low-can-binding/binding/low-can-subscription.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 #include "../utils/socketcan-bcm.hpp"
  23 #include "../can/can-encoder.hpp"
  24
  25 #ifdef USE_FEATURE_ISOTP
  26 #include "../utils/socketcan-isotp.hpp"
  27 #endif
  28
  29 #ifdef USE_FEATURE_J1939
  30 #include "../utils/socketcan-j1939/socketcan-j1939-data.hpp"
  31 #endif
  32
  33 low_can_subscription_t::low_can_subscription_t()
  34         : index_{-1},
  35         event_filter_{},
  36         event_{},
  37         socket_{}
  38 {}
  39
  40 low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter)
  41         : index_{-1},
  42           event_filter_{event_filter},
  43           event_{},
  44           socket_{}
  45  {}
  46
  47 low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
  48         : index_{s.index_},
  49         event_filter_{s.event_filter_},
  50         event_{},
  51         socket_{std::move(s.socket_)}
  52 {}
  53
  54 low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s)
  55 {
  56         socket_ = std::move(s.socket_);
  57         return *this;
  58 }
  59
  60 low_can_subscription_t::~low_can_subscription_t()
  61 {
  62         if(socket_)
  63                 socket_->close();
  64 }
  65
  66 low_can_subscription_t::operator bool() const
  67 {
  68         return ((signal_ != nullptr || ! diagnostic_message_.empty()) && ! socket_);
  69 }
  70 afb_event_t low_can_subscription_t::get_event()
  71 {
  72         return event_;
  73 }
  74
  75 /**
  76  * @brief Set the event calling the afb_daemon_make_event function to
  77  * create it and the checks its validity.
  78  *
  79  * @return int - 0 if OK, -1 if not
  80  */
  81 int low_can_subscription_t::set_event()
  82 {
  83         std::string event_name = get_name();
  84         event_ = afb_daemon_make_event(event_name.c_str());
  85         if (! afb_event_is_valid(event_))
  86         {
  87                 AFB_ERROR("Can't create an event for %s, something goes wrong.", event_name.c_str());
  88                 return -1;
  89         }
  90
  91         return 0;
  92 }
  93
  94 /**
  95  * @brief Subscribe to the event member of the object
  96  *
  97  * @param request the subscribe AFB client request which want to
  98  * subscribe
  99  *
 100  * @return int - 0 if OK, -1 if not
 101  */
 102 int low_can_subscription_t::subscribe(afb_req_t request)
 103 {
 104         if(! afb_event_is_valid(event_))
 105         {
 106                 if(set_event() < 0)
 107                 {
 108                         return -1;
 109                 }
 110         }
 111         return afb_req_subscribe(request, event_);
 112 }
 113
 114 /**
 115  * @brief Unsubscribe to the event member of the object
 116  *
 117  * @param request the unsubscribe AFB client request which want to
 118  * unsubscribe
 119  *
 120  * @return int - 0 if OK, -1 if not
 121  */
 122 int low_can_subscription_t::unsubscribe(afb_req_t request)
 123 {
 124         return afb_req_unsubscribe(request, event_);
 125 }
 126
 127 /**
 128  * @brief Getter of index of subscription
 129  *
 130  * @return int Index
 131  */
 132 int low_can_subscription_t::get_index() const
 133 {
 134         return index_;
 135 }
 136
 137 /**
 138  * @brief Getter of signal of subscription
 139  *
 140  * @return const std::shared_ptr<signal_t> A shared pointer of the signal
 141  */
 142 const std::shared_ptr<signal_t> low_can_subscription_t::get_signal() const
 143 {
 144         return signal_;
 145 }
 146
 147 /**
 148  * @brief Check if the signal and event are the same that the subscription
 149  *
 150  * @param signal the signal compared
 151  * @param event_filter the event_filter compared
 152  * @return true if they are equal
 153  * @return false if they are not equal
 154  */
 155 bool low_can_subscription_t::is_signal_subscription_corresponding(const std::shared_ptr<signal_t> signal, const struct event_filter_t& event_filter) const
 156 {
 157         return signal_ == signal && event_filter_ == event_filter;
 158 }
 159
 160 /**
 161  * @brief Getter for diagnostic messages of subscription
 162  *
 163  * @return const vector_ptr_diag_msg_t Vector of pointer of diagnostic message
 164  */
 165 const vect_ptr_diag_msg_t low_can_subscription_t::get_diagnostic_message() const
 166 {
 167         return diagnostic_message_;
 168 }
 169
 170 /// @brief Retrieve a diagnostic_message subscribed from a pid
 171 ///
 172 /// @param[in] pid - Diagnostic messages PID to search for
 173 ///
 174 /// @return shared_ptr diagnostic_message_ if found and nullptr if not found
 175 const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(uint32_t pid) const
 176 {
 177         for(const auto& diag: diagnostic_message_)
 178         {
 179                 if(diag->get_pid() == pid)
 180                 {
