X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fbinding%2Flow-can-cb.cpp;h=f200b192ea5ed1fc963218c69f59e5a8e275b237;hb=97a08a7e37835f0e8619d22c83243bee26a2bff2;hp=5910f6a2583b8af944546f7c72fca15dbbb53a19;hpb=2408a177e8260dcda266df9993e6acd528bebbbc;p=apps%2Fagl-service-can-low-level.git diff --git a/low-can-binding/binding/low-can-cb.cpp b/low-can-binding/binding/low-can-cb.cpp index 5910f6a2..f200b192 100644 --- a/low-can-binding/binding/low-can-cb.cpp +++ b/low-can-binding/binding/low-can-cb.cpp @@ -1,5 +1,5 @@ /* - * Copyright (C) 2015, 2016 "IoT.bzh" + * Copyright (C) 2015, 2018 "IoT.bzh" * Author "Romain Forlot" * Author "Loic Collignon" * @@ -17,13 +17,14 @@ */ #include "low-can-hat.hpp" +#include "low-can-apidef.h" #include #include #include #include #include -#include +#include #include #include "openxc.pb.h" @@ -36,7 +37,6 @@ #include "../diagnostic/diagnostic-message.hpp" #include "../utils/openxc-utils.hpp" - ///****************************************************************************** /// /// SystemD event loop Callbacks @@ -45,15 +45,23 @@ void on_no_clients(std::shared_ptr can_subscription, uint32_t pid, std::map >& s) { + bool is_permanent_recurring_request = false; + if( ! can_subscription->get_diagnostic_message().empty() && can_subscription->get_diagnostic_message(pid) != nullptr) { DiagnosticRequest diag_req = can_subscription->get_diagnostic_message(pid)->build_diagnostic_request(); active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req); if( adr != nullptr) - application_t::instance().get_diagnostic_manager().cleanup_request(adr, true); + { + is_permanent_recurring_request = adr->get_permanent(); + + if(! is_permanent_recurring_request) + application_t::instance().get_diagnostic_manager().cleanup_request(adr, true); + } } - on_no_clients(can_subscription, s); + if(! is_permanent_recurring_request) + on_no_clients(can_subscription, s); } void on_no_clients(std::shared_ptr can_subscription, std::map >& s) @@ -101,60 +109,60 @@ int read_message(sd_event_source *event_source, int fd, uint32_t revents, void * /// ///*******************************************************************************/ -static int make_subscription_unsubscription(struct afb_req request, std::shared_ptr& can_subscription, std::map >& s, bool subscribe) -{ - /* Make the subscription or unsubscription to the event */ - if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[can_subscription->get_index()]->get_event())) < 0) - { - AFB_ERROR("Operation goes wrong for signal: %s", can_subscription->get_name().c_str()); - return -1; - } - return 0; -} - -static int create_event_handle(std::shared_ptr& can_subscription, std::map >& s) -{ - int sub_index = can_subscription->get_index(); - can_subscription->set_event(afb_daemon_make_event(can_subscription->get_name().c_str())); - s[sub_index] = can_subscription; - if (!afb_event_is_valid(s[sub_index]->get_event())) - { - AFB_ERROR("Can't create an event for %s, something goes wrong.", can_subscription->get_name().c_str()); - return -1; - } - return 0; -} - -/// @brief Will determine if it is needed or not to create the event handle and checks it to be sure that -/// we got a valid afb_event to get subscribe or unsubscribe. Then launch the subscription or unsubscription +/// @brief This will determine if an event handle needs to be created and checks if +/// we got a valid afb_event to get subscribe or unsubscribe. After that launch the subscription or unsubscription /// against the application framework using that event handle. -static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, std::shared_ptr& can_subscription, std::map >& s) +static int subscribe_unsubscribe_signal(afb_req_t request, + bool subscribe, + std::shared_ptr& can_subscription, + std::map >& s) { - int ret = -1; + int ret = 0; int sub_index = can_subscription->get_index(); + bool subscription_exists = s.count(sub_index); - if (can_subscription && s.find(sub_index) != s.end()) + // Susbcription part + if(subscribe) { - if (!afb_event_is_valid(s[sub_index]->get_event()) && !subscribe) + /* There is no valid request to subscribe so this must be an + * internal permanent diagnostic request. Skip the subscription + * part and don't register it into the current "low-can" + * subsciptions. + */ + if(! request) { - AFB_NOTICE("Event isn't valid, no need to unsubscribed."); - ret = -1; + return 0; } - ret = 0; + + // Event doesn't exist , so let's create it + if (! subscription_exists && + (ret = can_subscription->subscribe(request)) < 0) + return ret; + + if(! subscription_exists) + s[sub_index] = can_subscription; + + return ret; } - else + + // Unsubscrition part + if(! subscription_exists) + { + AFB_NOTICE("There isn't any valid subscriptions for that request."); + return ret; + } + else if (subscription_exists && + ! afb_event_is_valid(s[sub_index]->get_event()) ) { - /* Event doesn't exist , so let's create it */ - can_subscription->set_event({nullptr, nullptr}); - s[sub_index] = can_subscription; - ret = create_event_handle(can_subscription, s); + AFB_NOTICE("Event isn't valid, no need to unsubscribed."); + return ret; } - // Check whether or not the event handler has been correctly created and - // make the subscription/unsubscription operation is so. - if (ret < 0) + if( (ret = s[sub_index]->unsubscribe(request)) < 0) return ret; - return make_subscription_unsubscription(request, can_subscription, s, subscribe); + s.erase(sub_index); + + return ret; } static int add_to_event_loop(std::shared_ptr& can_subscription) @@ -168,7 +176,12 @@ static int add_to_event_loop(std::shared_ptr& can_subscr can_subscription.get())); } -static int subscribe_unsubscribe_diagnostic_messages(struct afb_req request, bool subscribe, std::vector > diagnostic_messages, struct event_filter_t& event_filter, std::map >& s) +static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request, + bool subscribe, + std::vector > diagnostic_messages, + struct event_filter_t& event_filter, + std::map >& s, + bool perm_rec_diag_req) { int rets = 0; application_t& app = application_t::instance(); @@ -177,20 +190,22 @@ static int subscribe_unsubscribe_diagnostic_messages(struct afb_req request, boo for(const auto& sig : diagnostic_messages) { DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request()); - event_filter.frequency = std::isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency; + event_filter.frequency = event_filter.frequency == 0 ? sig->get_frequency() : event_filter.frequency; std::shared_ptr can_subscription; auto it = std::find_if(s.begin(), s.end(), [&sig](std::pair > sub){ return (! sub.second->get_diagnostic_message().empty());}); can_subscription = it != s.end() ? - it->second : + it->second : std::make_shared(low_can_subscription_t(event_filter)); - // If the requested diagnostic message isn't supported by the car then unsubcribe it - // no matter what we want, worse case will be a fail unsubscription but at least we don't + // If the requested diagnostic message is not supported by the car then unsubcribe it + // no matter what we want, worst case will be a failed unsubscription but at least we won't // poll a PID for nothing. - //TODO: Adding callback requesting ignition status: diag_req, sig.c_str(), false, diagnostic_message_t::decode_obd2_response, diagnostic_message_t::check_ignition_status, frequency); if(sig->get_supported() && subscribe) { - diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), event_filter.frequency); + if (!app.isEngineOn()) + AFB_WARNING("signal: Engine is off, %s won't received responses until it's on", sig->get_name().c_str()); + + 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); if(can_subscription->create_rx_filter(sig) < 0) {return -1;} AFB_DEBUG("Signal: %s subscribed", sig->get_name().c_str()); @@ -222,18 +237,19 @@ static int subscribe_unsubscribe_diagnostic_messages(struct afb_req request, boo return rets; } -// TODO: Create separate subscrition object if event_filter isn't the same. -static int