WRITE RAW : %d", sf.signals.front()->get_message()->get_id());
 556                 if(flags & CAN_PROTOCOL)
 557                 {
 558                         if(sf.signals.front()->get_message()->is_fd())
 559                         {
 560                                 AFB_DEBUG("CANFD_MAX_DLEN");
 561                                 message->set_flags(CAN_PROTOCOL_WITH_FD_FRAME);
 562                                 message->set_maxdlen(CANFD_MAX_DLEN);
 563                         }
 564                         else
 565                         {
 566                                 AFB_DEBUG("CAN_MAX_DLEN");
 567                                 message->set_maxdlen(CAN_MAX_DLEN);
 568                         }
 569
 570                         if(sf.signals.front()->get_message()->is_isotp())
 571                         {
 572                                 flags = ISOTP_PROTOCOL;
 573                                 message->set_maxdlen(MAX_ISOTP_FRAMES * message->get_maxdlen());
 574                         }
 575                 }
 576
 577 #ifdef USE_FEATURE_J1939
 578                 if(flags&J1939_PROTOCOL)
 579                         message->set_maxdlen(J1939_MAX_DLEN);
 580 #endif
 581
 582                 if(message->get_length() > 0 && message->get_length() <= message->get_maxdlen())
 583                 {
 584                         std::vector<uint8_t> data;
 585                         for (int i = 0 ; i < message->get_length() ; i++)
 586                         {
 587                                 struct json_object *one_can_data = json_object_array_get_idx(can_data, i);
 588                                 data.push_back((json_object_is_type(one_can_data, json_type_int)) ?
 589                                                 (uint8_t)json_object_get_int(one_can_data) : 0);
 590                         }
 591                         message->set_data(data);
 592                 }
 593                 else
 594                 {
 595                         if(flags&CAN_PROTOCOL)
 596                                 afb_req_fail(request, "Invalid", "Frame BCM");
 597                         else if(flags&J1939_PROTOCOL)
 598                                 afb_req_fail(request, "Invalid", "Frame J1939");
 599                         else if(flags&ISOTP_PROTOCOL)
 600                                 afb_req_fail(request, "Invalid", "Frame ISOTP");
 601                         else
 602                                 afb_req_fail(request, "Invalid", "Frame");
 603
 604                         return;
 605                 }
 606
 607                 if(! send_message(message, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name), flags, event_filter, sf.signals.front()))
 608                         afb_req_success(request, nullptr, "Message correctly sent");
 609                 else
 610                         afb_req_fail(request, "Error", "sending the message. See the log for more details.");
 611         }
 612         else
 613         {
 614                 afb_req_fail(request, "Error", "no find id in signals. See the log for more details.");
 615         }
 616
 617 }
 618
 619 static void write_frame(afb_req_t request, const std::string& bus_name, json_object *json_value, event_filter_t &event_filter)
 620 {
 621         message_t *message;
 622         uint32_t id;
 623         uint32_t length;
 624         struct json_object *can_data = nullptr;
 625         std::vector<uint8_t> data;
 626
 627         AFB_DEBUG("JSON content %s", json_object_get_string(json_value));
 628
 629         if(!wrap_json_unpack(json_value, "{si, si, so !}",
 630                                   "can_id", &id,
 631                                   "can_dlc", &length,
 632                                   "can_data", &can_data))
 633         {
 634                 message = new can_message_t(0, id, length, false, 0, data, 0);
 635                 write_raw_frame(request, bus_name, message, can_data, CAN_PROTOCOL, event_filter);
 636         }
 637 #ifdef USE_FEATURE_J1939
 638         else if(!wrap_json_unpack(json_value, "{si, si, so !}",
 639                                   "pgn", &id,
 640                                   "length", &length,
