Get diag manager's socket into subscription obj

Subscription index map is the socket ID which implies the following:
- All diagnostic messages subscriptions are stored into a vector
holding diagnostic_message and there is 1 socket for all like the
diag manager did.
- Reworked workflow to open a BCM socket and adding an RX filter more flexible.
- Separated methods to handle on_no_clients event.
- Cleaning diagnostic manager code to remove all unneeded stuff now.
- Embed diagnostic response in VehicleMessage decoded message to be able
transmits the PID in event push thread. This is needed by to correctly handle case
when there is no clients subscribed to an AFB event. Else we can't find
the diagnostic message to remove from low_can_subscription vector.

Change-Id: Iab13fd556cda3c69827bcd67f3a23a03cb6a2cf2
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

7 files changed, 240 insertions, 198 deletions

diff --git a/CAN-binder/low-can-binding/binding/low-can-cb.cpp b/CAN-binder/low-can-binding/binding/low-can-cb.cpp
index d4cc5a1..5b7561f 100644
--- a/CAN-binder/low-can-binding/binding/low-can-cb.cpp
+++ b/CAN-binder/low-can-binding/binding/low-can-cb.cpp
@@ -19,7 +19,6 @@
 #include "low-can-hat.hpp"
 
 #include <map>
-#include <memory>
 #include <queue>
 #include <mutex>
 #include <vector>
@@ -59,12 +58,6 @@ low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filte
 	: event_filter_{event_filter}
 {}
 
-low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter, std::shared_ptr<diagnostic_message_t> diagnostic_message)
-	: diagnostic_message_{diagnostic_message}, event_filter_{event_filter}
-{
-	index_ = diagnostic_message->get_pid();
-}
-
 low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
 	: index_{s.index_},
 	event_filter_{s.event_filter_},
@@ -77,9 +70,14 @@ low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
 	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_ != nullptr) && afb_event_is_valid(event_));
+	return ((can_signal_ != nullptr || ! diagnostic_message_.empty()) && afb_event_is_valid(event_));
 }
 
 struct afb_event& low_can_subscription_t::get_event()
@@ -97,17 +95,47 @@ const std::shared_ptr<can_signal_t> low_can_subscription_t::get_can_signal() con
 	return can_signal_;
 }
 
-const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message() const
+const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_subscription_t::get_diagnostic_message() const
 {
 	return diagnostic_message_;
 }
 
+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;
+}
+
+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;
+}
+
 const std::string low_can_subscription_t::get_name() const
 {
 	if (can_signal_ != nullptr)
 		return can_signal_->get_name();
-	if (diagnostic_message_ != nullptr)
-		return diagnostic_message_->get_name() ;
+
+	return "";
+}
+
+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 "";
 }
@@ -152,47 +180,75 @@ void low_can_subscription_t::set_max(float max)
 	event_filter_.max = max;
 }
 
+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;
+}
+
+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;
+}
+
+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.
 ///
 /// @return 0 if ok else -1
-int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
+int low_can_subscription_t::create_rx_filter()
 {
-	can_signal_= sig;
-	return create_rx_filter();
+	int ret = -1;
+	if ( can_signal_ != nullptr)
+		{ret = create_rx_filter(can_signal_);}
+	else if (! diagnostic_message_ .empty())
+		{ret = create_rx_filter(diagnostic_message_.front());}
+
+	return ret;
 }
 
 /// @brief Create a RX_SETUP receive job used by the BCM socket.
 ///
 /// @return 0 if ok else -1
-int low_can_subscription_t::create_rx_filter()
+int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
 {
-	if (can_signal_ == nullptr)
-		{return -1;}
-
-	// Make sure that socket has been opened.
-	if(! socket_)
-	{
-		socket_.open(can_signal_->get_message()->get_bus_device_name());
-		index_ = (int)socket_.socket();
-	}
+	can_signal_= sig;
 
-	struct utils::simple_bcm_msg bcm_msg;
 	struct can_frame cfd;
-
 	memset(&cfd, 0, sizeof(cfd));
-	memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
-	float val = (float)(1 << can_signal_->get_bit_size()) - 1;
 
