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