 641                                   "data", &can_data))
 642         {
 643                 message = new j1939_message_t(length, data, 0, J1939_NO_NAME, (pgn_t)id, J1939_NO_ADDR);
 644                 write_raw_frame(request, bus_name, message, can_data, J1939_PROTOCOL, event_filter);
 645         }
 646 #endif
 647         else
 648         {
 649                 afb_req_fail(request, "Invalid", "Frame object malformed");
 650                 return;
 651         }
 652         delete message;
 653 }
 654
 655 static void write_signal(afb_req_t request, const std::string& name, json_object *json_value, event_filter_t &event_filter)
 656 {
 657         struct canfd_frame cfd;
 658         struct utils::signals_found sf;
 659         signal_encoder encoder = nullptr;
 660         bool send = true;
 661
 662         ::memset(&cfd, 0, sizeof(cfd));
 663
 664         openxc_DynamicField search_key = build_DynamicField(name);
 665         sf = utils::signals_manager_t::instance().find_signals(search_key);
 666         openxc_DynamicField dynafield_value = build_DynamicField(json_value);
 667
 668         if (sf.signals.empty())
 669         {
 670                 afb_req_fail_f(request, "No signal(s) found for %s. Message not sent.", name.c_str());
 671                 return;
 672         }
 673
 674         std::shared_ptr<signal_t> sig = sf.signals.front();
 675         if(! sig->get_writable())
 676         {
 677                 afb_req_fail_f(request, "%s isn't writable. Message not sent.", sig->get_name().c_str());
 678                 return;
 679         }
 680
 681         uint64_t value = (encoder = sig->get_encoder()) ?
 682                         encoder(*sig, dynafield_value, &send) :
 683                         encoder_t::encode_DynamicField(*sig, dynafield_value, &send);
 684
 685         uint32_t flags = INVALID_FLAG;
 686
 687         if(sig->get_message()->is_j1939())
 688                 flags = J1939_PROTOCOL;
 689         else if(sig->get_message()->is_isotp())
 690                 flags = ISOTP_PROTOCOL;
 691         else
 692                 flags = CAN_PROTOCOL;
 693
 694 //      cfd = encoder_t::build_frame(sig, value);
 695         message_t *message = encoder_t::build_message(sig, value, false, false);
 696
 697         if(! send_message(message, sig->get_message()->get_bus_device_name(), flags, event_filter, sig) && send)
 698                 afb_req_success(request, nullptr, "Message correctly sent");
 699         else
 700                 afb_req_fail(request, "Error", "Sending the message. See the log for more details.");
 701
 702         if(sig->get_message()->is_j1939())
 703 #ifdef USE_FEATURE_J1939
 704                 delete (j1939_message_t*) message;
 705 #else
 706                 afb_req_fail(request, "Warning", "J1939 not implemented in your kernel.");
 707 #endif
 708         else
 709                 delete (can_message_t*) message;
 710 }
 711
 712 void write(afb_req_t request)
 713 {
 714         struct json_object* args = nullptr, *json_value = nullptr, *name = nullptr;
 715         args = afb_req_json(request);
 716
 717         if(args != NULL)
 718         {
 719                 event_filter_t event_filter = generate_filter(args);
 720
 721                 if(json_object_object_get_ex(args,"bus_name",&name))
 722                 {
 723                         if(json_object_object_get_ex(args,"frame",&json_value))
 724                                 write_frame(request, (std::string)json_object_get_string(name), json_value, event_filter);
 725                         else
 726                                 afb_req_fail(request, "Error", "Request argument malformed");
 727                 }
 728                 else if(json_object_object_get_ex(args,"signal_name",&name))
 729                 {
 730                         if(json_object_object_get_ex(args,"signal_value",&json_value))
 731                                 write_signal(request, (std::string)json_object_get_string(name), json_value, event_filter);
 732                         else
 733                                 afb_req_fail(request, "Error", "Request argument malformed");
 734                 }
 735                 else
 736                 {
