Implements new verbs to write on CAN bus

This will open a new BCM socket not dedicated to a subscription
use to that mean.

Change-Id: Idf353015f731e32d6eb7c7856bd73167c66e790f
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

9 files changed, 490 insertions, 325 deletions

diff --git a/low-can-binding/binding/application.cpp b/low-can-binding/binding/application.cpp
index 6e6353b8..8c210177 100644
--- a/low-can-binding/binding/application.cpp
+++ b/low-can-binding/binding/application.cpp
@@ -19,6 +19,7 @@
 
 #include "../utils/signals.hpp"
 #include "../utils/openxc-utils.hpp"
+#include "low-can-socket.hpp"
 
 /// @brief Return singleton instance of configuration object.
 application_t& application_t::instance()
@@ -32,6 +33,11 @@ can_bus_t& application_t::get_can_bus_manager()
 	return can_bus_manager_;
 }
 
+std::map<std::string, std::shared_ptr<low_can_socket_t> >& application_t::get_can_devices()
+{
+	return can_devices_;
+}
+
 diagnostic_manager_t& application_t::get_diagnostic_manager()
 {
 	return diagnostic_manager_;
diff --git a/low-can-binding/binding/application.hpp b/low-can-binding/binding/application.hpp
index 5fa64782..fea61a83 100644
--- a/low-can-binding/binding/application.hpp
+++ b/low-can-binding/binding/application.hpp
@@ -49,6 +49,8 @@ class application_t
 
 		std::vector<std::shared_ptr<can_message_set_t> > can_message_set_; ///< Vector holding all message set from JSON signals description file
 
+		std::map<std::string, std::shared_ptr<low_can_socket_t> > can_devices_; ///< Map containing all independant opened CAN sockets, key is the socket int value.
+
 		application_t(); ///< Private constructor with implementation generated by the AGL generator.
 
 	public:
@@ -56,6 +58,8 @@ class application_t
 
 		can_bus_t& get_can_bus_manager();
 
+		std::map<std::string, std::shared_ptr<low_can_socket_t> >& get_can_devices();
+
 		const std::string get_diagnostic_bus() const;
 
 		diagnostic_manager_t& get_diagnostic_manager() ;
diff --git a/low-can-binding/binding/low-can-cb.cpp b/low-can-binding/binding/low-can-cb.cpp
index ec8b2b46..e25d6eae 100644
--- a/low-can-binding/binding/low-can-cb.cpp
+++ b/low-can-binding/binding/low-can-cb.cpp
@@ -360,3 +360,63 @@ void unsubscribe(struct afb_req request)
 {
 	do_subscribe_unsubscribe(request, false);
 }
+
+void swrite(struct afb_req request)
+{
+	int rc = 0;
+	struct can_frame cf;
+	struct utils::signals_found sf;
+	struct json_object *args, *json_can_socket, *json_can_id, *json_can_dlc, *json_can_data;
+
+	::memset(&cf, 0, sizeof(cf));
+
+	args = afb_req_json(request);
+	if (args == NULL || (
+		((!json_object_object_get_ex(args, "canbus_name", &json_can_socket)) && json_object_get_type(json_can_socket) == json_type_string) &&
+		((!json_object_object_get_ex(args, "can_id", &json_can_id)) && json_object_get_type(json_can_id) == json_type_int) &&
+		((!json_object_object_get_ex(args, "can_dlc", &json_can_dlc)) && json_object_get_type(json_can_dlc) == json_type_int)))
+	{
+		cf.can_id = json_object_get_int(json_can_id);
+		cf.can_dlc = (uint8_t)json_object_get_int(json_can_dlc);
+		openxc_DynamicField search_key = build_DynamicField((double)cf.can_id);
+		sf = utils::signals_manager_t::instance().find_signals(search_key);
+	}
+
+	if((args == NULL || !json_object_object_get_ex(args, "can_data", &json_can_data)) && json_object_get_type(json_can_data) == json_type_array)
+	{
+		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;
+			}
+		}
+	}
+
+	if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
+	{
+		AFB_WARNING("No signal(s) found for id %d. Message not sent.", cf.can_id);
+		rc = -1;
+	}
+	else
+	{
+		std::map<std::string, std::shared_ptr<low_can_socket_t> >& cd = application_t::instance().get_can_devices();
+		const char* can_socket = json_object_get_string(json_can_socket);
+		for(const auto& sig: sf.can_signals)
+		{
+			if (sig->get_message()->get_bus_name().c_str() == can_socket)
+			{
+				rc = cd[can_socket]->tx_send(cf, sig);
+			}
+		}
+	}
+
+	if (rc >= 0)
+		afb_req_success(request, NULL, NULL);
+	else
+		afb_req_fail(request, "error", NULL);
+}
diff --git a/low-can-binding/binding/low-can-hat.cpp b/low-can-binding/binding/low-can-hat.cpp
index 6709089e..dae3a4af 100644
--- a/low-can-binding/binding/low-can-hat.cpp
+++ b/low-can-binding/binding/low-can-hat.cpp
@@ -32,10 +32,21 @@ extern "C"
 {
 	static int initv2();
 