-	struct timeval freq;
-	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();
-
-	bcm_msg.msg_head.opcode  = RX_SETUP;
-	bcm_msg.msg_head.can_id  = can_signal_->get_message()->get_id();
-	bcm_msg.msg_head.flags = SETTIMER|RX_NO_AUTOTIMER;
-	bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec ;
-	bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
-	bcm_msg.msg_head.nframes = 1;
+	float val = (float)(1 << can_signal_->get_bit_size()) - 1;
 	bitfield_encode_float(val,
 							can_signal_->get_bit_position(),
 							can_signal_->get_bit_size(),
@@ -201,11 +257,61 @@ int low_can_subscription_t::create_rx_filter()
 							cfd.data,
 							CAN_MAX_DLEN);
 
-	bcm_msg.frames = cfd;
+	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.
+///
+/// @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.
+///
+/// @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(socket_ << bcm_msg)
-		return 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;
 }
 
 ///******************************************************************************
@@ -214,66 +320,56 @@ int low_can_subscription_t::create_rx_filter()
 ///
 ///*******************************************************************************/
 
-void on_no_clients(const std::string& message)
+void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid)
 {
-	DiagnosticRequest* diag_req = application_t::instance().get_request_from_diagnostic_message(message);
-	if(diag_req != nullptr)
+	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);
 	}
-	delete diag_req;
-	diag_req = nullptr;
+
+	on_no_clients(can_subscription);
+}
+
+void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription)
+{
+	utils::signals_manager_t& sm = utils::signals_manager_t::instance();
+	std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
+	std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
+	auto it = s.find(can_subscription->get_index());
+	s.erase(it);
 }
 
 static void push_n_notify(const can_message_t& cm)
 {
 	can_bus_t& cbm = application_t::instance().get_can_bus_manager();
-	std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
-	{ cbm.push_new_can_message(cm); }
+	{
+		std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
+	 	cbm.push_new_can_message(cm);
+	}
 	cbm.get_new_can_message_cv().notify_one();
 }
 
-int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata)
+int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata)
 {
-	can_message_t cm;
-	low_can_subscription_t* can_subscription;
-	diagnostic_manager_t& diag_m = application_t::instance().get_diagnostic_manager();
-
-	if(userdata != nullptr)
+	low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata;
+	if ((revents & EPOLLIN) != 0)
 	{
-		can_subscription = (low_can_subscription_t*)userdata;
+		can_message_t cm;
 		utils::socketcan_bcm_t& s = can_subscription->get_socket();
 		s >> cm;
-	}
-	else
-	{
-		utils::socketcan_bcm_t& s = diag_m.get_socket();
-		s >> cm;
-	}
 
-	push_n_notify(cm);
+		push_n_notify(cm);
+	}
 
 	/* check if error or hangup */
 	if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
 	{
-		sd_event_source_unref(s);
-		if(userdata != nullptr)
-		{
-			can_subscription->get_socket().close();
-			can_subscription->create_rx_filter();
-			NOTICE(binder_interface, "%s: Recreated RX_SETUP BCM job for can_subscription: %s", __FUNCTION__, can_subscription->get_name().c_str());
-		}
-		else
-		{
-			diag_m.get_socket().close();
-			diag_m.cleanup_active_requests(true);
-			ERROR(binder_interface, "%s: Error on diagnostic manager socket, cancelling active requests.", __FUNCTION__);
-		}
-		return -1;
+		sd_event_source_unref(event_source);
+		can_subscription->get_socket().close();
 	}
-
 	return 0;
 }
 
@@ -338,7 +434,18 @@ static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe,
 	return make_subscription_unsubscription(request, can_subscription, s, subscribe);
 }
 
-int subscribe_unsubscribe_diagnostic_messages(struct afb_req request, bool subscribe, std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages, struct event_filter_t& event_filter, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription)
+{
+		struct sd_event_source* event_source = nullptr;
+		return ( sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon),
+			&event_source,
+			can_subscription->get_socket().socket(),
+			EPOLLIN,
+			read_message,
+			can_subscription.get()));
+}
+
+static int subscribe_unsubscribe_diagnostic_messages(struct afb_req request, bool subscribe, std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages, struct event_filter_t& event_filter, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
 {
 	int rets = 0;
 	application_t& app = application_t::instance();
@@ -346,52 +453,55 @@ int subscribe_unsubscribe_diagnostic_messages(struct afb_req request, bool subsc
 
 	for(const auto& sig : diagnostic_messages)
 	{
-		DiagnosticRequest* diag_req = app.get_request_from_diagnostic_message(sig->get_name());
-		float frequency = std::isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency;
+		DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request());
+		event_filter.frequency = std::isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency;
 		std::shared_ptr<low_can_subscription_t> can_subscription;
 