 737                         afb_req_fail(request, "Error", "Request argument malformed");
 738                 }
 739         }
 740         else
 741         {
 742                 afb_req_fail(request, "Error", "Request argument null");
 743         }
 744 }
 745
 746 static struct json_object *get_signals_value(const std::string& name)
 747 {
 748         struct utils::signals_found sf;
 749         struct json_object *ans = nullptr;
 750
 751         openxc_DynamicField search_key = build_DynamicField(name);
 752         sf = utils::signals_manager_t::instance().find_signals(search_key);
 753
 754         if (sf.signals.empty())
 755         {
 756                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 757                 return NULL;
 758         }
 759         ans = json_object_new_array();
 760         for(const auto& sig: sf.signals)
 761         {
 762                 struct json_object *jobj = json_object_new_object();
 763                 json_object_object_add(jobj, "event", json_object_new_string(sig->get_name().c_str()));
 764                 json_object_object_add(jobj, "value", json_object_new_double(sig->get_last_value()));
 765                 json_object_array_add(ans, jobj);
 766         }
 767
 768         return ans;
 769 }
 770 void get(afb_req_t request)
 771 {
 772         int rc = 0;
 773         struct json_object* args = nullptr,
 774                 *json_name = nullptr;
 775         json_object *ans = nullptr;
 776
 777         args = afb_req_json(request);
 778
 779         // Process about Raw CAN message on CAN bus directly
 780         if (args != nullptr &&
 781                 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string) ))
 782         {
 783                 ans = get_signals_value(json_object_get_string(json_name));
 784                 if (!ans)
 785                         rc = -1;
 786         }
 787         else
 788         {
 789                 AFB_ERROR("Request argument malformed. Please use the following syntax:");
 790                 rc = -1;
 791         }
 792
 793         if (rc >= 0)
 794                 afb_req_success(request, ans, NULL);
 795         else
 796                 afb_req_fail(request, "error", NULL);
 797 }
 798
 799
 800 static struct json_object *list_can_message(const std::string& name)
 801 {
 802         struct utils::signals_found sf;
 803         struct json_object *ans = nullptr;
 804
 805         openxc_DynamicField search_key = build_DynamicField(name);
 806         sf = utils::signals_manager_t::instance().find_signals(search_key);
 807
 808         if (sf.signals.empty() && sf.diagnostic_messages.empty())
 809         {
 810                 AFB_WARNING("No signal(s) found for %s.", name.c_str());
 811                 return NULL;
 812         }
 813         ans = json_object_new_array();
 814         for(const auto& sig: sf.signals)
 815         {
 816                 json_object_array_add(ans,
 817                         json_object_new_string(sig->get_name().c_str()));
 818         }
 819         for(const auto& sig: sf.diagnostic_messages)
 820         {
 821                 json_object_array_add(ans,
 822                         json_object_new_string(sig->get_name().c_str()));
 823         }
 824
 825         return ans;
 826 }
 827
 828 void list(afb_req_t request)
 829 {
 830         int rc = 0;
 831         json_object *ans = nullptr;
 832         struct json_object* args = nullptr,
 833                 *json_name = nullptr;
 834         args = afb_req_json(request);
 835         const char *name;
 836         if ((args != nullptr) &&
 837                 (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string)))
 838                 name = json_object_get_string(json_name);
 839         else
 840                 name = "*";
 841
 842         ans = list_can_message(name);
 843         if (!ans)
 844                 rc = -1;
 845
 846         if (rc >= 0)
 847                 afb_req_success(request, ans, NULL);
 848         else
 849                 afb_req_fail(request, "error", NULL);
 850
 851 }
 852
 853 /// @brief Initialize the binding.
 854 ///
 855 /// @param[in] service Structure which represent the Application Framework Binder.
 856 ///
 857 /// @return Exit code, zero if success.
