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();
114 /// @brief Return name from a diagnostic message from a PID
116 /// @param[in] pid - Diagnostic message PID
117 const std::string low_can_socket_t::get_name(uint32_t pid) const
119 if (!diagnostic_message_.empty())
120 return get_diagnostic_message(pid)->get_name() ;
125 float low_can_socket_t::get_frequency() const
127 return event_filter_.frequency;
130 float low_can_socket_t::get_min() const
132 return event_filter_.min;
135 float low_can_socket_t::get_max() const
137 return event_filter_.max;
140 utils::socketcan_bcm_t& low_can_socket_t::get_socket()
145 void low_can_socket_t::set_frequency(float freq)
147 event_filter_.frequency = freq;
150 void low_can_socket_t::set_min(float min)
152 event_filter_.min = min;
155 void low_can_socket_t::set_max(float max)
157 event_filter_.max = max;
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.
162 /// @return INVALID_SOCKET on failure else positive integer
163 int low_can_socket_t::open_socket(const std::string& bus_name)
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();
179 /// @brief Build a BCM message head but don't set can_frame.
181 /// @return a simple_bcm_msg with the msg_head parts set and can_frame
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
185 struct utils::simple_bcm_msg bcm_msg;
186 ::memset(&bcm_msg, 0, sizeof(bcm_msg));
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;
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
204 for(int i=0; i < CAN_MAX_DLEN; i++)
208 bcm_msg.msg_head.nframes = 1;
215 /// @brief Create a RX_SETUP receive job used by the BCM socket for a CAN signal
218 /// @return 0 if ok else -1
219 int low_can_socket_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
223 struct can_frame cfd;
224 memset(&cfd, 0, sizeof(cfd));
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(),
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();
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);
242 return create_rx_filter(bcm_msg);
245 /// @brief Create a RX_SETUP receive job used by the BCM socket for a
246 /// diagnostic message subscription.
248 /// @return 0 if ok else -1
249 int low_can_socket_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig)
251 diagnostic_message_.push_back(sig);
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};
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);
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.
265 /// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed
266 /// to the 8 classics OBD2 functional response ID
268 /// @return 0 if ok else -1
269 int low_can_socket_t::create_rx_filter(utils::simple_bcm_msg& bcm_msg)
271 // Make sure that socket has been opened.
272 if(open_socket() < 0)
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)
285 for(uint8_t i = 0; i < 8; i++)
287 bcm_msg.msg_head.can_id = OBD2_FUNCTIONAL_RESPONSE_START + i;
298 /// @brief Create a TX_SEND job used by the BCM socket to
299 /// simply send message
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)
306 utils::simple_bcm_msg bcm_msg = make_bcm_head(TX_SEND);
307 add_bcm_frame(cf, bcm_msg);
309 if(open_socket() < 0)
319 /// @brief Create a TX_SEND job used by the BCM socket to
320 /// simply send message
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)
325 can_signal_ = nullptr;
327 utils::simple_bcm_msg bcm_msg = make_bcm_head(TX_SEND);
328 add_bcm_frame(cf, bcm_msg);
330 if(open_socket(bus_name) < 0)