subscribe_unsubscribe_can_signals(struct afb_req request, bool subscribe, std::vector > can_signals, struct event_filter_t& event_filter, std::map >& s) +static int subscribe_unsubscribe_can_signals(afb_req_t request, + bool subscribe, + std::vector > can_signals, + struct event_filter_t& event_filter, + std::map >& s) { int rets = 0; for(const auto& sig: can_signals) { - auto it = std::find_if(s.begin(), s.end(), [&sig](std::pair > sub){ return sub.second->get_can_signal() == sig; }); + auto it = std::find_if(s.begin(), s.end(), [&sig, &event_filter](std::pair > sub){ return sub.second->is_signal_subscription_corresponding(sig, event_filter) ; }); std::shared_ptr can_subscription; if(it != s.end()) - { - can_subscription = it->second; - } + {can_subscription = it->second;} else { can_subscription = std::make_shared(low_can_subscription_t(event_filter)); @@ -247,7 +263,7 @@ static int subscribe_unsubscribe_can_signals(struct afb_req request, bool subscr {return -1;} rets++; - AFB_DEBUG("signal: %s subscribed", sig->get_name().c_str()); + AFB_DEBUG("%s Signal: %s %ssubscribed", sig->get_message()->is_fd() ? "FD": "", sig->get_name().c_str(), subscribe ? "":"un"); } return rets; } @@ -255,13 +271,16 @@ static int subscribe_unsubscribe_can_signals(struct afb_req request, bool subscr /// /// @brief subscribe to all signals in the vector signals /// -/// @param[in] afb_req request : contain original request use to subscribe or unsubscribe -/// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription +/// @param[in] afb_req request : contains original request use to subscribe or unsubscribe +/// @param[in] subscribe boolean value, which chooses between a subscription operation or an unsubscription /// @param[in] signals - struct containing vectors with can_signal_t and diagnostic_messages to subscribe /// /// @return Number of correctly subscribed signal /// -static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals, struct event_filter_t& event_filter) +static int subscribe_unsubscribe_signals(afb_req_t request, + bool subscribe, + const struct utils::signals_found& signals, + struct event_filter_t& event_filter) { int rets = 0; utils::signals_manager_t& sm = utils::signals_manager_t::instance(); @@ -269,13 +288,16 @@ static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, std::lock_guard subscribed_signals_lock(sm.get_subscribed_signals_mutex()); std::map >& s = sm.get_subscribed_signals(); - rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s); + rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s, false); rets += subscribe_unsubscribe_can_signals(request, subscribe, signals.can_signals, event_filter, s); return rets; } -static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const std::string& tag, json_object* args) +static int one_subscribe_unsubscribe(afb_req_t request, + bool subscribe, + const std::string& tag, + json_object* args) { int ret = 0; struct event_filter_t event_filter; @@ -287,22 +309,13 @@ static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, con { if (json_object_object_get_ex(filter, "frequency", &obj) && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int))) - { - event_filter.frequency = (float)json_object_get_double(obj); - ret += 1; - } + {event_filter.frequency = (float)json_object_get_double(obj);} if (json_object_object_get_ex(filter, "min", &obj) && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int))) - { - event_filter.min = (float)json_object_get_double(obj); - ret += 2; - } + {event_filter.min = (float)json_object_get_double(obj);} if (json_object_object_get_ex(filter, "max", &obj) && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int))) - { - event_filter.max = (float)json_object_get_double(obj); - ret += 4; - } + {event_filter.max = (float)json_object_get_double(obj);} } // subscribe or unsubscribe @@ -318,14 +331,12 @@ static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, con return ret; } - -static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe) +static