2 * Copyright (C) 2015, 2016 "IoT.bzh"
3 * Author "Romain Forlot" <romain.forlot@iot.bzh>
4 * Author "Loic Collignon" <loic.collignon@iot.bzh>
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
10 * http://www.apache.org/licenses/LICENSE-2.0
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.
19 #include "low-can-hat.hpp"
21 #include "low-can-subscription.hpp"
22 #include "application.hpp"
23 #include "canutil/write.h"
25 low_can_socket_t::low_can_socket_t()
31 low_can_socket_t::low_can_socket_t(struct event_filter_t event_filter)
32 : event_filter_{event_filter}
35 low_can_socket_t::low_can_socket_t( low_can_socket_t&& s)
37 event_filter_{s.event_filter_},
38 socket_{std::move(s.socket_)}
41 low_can_socket_t& low_can_socket_t::operator=(const low_can_socket_t& s)
43 socket_ = std::move(s.socket_);
47 low_can_socket_t::~low_can_socket_t()
52 low_can_socket_t::operator bool() const
54 return ((can_signal_ != nullptr || ! diagnostic_message_.empty()) && ! socket_);
57 int low_can_socket_t::get_index() const
62 const std::shared_ptr<can_signal_t> low_can_socket_t::get_can_signal() const
67 const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_socket_t::get_diagnostic_message() const
69 return diagnostic_message_;
72 /// @brief Retrieve a diagnostic_message subscribed from a pid
74 /// @param[in] pid - Diagnostic messages PID to search for
76 /// @return shared_ptr diagnostic_message_ if found and nullptr if not found
77 const std::shared_ptr<diagnostic_message_t> low_can_socket_t::get_diagnostic_message(uint32_t pid) const
79 for(const auto& diag: diagnostic_message_)
81 if(diag->get_pid() == pid)
89 /// @brief Retrieve a diagnostic message search from its name
91 /// @return shared_ptr diagnostic_message_ if found and nullptr if not found
92 const std::shared_ptr<diagnostic_message_t> low_can_socket_t::get_diagnostic_message(const std::string& name) const
94 for(const auto& diag: diagnostic_message_)
96 if(diag->get_name() == name)
104 /// @brief Return the CAN signal name and empty string if not found
105 /// or no CAN signal subscribed
106 const std::string low_can_socket_t::get_name() const
108 if (can_signal_ != nullptr)
109 return can_signal_->get_name();
110 else if (!diagnostic_message_.empty())
111 return "diagnostic_messages";
113 AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported.");
117 /// @brief Return name from a diagnostic message from a PID
119 /// @param[in] pid - Diagnostic message PID
120 const std::string low_can_socket_t::get_name(uint32_t pid) const
122 if (!diagnostic_message_.empty())
123 return get_diagnostic_message(pid)->get_name() ;
125 AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported.");
129 float low_can_socket_t::get_frequency() const
131 return event_filter_.frequency;
134 float low_can_socket_t::get_min() const
136 return event_filter_.min;
139 float low_can_socket_t::get_max() const
141 return event_filter_.max;
144 utils::socketcan_bcm_t& low_can_socket_t::get_socket()
149 void low_can_socket_t::set_frequency(float freq)
151 event_filter_.frequency = freq;
154 void low_can_socket_t::set_min(float min)
156 event_filter_.min = min;
159 void low_can_socket_t::set_max(float max)
161 event_filter_.max = max;
163 /// @brief Based upon which object is subscribed CAN signal or diagnostic message
164 /// this will open the socket with the required CAN bus device name.
166 /// @return INVALID_SOCKET on failure else positive integer
167 int low_can_socket_t::open_socket(const std::string& bus_name)
172 if( can_signal_ != nullptr)
173 {ret = socket_.open(can_signal_->get_message()->get_bus_device_name());}
174 else if (! diagnostic_message_ .empty())
175 {ret = socket_.open(application_t::instance().get_diagnostic_manager().get_bus_device_name());}
176 else if ( ! bus_name.empty())
177 { ret = socket_.open(bus_name);}
178 index_ = (int)socket_.socket();
183 /// @brief Build a BCM message head but don't set can_frame.