 181                         return diag;
 182                 }
 183         }
 184         return nullptr;
 185 }
 186
 187 /// @brief Retrieve a diagnostic message search from its name
 188 ///
 189 /// @return shared_ptr diagnostic_message_ if found and nullptr if not found
 190 const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(const std::string& name) const
 191 {
 192         for(const auto& diag: diagnostic_message_)
 193         {
 194                 if(diag->get_name() == name)
 195                 {
 196                         return diag;
 197                 }
 198         }
 199         return nullptr;
 200 }
 201
 202 /// @brief Return the CAN signal name and empty string if not found
 203 /// or no CAN signal subscribed
 204 const std::string low_can_subscription_t::get_name() const
 205 {
 206         if (signal_ != nullptr)
 207                 return signal_->get_name();
 208         else if (!diagnostic_message_.empty())
 209                 return "diagnostic_messages";
 210
 211         AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported.");
 212         return "";
 213 }
 214
 215 /// @brief Return name from a diagnostic message from a PID
 216 ///
 217 /// @param[in] pid - Diagnostic message PID
 218 const std::string low_can_subscription_t::get_name(uint32_t pid) const
 219 {
 220         if (!diagnostic_message_.empty())
 221                 return get_diagnostic_message(pid)->get_name() ;
 222
 223         AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported.");
 224         return "";
 225 }
 226
 227 /**
 228  * @brief Getter of the frequency of the event_filter
 229  *
 230  * @return float The frequency
 231  */
 232 float low_can_subscription_t::get_frequency() const
 233 {
 234         return event_filter_.frequency;
 235 }
 236
 237 /**
 238  * @brief Getter of the min of the event_filter
 239  *
 240  * @return float The min value filtered
 241  */
 242 float low_can_subscription_t::get_min() const
 243 {
 244         return event_filter_.min;
 245 }
 246
 247 /**
 248  * @brief Getter of the max of the event_filter
 249  *
 250  * @return float The max value filtered
 251  */
 252 float low_can_subscription_t::get_max() const
 253 {
 254         return event_filter_.max;
 255 }
 256
 257 /**
 258  * @brief Getter of the rx_id of the event_filter
 259  *
 260  * @return canid_t The rx_id value
 261  */
 262 canid_t low_can_subscription_t::get_rx_id() const
 263 {
 264         return event_filter_.rx_id;
 265 }
 266
 267 /**
 268  * @brief Getter of the tx_id of the event_filter
 269  *
 270  * @return canid_t The tx_id value
 271  */
 272 canid_t low_can_subscription_t::get_tx_id() const
 273 {
 274         return event_filter_.tx_id;
 275 }
 276
 277 /**
 278  * @brief Getter of the socket of the subscription
 279  *
 280  * @return std::shared_ptr<utils::socketcan_t> Pointer of the socket object
 281  */
 282 std::shared_ptr<utils::socketcan_t> low_can_subscription_t::get_socket()
 283 {
 284         return socket_;
 285 }
 286
 287 /**
 288  * @brief Setter for the frequency of the event_filter
 289  *
 290  * @param freq The new frequency
 291  */
 292 void low_can_subscription_t::set_frequency(float freq)
 293 {
 294         event_filter_.frequency = freq;
 295 }
 296
 297 /**
 298  * @brief Setter for the min of the event_filter
 299  *
 300  * @param min The new min
 301  */
 302 void low_can_subscription_t::set_min(float min)
 303 {
 304         event_filter_.min = min;
 305 }
 306
 307 /**
 308  * @brief Setter for the max of the event_filter
 309  *
 310  * @param max The new max
 311  */
 312 void low_can_subscription_t::set_max(float max)
 313 {
 314         event_filter_.max = max;
 315 }
 316
 317 /**
 318  * @brief Setter for the rx_id of the event_filter
 319  *
 320  * @param rx_id The new rx_id
 321  */
 322 void low_can_subscription_t::set_rx_id(canid_t rx_id)
 323 {
 324         event_filter_.rx_id = rx_id;
 325 }
 326
 327 /**
 328  * @brief Setter for the tx_id of the event_filter
 329  *
 330  * @param tx_id The new tx_id
 331  */
 332 void low_can_subscription_t::set_tx_id(canid_t tx_id)
 333 {
 334         event_filter_.tx_id = tx_id;
 335 }
 336
 337 /**
 338  * @brief Setter for the index of the subscription
 339  *
 340  * @param index The new index
 341  */
 342 void low_can_subscription_t::set_index(int index)
 343 {
 344         index_ = index;
 345 }
 346
 347 /**
 348  * @brief Setter for the signal of the subscription
 349  *
 350  * @param signal The new signal
 351  */
 352 void low_can_subscription_t::set_signal(std::shared_ptr<signal_t> signal)
 353 {
 354         signal_ = signal;
 355 }
 356
 357
 358 /// @brief Based upon which object is a subscribed CAN signal or diagnostic message
 359 /// it will open the socket with the required CAN bus device name.