int process_one_subscribe_args(afb_req_t request, bool subscribe, json_object *args) { - int i, n, rc, rc2; - struct json_object *args, *event, *x; - - args = afb_req_json(request); - if (args == NULL || !json_object_object_get_ex(args, "event", &event)) + int rc = 0, rc2=0; + json_object *x = nullptr, *event = nullptr; + if(args == NULL || + !json_object_object_get_ex(args, "event", &event)) { rc = one_subscribe_unsubscribe(request, subscribe, "*", args); } @@ -335,9 +346,7 @@ static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe) } else { - rc = 0; - n = json_object_array_length(event); - for (i = 0 ; i < n ; i++) + for (int i = 0 ; i < json_object_array_length(event); i++) { x = json_object_array_get_idx(event, i); rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), args); @@ -345,6 +354,27 @@ static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe) rc = rc2 >= 0 ? rc + rc2 : rc2; } } + return rc; +} + +static void do_subscribe_unsubscribe(afb_req_t request, bool subscribe) +{ + int rc = 0; + struct json_object *args, *x; + + args = afb_req_json(request); + if (json_object_get_type(args) == json_type_array) + { + for(int i = 0; i < json_object_array_length(args); i++) + { + x = json_object_array_get_idx(args, i); + rc += process_one_subscribe_args(request, subscribe, x); + } + } + else + { + rc += process_one_subscribe_args(request, subscribe, args); + } if (rc >= 0) afb_req_success(request, NULL, NULL); @@ -352,102 +382,173 @@ static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe) afb_req_fail(request, "error", NULL); } -void auth(struct afb_req request) +void auth(afb_req_t request) { afb_req_session_set_LOA(request, 1); afb_req_success(request, NULL, NULL); } -void subscribe(struct afb_req request) +void subscribe(afb_req_t request) { do_subscribe_unsubscribe(request, true); } -void unsubscribe(struct afb_req request) +void unsubscribe(afb_req_t request) { do_subscribe_unsubscribe(request, false); } -void swrite(struct afb_req request) +static int send_frame(struct canfd_frame& cfd, const std::string& bus_name) { - int rc = 0; - struct can_frame cf; - struct utils::signals_found sf; - struct json_object* args = nullptr, - *json_name = nullptr, - *json_value = nullptr; - std::map >& cd = application_t::instance().get_can_devices(); + if(bus_name.empty()) { + return -1; + } - ::memset(&cf, 0, sizeof(cf)); + std::map >& cd = application_t::instance().get_can_devices(); - args = afb_req_json(request); + if( cd.count(bus_name) == 0) + {cd[bus_name] = std::make_shared(low_can_subscription_t());} - // Process about Raw CAN message on CAN bus directly - if (args != NULL && - (json_object_object_get_ex(args, "bus_name", &json_name) && json_object_is_type(json_name, json_type_string) ) && - (json_object_object_get_ex(args, "frame", &json_value) && json_object_is_type(json_value, json_type_object) )) - { - struct json_object* json_can_id = nullptr, - *json_can_dlc = nullptr, - *json_can_data = nullptr; + return cd[bus_name]->tx_send(cfd, bus_name); +} - 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))) && - (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))) && - (json_object_object_get_ex(json_value, "can_data", &json_can_data) && json_object_is_type(json_can_data, json_type_array) )) - { - cf.can_id = json_object_get_int(json_can_id); - cf.can_dlc = (uint8_t)json_object_get_int(json_can_dlc); +static void write_raw_frame(afb_req_t request, const std::string& bus_name, json_object *json_value) +{ + struct canfd_frame cfd; + struct json_object *can_data = nullptr; - struct json_object *x; - int n = json_object_array_length(json_can_data); - if(n <= 8) - { - for (int i = 0 ; i < n ; i++) - { - x = json_object_array_get_idx(json_can_data, i); - cf.data[i] = json_object_get_type(x) == json_type_int ? (uint8_t)json_object_get_int(x) : 0; - } - } + ::memset(&cfd, 0, sizeof(cfd)); - const std::string bus_name = json_object_get_string(json_name); - const std::string found_device = application_t::instance().get_can_bus_manager().get_can_device_name(bus_name); - if( ! found_device.empty()) - { - if( cd.count(bus_name) == 0) - {cd[bus_name] = std::make_shared(low_can_socket_t());} - rc = cd[bus_name]->tx_send(cf, found_device); - } - } - else + if(wrap_json_unpack(json_value, "{si, si, so !