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