+	static constexpr struct afb_auth loa_afb_auth(const unsigned loa)
+	{
+		struct afb_auth a = {};
+		a.type = afb_auth_LOA;
+		a.loa = loa;
+		return a;
+	}
+
+	static const struct afb_auth loa_1 = { loa_afb_auth(1) };
+
 	static const struct afb_verb_v2 verbs[]=
 	{
 		{ .verb= "subscribe", .callback= subscribe, .auth= NULL, .info="Let subscribe to signals", .session= AFB_SESSION_NONE},
 		{ .verb= "unsubscribe", .callback= unsubscribe, .auth= NULL, .info="Let unsubscribe signals", .session= AFB_SESSION_NONE},
+		{ .verb= "swrite", .callback= swrite, .auth= &loa_1, .info="Write a single CAN message on a CAN bus", .session= AFB_SESSION_LOA_1},
 		{ .verb= NULL, .callback= NULL, .auth= NULL, .info=NULL, .session= 0}
 	};
 
diff --git a/low-can-binding/binding/low-can-hat.hpp b/low-can-binding/binding/low-can-hat.hpp
index cf3d999e..6ecad23a 100644
--- a/low-can-binding/binding/low-can-hat.hpp
+++ b/low-can-binding/binding/low-can-hat.hpp
@@ -37,4 +37,5 @@ void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uin
 int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata);
 
