low-can-binding/binding/low-can-socket.cpp

   1 /*
   2  * Copyright (C) 2015, 2016 "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-subscription.hpp"
  20 #include "application.hpp"
  21 #include "canutil/write.h"
  22
  23 low_can_socket_t::low_can_socket_t()
  24         : index_{-1},
  25         event_filter_{},
  26         socket_{}
  27 {}
  28
  29 low_can_socket_t::low_can_socket_t(struct event_filter_t event_filter)
  30         : event_filter_{event_filter}
  31  {}
  32
  33 low_can_socket_t::low_can_socket_t( low_can_socket_t&& s)
  34         : index_{s.index_},
  35         event_filter_{s.event_filter_},
  36         socket_{std::move(s.socket_)}
  37 {}
  38
  39 low_can_socket_t& low_can_socket_t::operator=(const low_can_socket_t& s)
  40 {
  41         socket_ = std::move(s.socket_);
  42         return *this;
  43 }
  44
  45 low_can_socket_t::~low_can_socket_t()
  46 {
  47         socket_.close();
  48 }
  49
  50 low_can_socket_t::operator bool() const
  51 {
  52         return ((can_signal_ != nullptr || ! diagnostic_message_.empty()) && ! socket_);
  53 }
  54
  55 int low_can_socket_t::get_index() const
  56 {
  57         return index_;
  58 }
  59
  60 const std::shared_ptr<can_signal_t> low_can_socket_t::get_can_signal() const
  61 {
  62         return can_signal_;
  63 }
  64
  65 bool low_can_socket_t::is_signal_subscription_corresponding(const std::shared_ptr<can_signal_t> can_signal, const struct event_filter_t& event_filter) const
  66 {
  67         return can_signal_ == can_signal && event_filter_ == event_filter;
  68 }
  69
  70 const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_socket_t::get_diagnostic_message() const
  71 {
  72         return diagnostic_message_;
  73 }
  74
  75 /// @brief Retrieve a diagnostic_message subscribed from a pid
  76 ///
  77 /// @param[in] pid - Diagnostic messages PID to search for
  78 ///
  79 /// @return shared_ptr diagnostic_message_ if found and nullptr if not found
  80 const std::shared_ptr<diagnostic_message_t> low_can_socket_t::get_diagnostic_message(uint32_t pid) const
  81 {
  82         for(const auto& diag: diagnostic_message_)
  83         {
  84                 if(diag->get_pid() == pid)
  85                 {
  86                         return diag;
  87                 }
  88         }
  89         return nullptr;
  90 }
  91
  92 /// @brief Retrieve a diagnostic message search from its name
  93 ///
  94 /// @return shared_ptr diagnostic_message_ if found and nullptr if not found
  95 const std::shared_ptr<diagnostic_message_t> low_can_socket_t::get_diagnostic_message(const std::string& name) const
  96 {
  97         for(const auto& diag: diagnostic_message_)
  98         {
  99                 if(diag->get_name() == name)
 100                 {
 101                         return diag;
 102                 }
 103         }
 104         return nullptr;
 105 }
 106
 107 /// @brief Return the CAN signal name and empty string if not found
 108 /// or no CAN signal subscribed
 109 const std::string low_can_socket_t::get_name() const
 110 {
 111         if (can_signal_ != nullptr)
 112                 return can_signal_->get_name();
 113         else if (!diagnostic_message_.empty())
 114                 return "diagnostic_messages";
 115
 116         AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported.");
 117         return "";
 118 }
 119
 120 /// @brief Return name from a diagnostic message from a PID
 121 ///
 122 /// @param[in] pid - Diagnostic message PID
 123 const std::string low_can_socket_t::get_name(uint32_t pid) const
 124 {
 125         if (!diagnostic_message_.empty())
 126                 return get_diagnostic_message(pid)->get_name() ;
 127
 128         AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported.");
 129         return "";
 130 }
 131
 132 float low_can_socket_t::get_frequency() const
 133 {
 134         return event_filter_.frequency;
 135 }
 136
 137 float low_can_socket_t::get_min() const
 138 {
 139         return event_filter_.min;
 140 }
 141
 142 float low_can_socket_t::get_max() const
 143 {
 144         return event_filter_.max;
 145 }
 146
 147 utils::socketcan_bcm_t& low_can_socket_t::get_socket()
 148 {
 149         return socket_;
 150 }
 151
 152 void low_can_socket_t::set_frequency(float freq)
 153 {
 154         event_filter_.frequency = freq;
 155 }
 156
 157 void low_can_socket_t::set_min(float min)
 158 {
 159         event_filter_.min = min;
 160 }
 161
 162 void low_can_socket_t::set_max(float max)
 163 {
 164         event_filter_.max = max;
 165 }
 166 /// @brief Based upon which object is subscribed CAN signal or diagnostic message
 167 /// this will open the socket with the required CAN bus device name.