185 /// @return a simple_bcm_msg with the msg_head parts set and can_frame
187 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
189 struct utils::simple_bcm_msg bcm_msg;
190 ::memset(&bcm_msg, 0, sizeof(bcm_msg));
192 bcm_msg.msg_head.opcode = opcode;
193 bcm_msg.msg_head.can_id = can_id;
194 bcm_msg.msg_head.flags = flags;
195 bcm_msg.msg_head.ival1.tv_sec = timeout.tv_sec ;
196 bcm_msg.msg_head.ival1.tv_usec = timeout.tv_usec;
197 bcm_msg.msg_head.ival2.tv_sec = frequency_thinning.tv_sec ;
198 bcm_msg.msg_head.ival2.tv_usec = frequency_thinning.tv_usec;
203 /// @brief Take an existing simple_bcm_msg struct and add a can_frame to it.
204 /// Only possible for now to add 1 uniq can_frame, it isn't possible to build
205 /// a multiplexed message with several can_frame.
206 void low_can_socket_t::add_bcm_frame(const struct can_frame& cf, struct utils::simple_bcm_msg& bcm_msg) const
208 for(int i=0; i < CAN_MAX_DLEN; i++)
212 bcm_msg.msg_head.nframes = 1;
219 /// @brief Create a RX_SETUP receive job used by the BCM socket for a CAN signal
222 /// @return 0 if ok else -1
223 int low_can_socket_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
227 struct can_frame cfd;
228 memset(&cfd, 0, sizeof(cfd));
230 float val = (float)(1 << can_signal_->get_bit_size()) - 1;
231 bitfield_encode_float(val,
232 can_signal_->get_bit_position(),
233 can_signal_->get_bit_size(),
234 can_signal_->get_factor(),
235 can_signal_->get_offset(),
239 struct timeval freq, timeout = {0, 0};
240 frequency_clock_t f = std::isnan(event_filter_.frequency) ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency);
241 freq = f.get_timeval_from_period();
243 utils::simple_bcm_msg bcm_msg = make_bcm_head(RX_SETUP, can_signal_->get_message()->get_id(), SETTIMER|RX_NO_AUTOTIMER, timeout, freq);
244 add_bcm_frame(cfd, bcm_msg);
246 return create_rx_filter(bcm_msg);
249 /// @brief Create a RX_SETUP receive job used by the BCM socket for a
250 /// diagnostic message subscription.
252 /// @return 0 if ok else -1
253 int low_can_socket_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig)
255 diagnostic_message_.push_back(sig);
257 struct timeval freq = frequency_clock_t(event_filter_.frequency).get_timeval_from_period();
258 //struct timeval timeout = frequency_clock_t(10).get_timeval_from_period();
259 struct timeval timeout = {0,0};
261 utils::simple_bcm_msg bcm_msg = make_bcm_head(RX_SETUP, OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
262 return create_rx_filter(bcm_msg);
265 /// @brief Create a RX_SETUP receive job used by the BCM socket directly from
266 /// a simple_bcm_msg. You will not use this method directly but rather use the
267 /// two previous method with can_signal_t or diagnostic_message_t object.
269 /// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed
270 /// to the 8 classics OBD2 functional response ID
272 /// @return 0 if ok else -1
273 int low_can_socket_t::create_rx_filter(utils::simple_bcm_msg& bcm_msg)
275 // Make sure that socket has been opened.
276 if(open_socket() < 0)
279 // If it isn't an OBD2 CAN ID then just add a simple RX_SETUP job
280 // else monitor all standard 8 CAN OBD2 ID response.
281 if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
289 for(uint8_t i = 0; i < 8; i++)
291 bcm_msg.msg_head.can_id = OBD2_FUNCTIONAL_RESPONSE_START + i;
302 /// @brief Create a TX_SEND job used by the BCM socket to
303 /// simply send message
305 /// @return 0 if ok else -1
306 int low_can_socket_t::tx_send(const struct can_frame& cf, std::shared_ptr<can_signal_t> sig)
310 utils::simple_bcm_msg bcm_msg = make_bcm_head(TX_SEND);
311 add_bcm_frame(cf, bcm_msg);
313 if(open_socket() < 0)
323 /// @brief Create a TX_SEND job used by the BCM socket to
324 /// simply send message
326 /// @return 0 if ok else -1
327 int low_can_socket_t::tx_send(const struct can_frame& cf, const std::string& bus_name)
329 can_signal_ = nullptr;
331 utils::simple_bcm_msg bcm_msg = make_bcm_head(TX_SEND);
332 add_bcm_frame(cf, bcm_msg);
334 if(open_socket(bus_name) < 0)