 void subscribe(struct afb_req request);
-void unsubscribe(struct afb_req request);
\ No newline at end of file
+void unsubscribe(struct afb_req request);
+void swrite(struct afb_req request);
diff --git a/low-can-binding/binding/low-can-socket.cpp b/low-can-binding/binding/low-can-socket.cpp
new file mode 100644
index 00000000..716b75b9
--- /dev/null
+++ b/low-can-binding/binding/low-can-socket.cpp
@@ -0,0 +1,314 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loic Collignon" <loic.collignon@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *	 http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "low-can-hat.hpp"
+
+#include "low-can-subscription.hpp"
+#include "application.hpp"
+#include "canutil/write.h"
+
+low_can_socket_t::low_can_socket_t()
+	: index_{-1},
+	event_filter_{},
+	socket_{}
+{}
+
+low_can_socket_t::low_can_socket_t(struct event_filter_t event_filter)
+	: event_filter_{event_filter}
+ {}
+
+low_can_socket_t::low_can_socket_t( low_can_socket_t&& s)
+	: index_{s.index_},
+	event_filter_{s.event_filter_},
+	socket_{std::move(s.socket_)}
+{}
+
+low_can_socket_t& low_can_socket_t::operator=(const low_can_socket_t& s)
+{
+	socket_ = std::move(s.socket_);
+	return *this;
+}
+
+low_can_socket_t::~low_can_socket_t()
+{
+	socket_.close();
+}
+
+low_can_socket_t::operator bool() const
+{
+	return ((can_signal_ != nullptr || ! diagnostic_message_.empty()) && ! socket_);
+}
+
+int low_can_socket_t::get_index() const
+{
+	return index_;
+}
+
+const std::shared_ptr<can_signal_t> low_can_socket_t::get_can_signal() const
+{
+	return can_signal_;
+}
+
+const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_socket_t::get_diagnostic_message() const
+{
+	return diagnostic_message_;
+}
+
+/// @brief Retrieve a diagnostic_message subscribed from a pid
+///
+/// @param[in] pid - Diagnostic messages PID to search for
+///
+/// @return shared_ptr diagnostic_message_ if found and nullptr if not found
+const std::shared_ptr<diagnostic_message_t> low_can_socket_t::get_diagnostic_message(uint32_t pid) const
+{
+	for(const auto& diag: diagnostic_message_)
+	{
+		if(diag->get_pid() == pid)
+		{
+			return diag;
+		}
+	}
+	return nullptr;
+}
+
+/// @brief Retrieve a diagnostic message search from its name
+///
+/// @return shared_ptr diagnostic_message_ if found and nullptr if not found
+const std::shared_ptr<diagnostic_message_t> low_can_socket_t::get_diagnostic_message(const std::string& name) const
+{
+	for(const auto& diag: diagnostic_message_)
+	{
+		if(diag->get_name() == name)
+		{
+			return diag;
+		}
+	}
+	return nullptr;
+}
+
+/// @brief Return the CAN signal name and empty string if not found
+/// or no CAN signal subscribed
+const std::string low_can_socket_t::get_name() const
+{
+	if (can_signal_ != nullptr)
+		return can_signal_->get_name();
+
+	return "";
+}
+
+/// @brief Return name from a diagnostic message from a PID
+///
+/// @param[in] pid - Diagnostic message PID
+const std::string low_can_socket_t::get_name(uint32_t pid) const
+{
+	if (!diagnostic_message_.empty())
+		return get_diagnostic_message(pid)->get_name() ;
+
+	return "";
+}
+
+float low_can_socket_t::get_frequency() const
+{
+	return event_filter_.frequency;
+}
+
+float low_can_socket_t::get_min() const
+{
+	return event_filter_.min;
+}
+
+float low_can_socket_t::get_max() const
+{
+	return event_filter_.max;
+}
+
+utils::socketcan_bcm_t& low_can_socket_t::get_socket()
+{
+	return socket_;
+}
+
+void low_can_socket_t::set_frequency(float freq)
+{
+	event_filter_.frequency = freq;
+}
+
+void low_can_socket_t::set_min(float min)
+{
+	event_filter_.min = min;
+}
+
+void low_can_socket_t::set_max(float max)
+{
+	event_filter_.max = max;
+}
+/// @brief Based upon which object is subscribed CAN signal or diagnostic message
+/// this will open the socket with the required CAN bus device name.
+///
+/// @return INVALID_SOCKET on failure else positive integer
+int low_can_socket_t::open_socket()
+{
+	int ret = 0;
+	if(! socket_)
+	{
+		if( can_signal_ != nullptr)
+			{ret = socket_.open(can_signal_->get_message()->get_bus_device_name());}
