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 a subscribed CAN signal or diagnostic message
 167 /// it 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 Builds a BCM message head but doesn't set can_frame.
 187 ///
 188 /// @returns a bcm_msg with the msg_head parts set and can_frame
 189 /// zeroed.
 190 struct utils::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::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 bcm_msg struct and add a can_frame.
 207 /// Currently only 1 uniq can_frame can be added, it's not possible to build
 208 /// a multiplexed message with several can_frame.
 209 void low_can_socket_t::add_one_bcm_frame(struct canfd_frame& cfd, struct utils::bcm_msg& bcm_msg) const
 210 {
 211         struct can_frame cf;
 212
 213         if (bcm_msg.msg_head.flags & CAN_FD_FRAME)
 214                 bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cfd;
 215         else
 216         {
 217                 cf.can_id = cfd.can_id;
 218                 cf.can_dlc = cfd.len;
 219                 ::memcpy(&cf.data, cfd.data, cfd.len);
 220                 bcm_msg.frames[bcm_msg.msg_head.nframes] = cf;
 221         }
 222         bcm_msg.msg_head.nframes++;
 223 }
 224
 225 /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a CAN signal
 226 /// subscription
 227 ///
 228 /// @return 0 if ok else -1
 229 int low_can_socket_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
 230 {
 231         uint32_t flags;
 232         float val;
 233         struct timeval freq, timeout = {0, 0};
 234         struct canfd_frame cfd;
 235         can_signal_= sig;
 236
 237         if (sig->get_message()->is_fd())
 238         {
 239                 flags = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME;
 240                 cfd.len = CANFD_MAX_DLEN;
 241         }
 242         else
 243         {
 244                 flags = SETTIMER|RX_NO_AUTOTIMER;
 245                 cfd.len = CAN_MAX_DLEN;
 246         }
 247         val = (float)(1 << can_signal_->get_bit_size()) - 1;
 248         if(! bitfield_encode_float(val,
 249                                    can_signal_->get_bit_position(),
 250                                    can_signal_->get_bit_size(),
 251                                    1,
 252                                    can_signal_->get_offset(),
 253                                    cfd.data,
 254                                    cfd.len))
 255                 return -1;
 256
 257         frequency_clock_t f = event_filter_.frequency == 0 ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency);
 258         freq = f.get_timeval_from_period();
 259
 260         utils::bcm_msg bcm_msg = make_bcm_head(RX_SETUP, can_signal_->get_message()->get_id(), flags, timeout, freq);
 261         add_one_bcm_frame(cfd, bcm_msg);
 262
 263         return create_rx_filter(bcm_msg);
 264 }
 265
 266 /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a
 267 /// diagnostic message subscription.
 268 ///
 269 /// @return 0 if ok else -1
 270 int low_can_socket_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig)
 271 {
 272         diagnostic_message_.push_back(sig);
 273
 274         struct timeval freq = frequency_clock_t(event_filter_.frequency).get_timeval_from_period();
 275         //struct timeval timeout = frequency_clock_t(10).get_timeval_from_period();
 276         struct timeval timeout = {0,0};
 277
 278         utils::bcm_msg bcm_msg =  make_bcm_head(RX_SETUP, OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
 279         return create_rx_filter(bcm_msg);
 280 }
 281
 282 /// @brief Create a RX_SETUP receive job used by the BCM socket directly from
 283 /// a bcm_msg. The method should not be used directly but rather through the
 284 /// two previous method with can_signal_t or diagnostic_message_t object.
 285 ///
 286 /// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed
 287 /// to the 8 classics OBD2 functional response ID
 288 ///
 289 /// @return 0 if ok else -1
 290 int low_can_socket_t::create_rx_filter(utils::bcm_msg& bcm_msg)
 291 {
 292         // Make sure that socket is opened.
 293         if(open_socket() < 0)
 294                 {return -1;}
 295
 296         // If it's not an OBD2 CAN ID then just add a simple RX_SETUP job
 297         // else monitor all standard 8 CAN OBD2 ID response.
 298         if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
 299         {
 300                 socket_ << bcm_msg;
 301                         if(! socket_)
 302                                 return -1;
 303         }
 304         else
 305         {
 306                 for(uint8_t i = 0; i < 8; i++)
 307                 {
 308                         bcm_msg.msg_head.can_id  =  OBD2_FUNCTIONAL_RESPONSE_START + i;
 309
 310                         socket_ << bcm_msg;
 311                         if(! socket_)
 312                                 return -1;
 313                 }
 314         }
 315
 316         return 0;
 317 }
 318
 319 /// @brief Creates a TX_SEND job that is used by the BCM socket to
 320 /// send a message
 321 ///
 322 /// @return 0 if ok else -1
 323 int low_can_socket_t::tx_send(struct canfd_frame& cfd, const std::string& bus_name)
 324 {
 325         utils::bcm_msg bcm_msg =  make_bcm_head(TX_SEND, cfd.can_id);
 326         add_one_bcm_frame(cfd, bcm_msg);
 327
 328         if(open_socket(bus_name) < 0)
 329                 {return -1;}
 330
 331         socket_ << bcm_msg;
 332         if(! socket_)
 333                 return -1;
 334
 335         return 0;
 336 }