 858 int init_binding(afb_api_t api)
 859 {
 860         int ret = 0;
 861         application_t& application = application_t::instance();
 862         can_bus_t& can_bus_manager = application.get_can_bus_manager();
 863
 864         if(application.get_message_set().empty())
 865         {
 866                 AFB_ERROR("No message_set defined");
 867                 return -1;
 868         }
 869
 870         can_bus_manager.start_threads();
 871         utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 872
 873         if (application.get_diagnostic_manager().is_initialized())
 874         {
 875                 // Add a recurring dignostic message request to get engine speed at all times.
 876                 openxc_DynamicField search_key = build_DynamicField("diagnostic_messages.engine.speed");
 877                 struct utils::signals_found sf = sm.find_signals(search_key);
 878
 879                 if(sf.signals.empty() && sf.diagnostic_messages.size() == 1)
 880                 {
 881                         afb_req_t request = nullptr;
 882
 883                         struct event_filter_t event_filter;
 884                         event_filter.frequency = sf.diagnostic_messages.front()->get_frequency();
 885
 886                         map_subscription& s = sm.get_subscribed_signals();
 887
 888                         subscribe_unsubscribe_diagnostic_messages(request, true, sf.diagnostic_messages, event_filter, s, true);
 889                 }
 890         }
 891
 892 #ifdef USE_FEATURE_J1939
 893         std::string j1939_bus;
 894         vect_ptr_msg_def_t current_messages_definition = application.get_messages_definition();
 895         for(std::shared_ptr<message_definition_t> message_definition: current_messages_definition)
 896         {
 897                 if(message_definition->is_j1939())
 898                 {
 899                         if (j1939_bus == message_definition->get_bus_device_name() )
 900                                 continue;
 901                         j1939_bus = message_definition->get_bus_device_name();
 902
 903                         std::shared_ptr<low_can_subscription_t> low_can_j1939 = std::make_shared<low_can_subscription_t>();
 904                         application.set_subscription_address_claiming(low_can_j1939);
 905
 906                         ret = low_can_subscription_t::open_socket(*low_can_j1939,
 907                                                                   j1939_bus,
 908                                                                   J1939_ADDR_CLAIM_PROTOCOL);
 909
 910                         if(ret < 0)
 911                         {
 912                                 AFB_ERROR("Error open socket address claiming for j1939 protocol");
 913                                 return -1;
 914                         }
 915                         add_to_event_loop(low_can_j1939);
 916                         break;
 917                 }
 918         }
 919 #endif
 920
 921         if(ret)
 922                 AFB_ERROR("There was something wrong with CAN device Initialization.");
 923
 924         return ret;
 925 }
 926
 927 int load_config(afb_api_t api)
 928 {
 929         int ret = 0;
 930         CtlConfigT *ctlConfig;
 931         const char *dirList = getenv("CONTROL_CONFIG_PATH");
 932         std::string bindingDirPath = GetBindingDirPath(api);
 933         std::string filepath = bindingDirPath + "/etc";
 934
 935         if (!dirList)
 936                 dirList=CONTROL_CONFIG_PATH;
 937
 938         filepath.append(":");
 939         filepath.append(dirList);
 940         const char *configPath = CtlConfigSearch(api, filepath.c_str(), "control");
 941
 942         if (!configPath)
 943         {
 944                 AFB_ERROR_V3("CtlPreInit: No control-%s* config found invalid JSON %s ", GetBinderName(), filepath.c_str());
 945                 return -1;
 946         }
 947
 948         // create one API per file
 949         ctlConfig = CtlLoadMetaData(api, configPath);
 950         if (!ctlConfig)
 951         {
 952                 AFB_ERROR_V3("CtrlPreInit No valid control config file in:\n-- %s", configPath);
 953                 return -1;
 954         }
 955
 956         // Save the config in the api userdata field
 957         afb_api_set_userdata(api, ctlConfig);
 958
 959         setExternalData(ctlConfig, (void*) &application_t::instance());
 960         ret= CtlLoadSections(api, ctlConfig, ctlSections_);
 961
 962         return ret;
 963 }