+		else if (! diagnostic_message_ .empty())
+			{ret = socket_.open(application_t::instance().get_diagnostic_manager().get_bus_device_name());}
+		index_ = (int)socket_.socket();
+	}
+	return ret;
+}
+
+/// @brief Build a BCM message head but don't set can_frame.
+///
+/// @return a simple_bcm_msg with the msg_head parts set and can_frame
+/// zeroed.
+struct utils::simple_bcm_msg low_can_socket_t::make_bcm_head(uint32_t opcode, uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const
+{
+	struct utils::simple_bcm_msg bcm_msg;
+
+	bcm_msg.msg_head.opcode  = opcode;
+	bcm_msg.msg_head.can_id  = can_id;
+	bcm_msg.msg_head.flags = flags;
+	bcm_msg.msg_head.ival1.tv_sec = timeout.tv_sec ;
+	bcm_msg.msg_head.ival1.tv_usec = timeout.tv_usec;
+	bcm_msg.msg_head.ival2.tv_sec = frequency_thinning.tv_sec ;
+	bcm_msg.msg_head.ival2.tv_usec = frequency_thinning.tv_usec;
+
+	return bcm_msg;
+}
+
+/// @brief Take an existing simple_bcm_msg struct and add a can_frame to it.
+/// Only possible for now to add 1 uniq can_frame, it isn't possible to build
+/// a multiplexed message with several can_frame.
+void low_can_socket_t::add_bcm_frame(const struct can_frame& cf, struct utils::simple_bcm_msg& bcm_msg) const
+{
+	for(int i=0; i < CAN_MAX_DLEN; i++)
+	{
+		if(cf.data[i] != 0)
+		{
+			bcm_msg.msg_head.nframes = 1;
+			bcm_msg.frames = cf;
+			return;
+		}
+	}
+}
+
+/// @brief Create a RX_SETUP receive job used by the BCM socket for a CAN signal
+/// subscription
+///
+/// @return 0 if ok else -1
+int low_can_socket_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
+{
+	can_signal_= sig;
+
+	struct can_frame cfd;
+	memset(&cfd, 0, sizeof(cfd));
+
+	float val = (float)(1 << can_signal_->get_bit_size()) - 1;
+	bitfield_encode_float(val,
+							can_signal_->get_bit_position(),
+							can_signal_->get_bit_size(),
+							can_signal_->get_factor(),
+							can_signal_->get_offset(),
+							cfd.data,
+							CAN_MAX_DLEN);
+
+	struct timeval freq, timeout = {0, 0};
+	frequency_clock_t f = std::isnan(event_filter_.frequency) ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency);
+	freq = f.get_timeval_from_period();
+
+	utils::simple_bcm_msg bcm_msg = make_bcm_head(RX_SETUP, can_signal_->get_message()->get_id(), SETTIMER|RX_NO_AUTOTIMER, timeout, freq);
+	add_bcm_frame(cfd, bcm_msg);
+
+	return create_rx_filter(bcm_msg);
+}
+
+/// @brief Create a RX_SETUP receive job used by the BCM socket for a
+/// diagnostic message subscription.
+///
+/// @return 0 if ok else -1
+int low_can_socket_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig)
+{
+	diagnostic_message_.push_back(sig);
+
+	struct timeval freq = frequency_clock_t(event_filter_.frequency).get_timeval_from_period();
+	//struct timeval timeout = frequency_clock_t(10).get_timeval_from_period();
+	struct timeval timeout = {0,0};
+
+	utils::simple_bcm_msg bcm_msg =  make_bcm_head(RX_SETUP, OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
+	return create_rx_filter(bcm_msg);
+}
+
+/// @brief Create a RX_SETUP receive job used by the BCM socket directly from
+/// a simple_bcm_msg. You will not use this method directly but rather use the
+/// two previous method with can_signal_t or diagnostic_message_t object.
+///
+/// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed
+/// to the 8 classics OBD2 functional response ID
+///
+/// @return 0 if ok else -1
+int low_can_socket_t::create_rx_filter(utils::simple_bcm_msg& bcm_msg)
+{
+	// Make sure that socket has been opened.
+	if(open_socket() < 0)
+		{return -1;}
+
+	// If it isn't an OBD2 CAN ID then just add a simple RX_SETUP job
+	// else monitor all standard 8 CAN OBD2 ID response.
+	if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
+	{
+		socket_ << bcm_msg;
+			if(! socket_)
+				return -1;
+	}
+	else
+	{
+		for(uint8_t i = 0; i < 8; i++)
+		{
+			bcm_msg.msg_head.can_id  =  OBD2_FUNCTIONAL_RESPONSE_START + i;
+
+			socket_ << bcm_msg;
+			if(! socket_)
+				return -1;
+		}
+	}
+
+	return 0;
+}
+
+/// @brief Create a TX_SEND job used by the BCM socket to