 360 ///
 361 /// @return INVALID_SOCKET on failure, else positive integer
 362 int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, const std::string& bus_name,  uint32_t flags)
 363 {
 364         int ret = -1;
 365         if(! subscription.socket_)
 366         {
 367                 if(flags & CAN_PROTOCOL)
 368                 {
 369                         subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
 370                         if( subscription.signal_ )
 371                                 ret = subscription.socket_->open(subscription.signal_->get_message()->get_bus_device_name());
 372                         else if(! subscription.diagnostic_message_.empty())
 373                                 ret = subscription.socket_->open(application_t::instance().get_diagnostic_manager().get_bus_device_name());
 374                         else if(! bus_name.empty())
 375                                 ret = subscription.socket_->open(bus_name);
 376
 377                         subscription.index_ = (int)subscription.socket_->socket();
 378                 }
 379 #ifdef USE_FEATURE_ISOTP
 380                 else if(flags & ISOTP_PROTOCOL)
 381                 {
 382                         std::shared_ptr<utils::socketcan_isotp_t> socket = std::make_shared<utils::socketcan_isotp_t>();
 383                         if(subscription.signal_ )
 384                         {
 385                                 canid_t rx = NO_CAN_ID;
 386                                 canid_t tx = NO_CAN_ID;
 387                                 if(flags & ISOTP_SEND)
 388                                 {
 389                                         rx = subscription.get_rx_id();
 390                                         tx = subscription.signal_->get_message()->get_id();
 391                                 }
 392                                 else if(flags & ISOTP_RECEIVE)
 393                                 {
 394                                         rx = subscription.signal_->get_message()->get_id();
 395                                         tx = subscription.get_tx_id();
 396                                 }
 397                                 ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(), rx, tx);
 398                                 subscription.socket_ = socket;
 399                         }
 400                         else if(! bus_name.empty())
 401                         {
 402                                 ret = socket->open(bus_name, subscription.get_rx_id(), subscription.get_tx_id());
 403                                 subscription.socket_ = socket;
 404                         }
 405                         subscription.index_ = (int)subscription.socket_->socket();
 406                 }
 407 #endif
 408 #ifdef USE_FEATURE_J1939
 409                 else if(flags & J1939_ADDR_CLAIM_PROTOCOL)
 410                 {
 411                         pgn_t pgn = J1939_NO_PGN;
 412                         if(!bus_name.empty())
 413                         {
 414                                 std::shared_ptr<utils::socketcan_j1939_addressclaiming_t> socket = std::make_shared<utils::socketcan_j1939_addressclaiming_t>();
 415                                 ret = socket->open(bus_name, pgn);
 416                                 subscription.socket_ = socket;
 417                         }
 418                         subscription.index_ = (int)subscription.socket_->socket();
 419                 }
 420                 else if(flags & J1939_PROTOCOL)
 421                 {
 422                         pgn_t pgn = J1939_NO_PGN;
 423                         if(subscription.signal_)
 424                         {
 425                                 pgn = subscription.signal_->get_message()->get_id();
 426                                 std::shared_ptr<utils::socketcan_j1939_data_t> socket = std::make_shared<utils::socketcan_j1939_data_t>();
 427                                 ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(), pgn);
 428                                 subscription.socket_ = socket;
 429                         }
 430                         else if(!bus_name.empty())
 431                         {
 432                                 std::shared_ptr<utils::socketcan_j1939_data_t> socket = std::make_shared<utils::socketcan_j1939_data_t>();
 433                                 ret = socket->open(bus_name, pgn);
 434                                 subscription.socket_ = socket;
 435                         }
 436                         subscription.index_ = (int)subscription.socket_->socket();
 437                 }
 438 #endif
 439                 else
 440                 {
 441                         AFB_ERROR("Socket format not supported");
 442                         return INVALID_SOCKET;
 443                 }
 444         }
 445         else{
 446                 ret = subscription.socket_->socket();
 447         }
 448         return ret;
 449 }
 450
 451
 452 /// @brief Builds a BCM message head but doesn't set can_frame.
 453 ///
 454 /// @returns a bcm_msg with the msg_head parts set and can_frame
 455 /// zeroed.