}", + "can_id", &cfd.can_id, + "can_dlc", &cfd.len, + "can_data", &can_data)) + { + afb_req_fail(request, "Invalid", "Frame object malformed"); + return; + } + + if(cfd.len <= 8 && cfd.len > 0) + { + for (int i = 0 ; i < cfd.len ; i++) { - 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]}"); - rc = -1; + struct json_object *one_can_data = json_object_array_get_idx(can_data, i); + cfd.data[i] = (json_object_is_type(one_can_data, json_type_int)) ? + (uint8_t)json_object_get_int(one_can_data) : 0; } } + else + { + afb_req_fail(request, "Invalid", "Data array must hold 1 to 8 values."); + return; + } + + if(! send_frame(cfd, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name))) + afb_req_success(request, nullptr, "Message correctly sent"); + else + afb_req_fail(request, "Error", "sending the message. See the log for more details."); +} + +static void write_signal(afb_req_t request, const std::string& name, json_object *json_value) +{ + struct canfd_frame cfd; + struct utils::signals_found sf; + signal_encoder encoder = nullptr; + bool send = true; + + ::memset(&cfd, 0, sizeof(cfd)); + + openxc_DynamicField search_key = build_DynamicField(name); + sf = utils::signals_manager_t::instance().find_signals(search_key); + openxc_DynamicField dynafield_value = build_DynamicField(json_value); + + if (sf.can_signals.empty()) + { + afb_req_fail_f(request, "No signal(s) found for %s. Message not sent.", name.c_str()); + return; + } + + std::shared_ptr& sig = sf.can_signals[0]; + if(! sig->get_writable()) + { + afb_req_fail_f(request, "%s isn't writable. Message not sent.", sig->get_name().c_str()); + return; + } + + uint64_t value = (encoder = sig->get_encoder()) ? + encoder(*sig, dynafield_value, &send) : + encoder_t::encode_DynamicField(*sig, dynafield_value, &send); + + cfd = encoder_t::build_frame(sig, value); + if(! send_frame(cfd, sig->get_message()->get_bus_device_name()) && send) + afb_req_success(request, nullptr, "Message correctly sent"); + else + afb_req_fail(request, "Error", "Sending the message. See the log for more details."); +} + +void write(afb_req_t request) +{ + struct json_object* args = nullptr, *json_value = nullptr; + const char *name = nullptr; + + args = afb_req_json(request); + + // Process about Raw CAN message on CAN bus directly + if (args != NULL && ! wrap_json_unpack(args, "{ss, so !}", + "bus_name", &name, + "frame", &json_value)) + write_raw_frame(request, name, json_value); + // Search signal then encode value. else if(args != NULL && - (json_object_object_get_ex(args, "signal_name", &json_name) && json_object_is_type(json_name, json_type_string)) && - (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)))) + ! wrap_json_unpack(args, "{ss, so !}", + "signal_name", &name, + "signal_value", &json_value)) + write_signal(request, std::string(name), json_value); + else + afb_req_fail(request, "Error", "Request argument malformed"); +} + +static struct json_object *get_signals_value(const std::string& name) +{ + struct utils::signals_found sf; + struct json_object *ans = nullptr; + + openxc_DynamicField search_key = build_DynamicField(name); + sf = utils::signals_manager_t::instance().find_signals(search_key); + + if (sf.can_signals.empty()) { - openxc_DynamicField search_key = build_DynamicField(json_object_get_string(json_name)); - sf = utils::signals_manager_t::instance().find_signals(search_key); + AFB_WARNING("No signal(s) found for %s.", name.c_str()); + return NULL; + } + ans = json_object_new_array(); + for(const auto& sig: sf.can_signals) + { + struct json_object *jobj = json_object_new_object(); + json_object_object_add(jobj, "event", json_object_new_string(sig->get_name().c_str())); + json_object_object_add(jobj, "value", json_object_new_double(sig->get_last_value())); + json_object_array_add(ans, jobj); + } - if (sf.can_signals.empty()) - { - AFB_WARNING("No signal(s) found for id %d. Message not sent.", cf.can_id); + return ans; +} +void get(afb_req_t request) +{ + int rc = 0; + struct json_object* args = nullptr, + *json_name = nullptr; + json_object *ans = nullptr; + + args = afb_req_json(request); + + // Process about Raw CAN message on CAN bus directly + if (args != nullptr && + (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string) )) + { + ans = get_signals_value(json_object_get_string(json_name)); + if (!ans) rc = -1; - } - else - { - for(const auto& sig: sf.can_signals) - { - cf = encoder_t::build_frame(sig, (uint64_t)json_object_get_double(json_value)); - const std::string bus_name = sig->get_message()->get_bus_name(); - if( cd.count(bus_name) == 0) - {cd[bus_name] = std::make_shared(low_can_socket_t());} - rc = cd[bus_name]->tx_send(cf, sig); - } - } } else { @@ -456,7 +557,106 @@ void swrite(struct afb_req request) } if (rc >= 0) - afb_req_success(request, NULL, NULL); + afb_req_success(request, ans, NULL); else afb_req_fail(request, "error", NULL); } + + +static struct json_object *list_can_message(const std::string& name) +{ + struct utils::signals_found sf; + struct json_object *ans = nullptr; + + openxc_DynamicField search_key = build_DynamicField(name); + sf = utils::signals_manager_t::instance().find_signals(search_key); + + if (sf.can_signals.empty() && sf.diagnostic_messages.empty()) + { + AFB_WARNING("No signal(s) found for %s.", name.c_str()); + return NULL; + } + ans = json_object_new_array(); + for(const auto& sig: sf.can_signals) + { + json_object_array_add(ans, + json_object_new_string(sig->get_name().c_str())); + } + for(const auto& sig: sf.diagnostic_messages) + { + json_object_array_add(ans, + json_object_new_string(sig->get_name().c_str())); + } + + return ans; +} + +void list(afb_req_t request) +{ + int rc = 0; + json_object *ans = nullptr; + struct json_object* args = nullptr, + *json_name = nullptr; + args = afb_req_json(request); + const char *name; + if ((args != nullptr) && + (json_object_object_get_ex(args, "event", &json_name) && json_object_is_type(json_name, json_type_string))) + { + name = json_object_get_string(json_name); + } + else + { + name = "*"; + } + + ans = list_can_message(name); + if (!ans) + rc = -1; + + if (rc >= 0) + afb_req_success(request, ans, NULL); + else + afb_req_fail(request, "error", NULL); +} + +/// @brief Initialize the binding. +/// +/// @param[in] service Structure which represent the Application Framework Binder. +/// +/// @return Exit code, zero if success. +int init_binding(afb_api_t api) +{ + uint32_t ret = 1; + can_bus_t& can_bus_manager = application_t::instance().get_can_bus_manager(); + + can_bus_manager.set_can_devices(); + can_bus_manager.start_threads(); + + /// Initialize Diagnostic manager that will handle obd2 requests. + /// We pass by default the first CAN bus device to its Initialization. + /// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus. + if(application_t::instance().get_diagnostic_manager().initialize()) + ret = 0; + + // Add a recurring dignostic message request to get engine speed at all times. + openxc_DynamicField search_key = build_DynamicField("diagnostic_messages.engine.speed"); + struct utils::signals_found sf = utils::signals_manager_t::instance().find_signals(search_key); + + if(sf.can_signals.empty() && sf.diagnostic_messages.size() == 1) + { + afb_req_t request = nullptr; + + struct event_filter_t event_filter; + event_filter.frequency = sf.diagnostic_messages.front()->get_frequency(); + + utils::signals_manager_t& sm = utils::signals_manager_t::instance(); + std::map >& s = sm.get_subscribed_signals(); + + subscribe_unsubscribe_diagnostic_messages(request, true, sf.diagnostic_messages, event_filter, s, true); + } + + if(ret) + AFB_ERROR("There was something wrong with CAN device Initialization."); + + return ret; +}