 168 ///
 169 /// @return INVALID_SOCKET on failure else positive integer
 170 int low_can_socket_t::open_socket(const std::string& bus_name)
 171 {
 172         int ret = 0;
 173         if(! socket_)
 174         {
 175                 if( can_signal_ != nullptr)
 176                         {ret = socket_.open(can_signal_->get_message()->get_bus_device_name());}
 177                 else if (! diagnostic_message_ .empty())
 178                         {ret = socket_.open(application_t::instance().get_diagnostic_manager().get_bus_device_name());}
 179                 else if ( ! bus_name.empty())
 180                         { ret = socket_.open(bus_name);}
 181                 index_ = (int)socket_.socket();
 182         }
 183         return ret;
 184 }
 185
 186 /// @brief Build a BCM message head but don't set can_frame.
 187 ///
 188 /// @return a simple_bcm_msg with the msg_head parts set and can_frame
 189 /// zeroed.
 190 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
 191 {
 192         struct utils::simple_bcm_msg bcm_msg;
 193         ::memset(&bcm_msg, 0, sizeof(bcm_msg));
 194
 195         bcm_msg.msg_head.opcode  = opcode;
 196         bcm_msg.msg_head.can_id  = can_id;
 197         bcm_msg.msg_head.flags = flags;
 198         bcm_msg.msg_head.ival1.tv_sec = timeout.tv_sec ;
 199         bcm_msg.msg_head.ival1.tv_usec = timeout.tv_usec;
 200         bcm_msg.msg_head.ival2.tv_sec = frequency_thinning.tv_sec ;
 201         bcm_msg.msg_head.ival2.tv_usec = frequency_thinning.tv_usec;
 202
 203         return bcm_msg;
 204 }
 205
 206 /// @brief Take an existing simple_bcm_msg struct and add a can_frame to it.
 207 /// Only possible for now to add 1 uniq can_frame, it isn't possible to build
 208 /// a multiplexed message with several can_frame.
 209 void low_can_socket_t::add_bcm_frame(const struct can_frame& cf, struct utils::simple_bcm_msg& bcm_msg) const
 210 {
 211         for(int i=0; i < CAN_MAX_DLEN; i++)
 212         {
 213                 if(cf.data[i] != 0)
 214                 {
 215                         bcm_msg.msg_head.nframes = 1;
 216                         bcm_msg.frames = cf;
 217                         return;
 218                 }
 219         }
 220 }
 221
 222 /// @brief Create a RX_SETUP receive job used by the BCM socket for a CAN signal
 223 /// subscription
 224 ///
 225 /// @return 0 if ok else -1
 226 int low_can_socket_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
 227 {
 228         can_signal_= sig;
 229
 230         struct can_frame cfd;
 231         memset(&cfd, 0, sizeof(cfd));
 232
 233         float val = (float)(1 << can_signal_->get_bit_size()) - 1;
 234         bitfield_encode_float(val,
 235                                                         can_signal_->get_bit_position(),
 236                                                         can_signal_->get_bit_size(),
 237                                                         can_signal_->get_factor(),
 238                                                         can_signal_->get_offset(),
 239                                                         cfd.data,
 240                                                         CAN_MAX_DLEN);
 241
 242         struct timeval freq, timeout = {0, 0};
 243         frequency_clock_t f = event_filter_.frequency == 0 ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency);
 244         freq = f.get_timeval_from_period();
 245
 246         utils::simple_bcm_msg bcm_msg = make_bcm_head(RX_SETUP, can_signal_->get_message()->get_id(), SETTIMER|RX_NO_AUTOTIMER, timeout, freq);
 247         add_bcm_frame(cfd, bcm_msg);
 248
 249         return create_rx_filter(bcm_msg);
 250 }
 251
 252 /// @brief Create a RX_SETUP receive job used by the BCM socket for a
 253 /// diagnostic message subscription.