+		auto it =  std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub){ return (! sub.second->get_diagnostic_message().empty());});
+		can_subscription = it != s.end() ?
+			it->second : 
+			std::make_shared<low_can_subscription_t>(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
 		// 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)
 		{
-			if (s.find(sig->get_pid()) != s.end())
-			{
-				can_subscription = s[sig->get_pid()];
-				DEBUG(binder_interface, "%s: Signal: %s already subscribed. Adding a new subscription", __FUNCTION__, sig->get_name().c_str());
-			}
-			else
+			diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), event_filter.frequency);
+			if(can_subscription->create_rx_filter(sig) < 0)
+				{return -1;}
+			DEBUG(binder_interface, "%s: Signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
+			if(it == s.end() && add_to_event_loop(can_subscription) < 0)
 			{
-				diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), frequency);
-				can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter, sig));
-				DEBUG(binder_interface, "%s: Signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
+				diag_m.cleanup_request(
+					diag_m.find_recurring_request(*diag_req), true);
+				WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__,  sig->get_name().c_str());
+				return -1;
 			}
 		}
 		else
 		{
 			diag_m.cleanup_request(
-				diag_m.find_recurring_request(diag_req), true);
-			delete diag_req;
-			diag_req = nullptr;
+					diag_m.find_recurring_request(*diag_req), true);
 			if(sig->get_supported())
+			{DEBUG(binder_interface, "%s: %s cancelled due to unsubscribe", __FUNCTION__, sig->get_name().c_str());}
+			else
 			{
-				DEBUG(binder_interface, "%s: %s cancelled due to unsubscribe", __FUNCTION__, sig->get_name().c_str());
-				return 0;
+				WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, sig->get_name().c_str());
+				return -1;
 			}
-			WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, sig->get_name().c_str());
-			return -1;
 		}
 		int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s);
 		if(ret < 0)
 			return ret;
+
 		rets++;
 	}
 
 	return rets;
 }
 
-int subscribe_unsubscribe_can_signals(struct afb_req request, bool subscribe, std::vector<std::shared_ptr<can_signal_t> > can_signals, struct event_filter_t& event_filter, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+static int subscribe_unsubscribe_can_signals(struct afb_req request, bool subscribe, std::vector<std::shared_ptr<can_signal_t> > can_signals, struct event_filter_t& event_filter, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
 {
 	int rets = 0;
 	for(const auto& sig: can_signals)
@@ -412,8 +522,8 @@ int subscribe_unsubscribe_can_signals(struct afb_req request, bool subscribe, st
 		if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
 			{return -1;}
 
-		struct sd_event_source* e_source;
-		sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &e_source, can_subscription->get_socket().socket(), EPOLLIN, read_message, can_subscription.get());
+		if(add_to_event_loop(can_subscription) < 0)
+			{return -1;}
 		rets++;
 		DEBUG(binder_interface, "%s: signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
 	}
diff --git a/CAN-binder/low-can-binding/binding/low-can-cb.hpp b/CAN-binder/low-can-binding/binding/low-can-cb.hpp
index 3975c67..0efde63 100644
--- a/CAN-binder/low-can-binding/binding/low-can-cb.hpp
+++ b/CAN-binder/low-can-binding/binding/low-can-cb.hpp
@@ -41,7 +41,7 @@ private:
 
 	/// Signal part
 	std::shared_ptr<can_signal_t> can_signal_;
-	std::shared_ptr<diagnostic_message_t> diagnostic_message_;
+	std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_message_;
 
 	/// Filtering part
 	struct event_filter_t event_filter_;
@@ -50,9 +50,9 @@ private:
 public:
 	low_can_subscription_t();
 	low_can_subscription_t(struct event_filter_t event_filter);
-	low_can_subscription_t(struct event_filter_t event_filter, std::shared_ptr<diagnostic_message_t> diagnostic_message);
 	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;
@@ -60,8 +60,11 @@ public:
 	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() 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;
@@ -72,6 +75,11 @@ public:
 	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();
 	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);
 };
diff --git a/CAN-binder/low-can-binding/binding/low-can-hat.hpp b/CAN-binder/low-can-binding/binding/low-can-hat.hpp
index a1c8dad..632dbc9 100644
--- a/CAN-binder/low-can-binding/binding/low-can-hat.hpp
+++ b/CAN-binder/low-can-binding/binding/low-can-hat.hpp
@@ -20,6 +20,7 @@
 
 #include <cstddef>
 #include <string>
+#include <memory>
 #include <systemd/sd-event.h>
 
 extern "C"
@@ -31,7 +32,10 @@ extern "C" struct afb_binding_interface;
 
 extern const struct afb_binding_interface *binder_interface;
 