+/// simply send message
+///
+/// @return 0 if ok else -1
+int low_can_socket_t::tx_send(const struct can_frame& cf, std::shared_ptr<can_signal_t> sig)
+{
+	can_signal_ = sig;
+
+	utils::simple_bcm_msg bcm_msg =  make_bcm_head(TX_SEND);
+	add_bcm_frame(cf, bcm_msg);
+
+	if(open_socket() < 0)
+		{return -1;}
+
+	socket_ << bcm_msg;
+	if(! socket_)
+		return -1;
+
+	return 0;
+}
diff --git a/low-can-binding/binding/low-can-socket.hpp b/low-can-binding/binding/low-can-socket.hpp
new file mode 100644
index 00000000..49e9f93e
--- /dev/null
+++ b/low-can-binding/binding/low-can-socket.hpp
@@ -0,0 +1,90 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+  *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *	 http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+  #pragma once
+
+#include <string>
+#include <cmath>
+#include <utility>
+
+#include "../can/can-signals.hpp"
+#include "../diagnostic/diagnostic-message.hpp"
+#include "../utils/socketcan-bcm.hpp"
+
+/// @brief Filtering values. Theses values has to be tested into
+/// can_bus_t::apply_filter method.
+struct event_filter_t
+{
+	float frequency; ///< frequency - Maximum frequency which will be received and pushed a subscribed event.
+	float min; ///< min - Minimum value that the signal don't have to go below to be pushed.
+	float max; ///< max - Maximum value that the signal don't have to go above to be pushed.
+	event_filter_t() : frequency{NAN}, min{NAN}, max{NAN} {}
+};
+
+/// @brief An object storing socket to CAN to be used to write on it.
+/// This is a simple access to a CAN bus device without subscriptions attached
+class low_can_socket_t
+{
+protected:
+	int index_; ///< index_ - index number is the socket (int) casted
+	struct event_filter_t event_filter_;
+
+	/// Signal part
+	std::shared_ptr<can_signal_t> can_signal_; ///< can_signal_ - the CAN signal subscribed
+	std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_message_; ///< diagnostic_message_ - diagnostic messages meant to received OBD2 responses.
+				/// normal diagnostic request and response not tested for now.
+
+	utils::socketcan_bcm_t socket_; ///< socket_ - socket_ that receives CAN messages.
+
+public:
+	low_can_socket_t();
+	low_can_socket_t(struct event_filter_t event_filter);
+	low_can_socket_t(const low_can_socket_t& s) = delete;
+	low_can_socket_t(low_can_socket_t&& s);
+	virtual ~low_can_socket_t();
+
+	low_can_socket_t& operator=(const low_can_socket_t& s);
+	explicit operator bool() const;
+
+	int get_index() const;
+	const std::shared_ptr<can_signal_t> get_can_signal() const;
+	const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(uint32_t pid) const;
+	const std::vector<std::shared_ptr<diagnostic_message_t> > get_diagnostic_message() const;
+	const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(const std::string& name) const;
+	const std::string get_name() const;
+	const std::string get_name(uint32_t pid) const;
+	float get_frequency() const;
+	float get_min() const;
+	float get_max() const;
+	utils::socketcan_bcm_t& get_socket();
+
+	void set_event(struct afb_event event);
+	void set_frequency(float freq);
+	void set_min(float min);
+	void set_max(float max);
+
+	struct utils::simple_bcm_msg make_bcm_head(uint32_t opcode, uint32_t can_id = 0, uint32_t flags = 0, const struct timeval& timeout = {0,0}, const struct timeval& frequency_thinning = {0,0}) const;
+	void add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const;
+
+	int open_socket();
+
+	int create_rx_filter(std::shared_ptr<can_signal_t> sig);
+	int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig);
+	int create_rx_filter(utils::simple_bcm_msg& bcm_msg);
+
+	int tx_send(const struct can_frame& cf, std::shared_ptr<can_signal_t> sig);
+};
diff --git a/low-can-binding/binding/low-can-subscription.cpp b/low-can-binding/binding/low-can-subscription.cpp
index 5488cc53..5bb79a15 100644
--- a/low-can-binding/binding/low-can-subscription.cpp
+++ b/low-can-binding/binding/low-can-subscription.cpp
@@ -22,285 +22,12 @@
 #include "application.hpp"
 #include "canutil/write.h"
 