 254 ///
 255 /// @return 0 if ok else -1
 256 int low_can_socket_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig)
 257 {
 258         diagnostic_message_.push_back(sig);
 259
 260         struct timeval freq = frequency_clock_t(event_filter_.frequency).get_timeval_from_period();
 261         //struct timeval timeout = frequency_clock_t(10).get_timeval_from_period();
 262         struct timeval timeout = {0,0};
 263
 264         utils::simple_bcm_msg bcm_msg =  make_bcm_head(RX_SETUP, OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
 265         return create_rx_filter(bcm_msg);
 266 }
 267
 268 /// @brief Create a RX_SETUP receive job used by the BCM socket directly from
 269 /// a simple_bcm_msg. You will not use this method directly but rather use the
 270 /// two previous method with can_signal_t or diagnostic_message_t object.
 271 ///
 272 /// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed
 273 /// to the 8 classics OBD2 functional response ID
 274 ///
 275 /// @return 0 if ok else -1
 276 int low_can_socket_t::create_rx_filter(utils::simple_bcm_msg& bcm_msg)
 277 {
 278         // Make sure that socket has been opened.
 279         if(open_socket() < 0)
 280                 {return -1;}
 281
 282         // If it isn't an OBD2 CAN ID then just add a simple RX_SETUP job
 283         // else monitor all standard 8 CAN OBD2 ID response.
 284         if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
 285         {
 286                 socket_ << bcm_msg;
 287                         if(! socket_)
 288                                 return -1;
 289         }
 290         else
 291         {
 292                 for(uint8_t i = 0; i < 8; i++)
 293                 {
 294                         bcm_msg.msg_head.can_id  =  OBD2_FUNCTIONAL_RESPONSE_START + i;
 295
 296                         socket_ << bcm_msg;
 297                         if(! socket_)
 298                                 return -1;
 299                 }
 300         }
 301
 302         return 0;
 303 }
 304
 305 /// @brief Create a TX_SEND job used by the BCM socket to
 306 /// simply send message
 307 ///
 308 /// @return 0 if ok else -1
 309 int low_can_socket_t::tx_send(const struct can_frame& cf, std::shared_ptr<can_signal_t> sig)
 310 {
 311         can_signal_ = sig;
 312
 313         utils::simple_bcm_msg bcm_msg =  make_bcm_head(TX_SEND);
 314         add_bcm_frame(cf, bcm_msg);
 315
 316         if(open_socket() < 0)
 317                 {return -1;}
 318
 319         socket_ << bcm_msg;
 320         if(! socket_)
 321                 return -1;
 322
 323         return 0;
 324 }
 325
 326 /// @brief Create a TX_SEND job used by the BCM socket to
 327 /// simply send message
 328 ///
 329 /// @return 0 if ok else -1
 330 int low_can_socket_t::tx_send(const struct can_frame& cf, const std::string& bus_name)
 331 {
 332         can_signal_ = nullptr;
 333
 334         utils::simple_bcm_msg bcm_msg =  make_bcm_head(TX_SEND);
 335         add_bcm_frame(cf, bcm_msg);
 336
 337         if(open_socket(bus_name) < 0)
 338                 {return -1;}
 339
 340         socket_ << bcm_msg;
 341         if(! socket_)
 342                 return -1;
 343
 344         return 0;
 345 }