-void on_no_clients(const std::string& message);
+class low_can_subscription_t;
+
+void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription);
+void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid);
 int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata);
 
 void subscribe(struct afb_req request);
diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp
index 9ee649c..78a823c 100644
--- a/CAN-binder/low-can-binding/can/can-bus.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus.cpp
@@ -189,7 +189,11 @@ void can_bus_t::can_event_push()
 					jo = json_object_new_object();
 					jsonify_simple(s_message, jo);
 					if(afb_event_push(s[v_message.first]->get_event(), jo) == 0)
-						on_no_clients(std::string(s_message.name));
+					{
+						if(v_message.second.has_diagnostic_response)
+							{on_no_clients(s[v_message.first], v_message.second.diagnostic_response.pid);}
+						on_no_clients(s[v_message.first]);
+					}
 				}
 			}
 		}
diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp
index f9dc960..fd4fbd2 100644
--- a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp
+++ b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp
@@ -33,7 +33,7 @@
 #define MICRO 1000000
 
 diagnostic_manager_t::diagnostic_manager_t()
-	: initialized_{false}, event_source_{nullptr}
+	: initialized_{false}
 {}
 
 /// @brief Diagnostic manager isn't initialized at launch but after
@@ -49,7 +49,6 @@ bool diagnostic_manager_t::initialize()
 	bus_ = application_t::instance().get_diagnostic_bus();
 
 	init_diagnostic_shims();
-	event_source_ = nullptr;
 	reset();
 
 	initialized_ = true;
@@ -57,11 +56,6 @@ bool diagnostic_manager_t::initialize()
 	return initialized_;
 }
 
-utils::socketcan_bcm_t& diagnostic_manager_t::get_socket()
-{
-	return socket_;
-}
-
 /// @brief initialize shims used by UDS lib and set initialized_ to true.
 ///  It is needed before used the diagnostic manager fully because shims are
 ///  required by most member functions.
@@ -78,52 +72,6 @@ void diagnostic_manager_t::reset()
 	cleanup_active_requests(true);
 }
 
-/// @brief Adds 8 RX_SETUP jobs to the BCM rx_socket_ then diagnotic manager
-///  listens on CAN ID range 7E8 - 7EF affected to the OBD2 communications.
-///
-/// @return -1 or negative value on error, 0 if ok.
-int diagnostic_manager_t::create_rx_filter(uint32_t can_id, float frequency)
-{
-	// Make sure that socket has been opened.
-	if(! socket_)
-		socket_.open(get_bus_device_name());
-
-	struct utils::simple_bcm_msg bcm_msg;
-	memset(&bcm_msg, 0, sizeof(bcm_msg));
-
-	const struct timeval freq =  (frequency == recurring_requests_.back()->get_frequency_clock().get_frequency() ) ?
-		recurring_requests_.back()->get_frequency_clock().get_timeval_from_period() : frequency_clock_t(frequency).get_timeval_from_period();
-
-	bcm_msg.msg_head.opcode  = RX_SETUP;
-	bcm_msg.msg_head.flags = SETTIMER|RX_FILTER_ID;
-	bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec;
-	bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
-
-	// If it isn't an OBD2 CAN ID then just add a simple RX_SETUP job
-	if(can_id != OBD2_FUNCTIONAL_BROADCAST_ID) 
-	{
-		bcm_msg.msg_head.can_id  = can_id;
-
-		socket_ << bcm_msg;
-			if(! socket_)
-				return -1;
-	}
-	else
-	{
-		for(uint8_t i = 0; i < 8; i++)
-		{
-			can_id  =  OBD2_FUNCTIONAL_RESPONSE_START + i;
-			bcm_msg.msg_head.can_id  = can_id;
-
-			socket_ << bcm_msg;
-			if(! socket_)
-				return -1;
-		}
-	}
-
-	return 0;
-}
-
 /// @brief send function use by diagnostic library. Only one bus used for now
 ///  so diagnostic request is sent using the default diagnostic bus not matter of
 ///  which is specified in the diagnostic message definition.
@@ -215,11 +163,10 @@ DiagnosticShims& diagnostic_manager_t::get_shims()
 	return shims_;
 }
 