-low_can_subscription_t::low_can_subscription_t()
-	: index_{-1},
-	event_filter_{event_filter_t()},
-	socket_{}
-{}
-
-low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter)
-	: event_filter_{event_filter}
-{}
-
-low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
-	: index_{s.index_},
-	event_filter_{s.event_filter_},
-	socket_{std::move(s.socket_)}
-{}
-
-low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s)
-{
-	socket_ = std::move(s.socket_);
-	return *this;
-}
-
-low_can_subscription_t::~low_can_subscription_t()
-{
-	socket_.close();
-}
-
-low_can_subscription_t::operator bool() const
-{
-	return ((can_signal_ != nullptr || ! diagnostic_message_.empty()) && afb_event_is_valid(event_));
-}
-
 struct afb_event& low_can_subscription_t::get_event()
 {
 	return event_;
 }
 
-int low_can_subscription_t::get_index() const
-{
-	return index_;
-}
-
-const std::shared_ptr<can_signal_t> low_can_subscription_t::get_can_signal() const
-{
-	return can_signal_;
-}
-
-const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_subscription_t::get_diagnostic_message() const
-{
-	return diagnostic_message_;
-}
-
-/// @brief Retrieve a diagnostic_message subscribed from a pid
-/// 
-/// @param[in] pid - Diagnostic messages PID to search for
-///
-/// @return shared_ptr diagnostic_message_ if found and nullptr if not found
-const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(uint32_t pid) const
-{
-	for(const auto& diag: diagnostic_message_)
-	{
-		if(diag->get_pid() == pid)
-		{
-			return diag;
-		}
-	}
-	return nullptr;
-}
-
-/// @brief Retrieve a diagnostic message search from its name
-///
-/// @return shared_ptr diagnostic_message_ if found and nullptr if not found
-const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(const std::string& name) const
-{
-	for(const auto& diag: diagnostic_message_)
-	{
-		if(diag->get_name() == name)
-		{
-			return diag;
-		}
-	}
-	return nullptr;
-}
-
-/// @brief Return the CAN signal name and empty string if not found
-/// or no CAN signal subscribed
-const std::string low_can_subscription_t::get_name() const
-{
-	if (can_signal_ != nullptr)
-		return can_signal_->get_name();
-
-	return "";
-}
-
-/// @brief Return name from a diagnostic message from a PID
-///
-/// @param[in] pid - Diagnostic message PID
-const std::string low_can_subscription_t::get_name(uint32_t pid) const
-{
-	if (!diagnostic_message_.empty())
-		return get_diagnostic_message(pid)->get_name() ;
-
-	return "";
-}
-
-float low_can_subscription_t::get_frequency() const
-{
-	return event_filter_.frequency;
-}
-
-float low_can_subscription_t::get_min() const
-{
-	return event_filter_.min;
-}
-
-float low_can_subscription_t::get_max() const
-{
-	return event_filter_.max;
-}
-
-utils::socketcan_bcm_t& low_can_subscription_t::get_socket()
-{
-	return socket_;
-}
-
 void low_can_subscription_t::set_event(struct afb_event event)
 {
 	event_ = event;
 }
-
-void low_can_subscription_t::set_frequency(float freq)
-{
-	event_filter_.frequency = freq;
-}
-
-void low_can_subscription_t::set_min(float min)
-{
-	event_filter_.min = min;
-}
-
-void low_can_subscription_t::set_max(float max)
-{
-	event_filter_.max = max;
-}
-
-/// @brief Based upon which object is subscribed CAN signal or diagnostic message
-/// this will open the socket with the required CAN bus device name.
-///
-/// @return INVALID_SOCKET on failure else positive integer
-int low_can_subscription_t::open_socket()
-{
-	int ret = 0;
-	if(! socket_)
-	{
-		if( can_signal_ != nullptr)
-			{ret = socket_.open(can_signal_->get_message()->get_bus_device_name());}
-		else if (! diagnostic_message_ .empty())
-			{ret = socket_.open(application_t::instance().get_diagnostic_manager().get_bus_device_name());}
-		index_ = (int)socket_.socket();
-	}
-	return ret;
-}
-
-/// @brief Build a BCM message head but don't set can_frame.
-///
-/// @return a simple_bcm_msg with the msg_head parts set and can_frame
-/// zeroed.
