2 * Copyright (C) 2015, 2016 "IoT.bzh"
3 * Author "Romain Forlot" <romain.forlot@iot.bzh>
5 * Licensed under the Apache License, Version 2.0 (the "License");
6 * you may not use this file except in compliance with the License.
7 * You may obtain a copy of the License at
9 * http://www.apache.org/licenses/LICENSE-2.0
11 * Unless required by applicable law or agreed to in writing, software
12 * distributed under the License is distributed on an "AS IS" BASIS,
13 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
14 * See the License for the specific language governing permissions and
15 * limitations under the License.
24 #include "../can/can-signals.hpp"
25 #include "../diagnostic/diagnostic-message.hpp"
26 #include "../utils/socketcan-bcm.hpp"
28 /// @brief Filtering values. Theses values has to be tested into
29 /// can_bus_t::apply_filter method.
32 float frequency; ///< frequency - Maximum frequency which will be received and pushed a subscribed event.
33 float min; ///< min - Minimum value that the signal don't have to go below to be pushed.
34 float max; ///< max - Maximum value that the signal don't have to go above to be pushed.
35 event_filter_t() : frequency{NAN}, min{NAN}, max{NAN} {}
38 /// @brief An object storing socket to CAN to be used to write on it.
39 /// This is a simple access to a CAN bus device without subscriptions attached
40 class low_can_socket_t
43 int index_; ///< index_ - index number is the socket (int) casted
44 struct event_filter_t event_filter_;
47 std::shared_ptr<can_signal_t> can_signal_; ///< can_signal_ - the CAN signal subscribed
48 std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_message_; ///< diagnostic_message_ - diagnostic messages meant to received OBD2 responses.
49 /// normal diagnostic request and response not tested for now.
51 utils::socketcan_bcm_t socket_; ///< socket_ - socket_ that receives CAN messages.
55 low_can_socket_t(struct event_filter_t event_filter);
56 low_can_socket_t(const low_can_socket_t& s) = delete;
57 low_can_socket_t(low_can_socket_t&& s);
58 virtual ~low_can_socket_t();
60 low_can_socket_t& operator=(const low_can_socket_t& s);
61 explicit operator bool() const;
63 int get_index() const;
64 const std::shared_ptr<can_signal_t> get_can_signal() const;
65 const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(uint32_t pid) const;
66 const std::vector<std::shared_ptr<diagnostic_message_t> > get_diagnostic_message() const;
67 const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(const std::string& name) const;
68 const std::string get_name() const;
69 const std::string get_name(uint32_t pid) const;
70 float get_frequency() const;
71 float get_min() const;
72 float get_max() const;
73 utils::socketcan_bcm_t& get_socket();
75 void set_event(struct afb_event event);
76 void set_frequency(float freq);
77 void set_min(float min);
78 void set_max(float max);
80 struct utils::simple_bcm_msg make_bcm_head(uint32_t opcode, uint32_t can_id = 0, uint32_t flags = 0, const struct timeval& timeout = {0,0}, const struct timeval& frequency_thinning = {0,0}) const;
81 void add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const;
83 int open_socket(const std::string& bus_name = "");
85 int create_rx_filter(std::shared_ptr<can_signal_t> sig);
86 int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig);
87 int create_rx_filter(utils::simple_bcm_msg& bcm_msg);
89 int tx_send(const struct can_frame& cf, std::shared_ptr<can_signal_t> sig);
90 int tx_send(const struct can_frame& cf, const std::string& bus_name);