-bool diagnostic_manager_t::socket_close()
+bool diagnostic_manager_t::is_active_requests_running()
 {
 	if(non_recurring_requests_.empty() && recurring_requests_.empty())
 	{
-		socket_.close();
 		return true;
 	}
 	return false;
@@ -272,7 +219,6 @@ void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, b
 			cancel_request(entry);
 			find_and_erase(entry, non_recurring_requests_);
 		}
-		socket_close();
 	}
 }
 
@@ -451,34 +397,12 @@ active_diagnostic_request_t* diagnostic_manager_t::add_recurring_request(Diagnos
 	{
 		if(recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
 		{
-			// TODO: implement Acceptance Filter
-			//if(updateRequiredAcceptanceFilters(bus, request)) {
 			entry = new active_diagnostic_request_t(bus_, request, name,
 					wait_for_multiple_responses, decoder, callback, frequencyHz);
 			recurring_requests_.push_back(entry);
 
 			entry->set_handle(shims_, request);
-			if(create_rx_filter(OBD2_FUNCTIONAL_BROADCAST_ID, frequencyHz) < 0)
-			{
-				recurring_requests_.pop_back();
-				delete entry;
-				entry = nullptr;
-			}
-			else
-				{
-					start_diagnostic_request(&shims_, entry->get_handle()); 
-					if(event_source_ == nullptr && sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), 
-						&event_source_,
-						socket_.socket(),
-						EPOLLIN,
-						read_message,
-						nullptr) < 0)
-					{
-						cleanup_request(entry, true);
-						WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, entry->get_name().c_str());
-						return entry;
-					}
-				}
+			start_diagnostic_request(&shims_, entry->get_handle()); 
 		}
 		else
 		{
@@ -511,10 +435,12 @@ openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_dia
 		// If name, include 'value' instead of payload, and leave of response
 		// details.
 		message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField(value)));
+		message.has_diagnostic_response = true;
+		message.diagnostic_response = build_VehicleMessage(adr, response, value).diagnostic_response;
 	}
 	else
 	{
-		// If no name, send full details of response but still include 'value'
+		// If no name, only send full details of response but still include 'value'
 		// instead of 'payload' if they provided a decoder. The one case you
 		// can't get is the full detailed response with 'value'. We could add
 		// another parameter for that but it's onerous to carry that around.
diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp
index 0d5db69..d52ffe9 100644
--- a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp
+++ b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp
@@ -51,12 +51,9 @@ private:
 	std::vector<active_diagnostic_request_t*> non_recurring_requests_; /*!< nonrecurringRequests - A list of active one-time diagnostic requests. When a
 																	   * response is received for a non-recurring request or it times out, it is removed*/
 	bool initialized_; /*!< * initialized - True if the DiagnosticsManager has been initialized with shims. It will interface with the uds-c lib*/
-	utils::socketcan_bcm_t socket_; ///< socket_ - a BCM socket with 8 RX_SETUP jobs for the 8 CAN ID on which ECU could respond.
-	struct sd_event_source* event_source_;
 
 	void init_diagnostic_shims();
 	void reset();
-	int create_rx_filter(uint32_t can_id, float frequency);
 
 	static bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size);
 	static void shims_logger(const char* m, ...);
@@ -66,12 +63,10 @@ public:
 
 	bool initialize();
 
-	utils::socketcan_bcm_t& get_socket();
 	const std::string get_bus_name() const;
 	const std::string get_bus_device_name() const;
 	active_diagnostic_request_t* get_last_recurring_requests() const;
 	DiagnosticShims& get_shims();
-	bool socket_close();
 
 	void find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list);
 	void cancel_request(active_diagnostic_request_t* entry);
diff --git a/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp
index cd84a85..2b00adb 100644
--- a/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp
+++ b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp
@@ -69,11 +69,9 @@ namespace utils
 
 	socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm)
 	{
-		struct {
-			struct bcm_msg_head msg_head;
-			struct can_frame frames;
-		} msg;
+		struct utils::simple_bcm_msg msg;
 
+		::memset(&msg, 0, sizeof(msg));
 		const struct sockaddr_can& addr = s.get_tx_address();
 		socklen_t addrlen = sizeof(addr);
 		struct ifreq ifr;
@@ -92,10 +90,7 @@ namespace utils
 		cm = ::can_message_t::convert_from_frame(msg.frames ,
 				nbytes-sizeof(struct bcm_msg_head),
 				timestamp);
-		if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(cm))
-			{cm.set_sub_id(msg.frames.data[2]);}
-		else
-			{cm.set_sub_id((int)s.socket());}
+		cm.set_sub_id((int)s.socket());
 
 		return s;
 	}