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 have to be tested in
29 /// can_bus_t::apply_filter method.
32 float frequency; ///< frequency - Maximum frequency which will be received and pushed to a subscribed event.
33 float min; ///< min - Minimum value that the signal doesn't have to go below to be pushed.
34 float max; ///< max - Maximum value that the signal doesn't have to go above to be pushed.
35 event_filter_t() : frequency{0}, min{-__FLT_MAX__}, max{__FLT_MAX__} {};
36 bool operator==(const event_filter_t& ext) const {
37 return frequency == ext.frequency && min == ext.min && max == ext.max;
41 /// @brief The object stores socket to CAN to be used to write on it.
42 /// This is a simple access to a CAN bus device without any subscriptions attached
43 class low_can_socket_t
46 int index_; ///< index_ - index number is the socket (int) casted
47 struct event_filter_t event_filter_;
50 std::shared_ptr<can_signal_t> can_signal_; ///< can_signal_ - the CAN signal subscribed
51 std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_message_; ///< diagnostic_message_ - diagnostic messages meant to receive OBD2 responses.
52 /// normal diagnostic request and response are not tested for now.
54 utils::socketcan_bcm_t socket_; ///< socket_ - socket_ that receives CAN messages.
58 low_can_socket_t(struct event_filter_t event_filter);
59 low_can_socket_t(const low_can_socket_t& s) = delete;
60 low_can_socket_t(low_can_socket_t&& s);
61 virtual ~low_can_socket_t();
63 low_can_socket_t& operator=(const low_can_socket_t& s);
64 explicit operator bool() const;
66 int get_index() const;
67 const std::shared_ptr<can_signal_t> get_can_signal() const;
68 bool is_signal_subscription_corresponding(const std::shared_ptr<can_signal_t>, const struct event_filter_t& event_filter) const;
69 const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(uint32_t pid) const;
70 const std::vector<std::shared_ptr<diagnostic_message_t> > get_diagnostic_message() const;
71 const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(const std::string& name) const;
72 const std::string get_name() const;
73 const std::string get_name(uint32_t pid) const;
74 float get_frequency() const;
75 float get_min() const;
76 float get_max() const;
77 utils::socketcan_bcm_t& get_socket();
79 void set_event(struct afb_event event);
80 void set_frequency(float freq);
81 void set_min(float min);
82 void set_max(float max);
84 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;
85 void add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const;
87 int open_socket(const std::string& bus_name = "");
89 int create_rx_filter(std::shared_ptr<can_signal_t> sig);
90 int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig);
91 int create_rx_filter(utils::simple_bcm_msg& bcm_msg);
93 int tx_send(const struct can_frame& cf, std::shared_ptr<can_signal_t> sig);
94 int tx_send(const struct can_frame& cf, const std::string& bus_name);