-struct utils::simple_bcm_msg low_can_subscription_t::make_bcm_head(uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const
-{
-	struct utils::simple_bcm_msg bcm_msg;
-
-	memset(&bcm_msg, 0, sizeof(bcm_msg));
-
-	bcm_msg.msg_head.opcode  = RX_SETUP;
-	bcm_msg.msg_head.can_id  = can_id;
-	bcm_msg.msg_head.flags = flags;
-	bcm_msg.msg_head.ival1.tv_sec = timeout.tv_sec ;
-	bcm_msg.msg_head.ival1.tv_usec = timeout.tv_usec;
-	bcm_msg.msg_head.ival2.tv_sec = frequency_thinning.tv_sec ;
-	bcm_msg.msg_head.ival2.tv_usec = frequency_thinning.tv_usec;
-
-	return bcm_msg;
-}
-
-/// @brief Take an existing simple_bcm_msg struct and add a can_frame to it.
-/// Only possible for now to add 1 uniq can_frame, it isn't possible to build
-/// a multiplexed message with several can_frame.
-void low_can_subscription_t::add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const
-{
-	for(int i=0; i < CAN_MAX_DLEN; i++)
-	{
-		if(cfd.data[i] != 0)
-		{
-			bcm_msg.msg_head.nframes = 1;
-			bcm_msg.frames = cfd;
-			return;
-		}
-	}
-}
-
-/// @brief Create a RX_SETUP receive job used by the BCM socket for a CAN signal
-/// subscription
-///
-/// @return 0 if ok else -1
-int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
-{
-	can_signal_= sig;
-
-	struct can_frame cfd;
-	memset(&cfd, 0, sizeof(cfd));
-
-	float val = (float)(1 << can_signal_->get_bit_size()) - 1;
-	bitfield_encode_float(val,
-							can_signal_->get_bit_position(),
-							can_signal_->get_bit_size(),
-							can_signal_->get_factor(),
-							can_signal_->get_offset(),
-							cfd.data,
-							CAN_MAX_DLEN);
-
-	struct timeval freq, timeout = {0, 0};
-	frequency_clock_t f = std::isnan(event_filter_.frequency) ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency);
-	freq = f.get_timeval_from_period();
-
-	utils::simple_bcm_msg bcm_msg = make_bcm_head(can_signal_->get_message()->get_id(), SETTIMER|RX_NO_AUTOTIMER, timeout, freq);
-	add_bcm_frame(cfd, bcm_msg);
-
-	return create_rx_filter(bcm_msg);
-}
-
-/// @brief Create a RX_SETUP receive job used by the BCM socket for a
-/// diagnostic message subscription.
-///
-/// @return 0 if ok else -1
-int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig)
-{
-	diagnostic_message_.push_back(sig);
-
-	struct timeval freq = frequency_clock_t(event_filter_.frequency).get_timeval_from_period();
-	//struct timeval timeout = frequency_clock_t(10).get_timeval_from_period();
-	struct timeval timeout = {0,0};
-
-	utils::simple_bcm_msg bcm_msg =  make_bcm_head(OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
-	return create_rx_filter(bcm_msg);
-}
-
-/// @brief Create a RX_SETUP receive job used by the BCM socket directly from
-/// a simple_bcm_msg. You will not use this method directly but rather use the
-/// two previous method with can_signal_t or diagnostic_message_t object.
-///
-/// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed
-/// to the 8 classics OBD2 functional response ID
-///
-/// @return 0 if ok else -1
-int low_can_subscription_t::create_rx_filter(utils::simple_bcm_msg& bcm_msg) 
-{
-	// Make sure that socket has been opened.
-	if(open_socket() < 0)
-		{return -1;}
-
-	// If it isn't an OBD2 CAN ID then just add a simple RX_SETUP job
-	// else monitor all standard 8 CAN OBD2 ID response.
-	if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID) 
-	{
-		socket_ << bcm_msg;
-			if(! socket_)
-				return -1;
-	}
-	else
-	{
-		for(uint8_t i = 0; i < 8; i++)
-		{
-			bcm_msg.msg_head.can_id  =  OBD2_FUNCTIONAL_RESPONSE_START + i;
-
-			socket_ << bcm_msg;
-			if(! socket_)
-				return -1;
-		}
-	}
-
-	return 0;
-}
\ No newline at end of file
diff --git a/low-can-binding/binding/low-can-subscription.hpp b/low-can-binding/binding/low-can-subscription.hpp
index 0ad7e3a2..239154a2 100644
--- a/low-can-binding/binding/low-can-subscription.hpp
+++ b/low-can-binding/binding/low-can-subscription.hpp
@@ -21,71 +21,23 @@
 #include <cmath>
 #include <utility>
 
