CAN-binder/low-can-binding/binding/low-can-cb.hpp

   1 /*
   2  * Copyright (C) 2015, 2016 "IoT.bzh"
   3  * Author "Romain Forlot" <romain.forlot@iot.bzh>
   4   *
   5  * Licensed under the Apache License, Version 2.0 (the "License");
   6  * you may not use this file except in compliance with the License.
   7  * You may obtain a copy of the License at
   8  *
   9  *       http://www.apache.org/licenses/LICENSE-2.0
  10  *
  11  * Unless required by applicable law or agreed to in writing, software
  12  * distributed under the License is distributed on an "AS IS" BASIS,
  13  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  14  * See the License for the specific language governing permissions and
  15  * limitations under the License.
  16  */
  17
  18   #pragma once
  19
  20 #include <string>
  21 #include <cmath>
  22 #include <utility>
  23
  24 #include "../can/can-signals.hpp"
  25 #include "../diagnostic/diagnostic-message.hpp"
  26 #include "../utils/socketcan-bcm.hpp"
  27
  28 struct event_filter_t
  29 {
  30         float frequency;
  31         float min;
  32         float max;
  33         event_filter_t() : frequency{NAN}, min{NAN}, max{NAN} {}
  34 };
  35
  36 class low_can_subscription_t
  37 {
  38 private:
  39         int index_;
  40         struct afb_event event_;
  41
  42         /// Signal part
  43         std::shared_ptr<can_signal_t> can_signal_;
  44         std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_message_;
  45
  46         /// Filtering part
  47         struct event_filter_t event_filter_;
  48
  49         utils::socketcan_bcm_t socket_;
  50 public:
  51         low_can_subscription_t();
  52         low_can_subscription_t(struct event_filter_t event_filter);
  53         low_can_subscription_t(const low_can_subscription_t& s) = delete;
  54         low_can_subscription_t(low_can_subscription_t&& s);
  55         ~low_can_subscription_t();
  56
  57         low_can_subscription_t& operator=(const low_can_subscription_t& s);
  58         explicit operator bool() const;
  59
  60         int get_index() const;
  61         struct afb_event& get_event();
  62         const std::shared_ptr<can_signal_t> get_can_signal() const;
  63         const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(uint32_t pid) const;
  64         const std::vector<std::shared_ptr<diagnostic_message_t> > get_diagnostic_message() const;
  65         const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(const std::string& name) const;
  66         const std::string get_name() const;
  67         const std::string get_name(uint32_t pid) const;
  68         float get_frequency() const;
  69         float get_min() const;
  70         float get_max() const;
  71         utils::socketcan_bcm_t& get_socket();
  72
  73         void set_event(struct afb_event event);
  74         void set_frequency(float freq);
  75         void set_min(float min);
  76         void set_max(float max);
  77
  78         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;
  79         void add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const;
  80         int open_socket();
  81         int create_rx_filter();
  82         int create_rx_filter(std::shared_ptr<can_signal_t> sig);
  83         int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig);
  84         int create_rx_filter(utils::simple_bcm_msg& bcm_msg);
  85 };