+#include "low-can-socket.hpp"
 #include "../can/can-signals.hpp"
 #include "../diagnostic/diagnostic-message.hpp"
 #include "../utils/socketcan-bcm.hpp"
 
-/// @brief Filtering values. Theses values has to be tested into
-/// can_bus_t::apply_filter method.
-struct event_filter_t
-{
-	float frequency; ///< frequency - Maximum frequency which will be received and pushed a subscribed event.
-	float min; ///< min - Minimum value that the signal don't have to go below to be pushed.
-	float max; ///< max - Maximum value that the signal don't have to go above to be pushed.
-	event_filter_t() : frequency{NAN}, min{NAN}, max{NAN} {}
-};
-
 /// @brief A subscription object used has a context that handle all needed values to describe a subscription
 /// to the low-can binding. It can holds a CAN signal or diagnostic message. Diagnostic message for OBD2 is a kind
 /// of special because there is only 1 listener to retrieve OBD2 requests. So it's needed that all diagnostic messages
 /// subscriptions is to be in 1 object.
-class low_can_subscription_t
+class low_can_subscription_t : public low_can_socket_t
 {
 private:
-	int index_; ///< index_ - index number is the socket (int) casted
 	struct afb_event event_; ///< event_ - application framework event used to push on client
 
-	/// Signal part
-	std::shared_ptr<can_signal_t> can_signal_; ///< can_signal_ - the CAN signal subscribed
-	std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_message_; ///< diagnostic_message_ - diagnostic messages meant to received OBD2 responses.
-				/// normal diagnostic request and response not tested for now.
-
-	/// Filtering part
-	struct event_filter_t event_filter_; ///< event_filter_ - filtering values applied to a subscription
-
-	utils::socketcan_bcm_t socket_; ///< socket_ - socket_ that receives CAN messages.
 public:
-	low_can_subscription_t();
-	low_can_subscription_t(struct event_filter_t event_filter);
-	low_can_subscription_t(const low_can_subscription_t& s) = delete;
-	low_can_subscription_t(low_can_subscription_t&& s);
-	~low_can_subscription_t();
-
-	low_can_subscription_t& operator=(const low_can_subscription_t& s);
-	explicit operator bool() const;
+	using low_can_socket_t::low_can_socket_t;
 
-	int get_index() const;
 	struct afb_event& get_event();
-	const std::shared_ptr<can_signal_t> get_can_signal() const;
-	const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(uint32_t pid) const;
-	const std::vector<std::shared_ptr<diagnostic_message_t> > get_diagnostic_message() const;
-	const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(const std::string& name) const;
-	const std::string get_name() const;
-	const std::string get_name(uint32_t pid) const;
-	float get_frequency() const;
-	float get_min() const;
-	float get_max() const;
-	utils::socketcan_bcm_t& get_socket();
-
 	void set_event(struct afb_event event);
-	void set_frequency(float freq);
-	void set_min(float min);
-	void set_max(float max);
-
-	struct utils::simple_bcm_msg make_bcm_head(uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const;
-	void add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const;
-	int open_socket();
-	int create_rx_filter(std::shared_ptr<can_signal_t> sig);
-	int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig);
-	int create_rx_filter(utils::simple_bcm_msg& bcm_msg);
 };