 456 struct bcm_msg low_can_subscription_t::make_bcm_head(uint32_t opcode, uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning)
 457 {
 458         struct bcm_msg bcm_msg;
 459         ::memset(&bcm_msg, 0, sizeof(bcm_msg));
 460
 461         bcm_msg.msg_head.opcode  = opcode;
 462         bcm_msg.msg_head.can_id  = can_id;
 463         bcm_msg.msg_head.flags = flags;
 464         bcm_msg.msg_head.ival1.tv_sec = timeout.tv_sec ;
 465         bcm_msg.msg_head.ival1.tv_usec = timeout.tv_usec;
 466         bcm_msg.msg_head.ival2.tv_sec = frequency_thinning.tv_sec ;
 467         bcm_msg.msg_head.ival2.tv_usec = frequency_thinning.tv_usec;
 468
 469
 470         return bcm_msg;
 471 }
 472
 473 /// @brief Take an existing bcm_msg struct and add a can_frame.
 474 /// Currently only 1 uniq can_frame can be added, it's not possible to build
 475 /// a multiplexed message with several can_frame.
 476 void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg)
 477 {
 478         struct can_frame cf;
 479
 480         if (bcm_msg.msg_head.flags & CAN_FD_FRAME)
 481                 bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cfd;
 482         else
 483         {
 484                 cf.can_id = cfd.can_id;
 485                 cf.can_dlc = cfd.len;
 486                 ::memcpy(&cf.data, cfd.data, cfd.len);
 487                 bcm_msg.frames[bcm_msg.msg_head.nframes] = cf;
 488         }
 489         bcm_msg.msg_head.nframes++;
 490 }
 491
 492 /// @brief Take an existing bcm_msg struct and add a can_frame.
 493 /// Currently only 1 uniq can_frame can be added, it's not possible to build
 494 /// a multiplexed message with several can_frame.
 495 void low_can_subscription_t::remove_last_bcm_frame(struct bcm_msg& bcm_msg)
 496 {
 497         struct canfd_frame cf;
 498         memset(&cf, 0, sizeof(cf));
 499         bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cf;
 500         bcm_msg.msg_head.nframes--;
 501 }
 502
 503 #ifdef USE_FEATURE_J1939
 504 /**
 505  * @brief Create a j1939 socket to read message
 506  *
 507  * @param subscription The subscription
 508  * @param sig The signal subscribed
 509  * @return int 0 if ok else -1
 510  */
 511 int low_can_subscription_t::create_rx_filter_j1939(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig)
 512 {
 513         subscription.signal_= sig;
 514
 515         // Make sure that socket is opened.
 516         if(open_socket(subscription, "", J1939_PROTOCOL) < 0)
 517                         return -1;
 518
 519         return 0;
 520 }
 521 #endif
 522
 523 /**
 524  * @brief Create an iso tp socket to read message
 525  *
 526  * @param subscription The subscription
 527  * @param sig The signal subscribed
 528  * @return int 0 if ok else -1
 529  */
 530 int low_can_subscription_t::create_rx_filter_isotp(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig)
 531 {
 532         subscription.signal_= sig;
 533
 534         // Make sure that socket is opened.
 535         if(open_socket(subscription, "", ISOTP_PROTOCOL|ISOTP_RECEIVE) < 0)
 536                         return -1;
 537
 538         return 0;
 539 }
 540
 541 /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a CAN signal
 542 /// subscription
 543 ///
 544 /// @return 0 if ok else -1
 545 int low_can_subscription_t::create_rx_filter_can(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig)
 546 {
 547         uint32_t flags_bcm;
 548         struct timeval freq, timeout = {0, 0};
 549         subscription.signal_= sig;
 550         bool is_fd = sig->get_message()->is_fd();
 551         uint32_t max_dlen = 0;
 552
 553         uint32_t length_msg = sig->get_message()->get_length();
 554         std::vector<uint8_t> data(length_msg);
 555         can_message_t cm;
 556
 557         if(! length_msg)
 558         {
 559                 AFB_ERROR("Error in the length of message with id %d", sig->get_message()->get_id());
 560                 return -1;
 561         }
 562
 563         encoder_t::encode_data(subscription.signal_, data, true, false, true);
 564
 565         if (is_fd)
 566         {
 567                 flags_bcm = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME;
 568                 max_dlen = CANFD_MAX_DLEN;
 569         }
 570         else
 571         {
 572                 flags_bcm = SETTIMER|RX_NO_AUTOTIMER;
 573                 max_dlen = CAN_MAX_DLEN;
 574         }
 575
 576         cm = can_message_t( max_dlen,
 577                             sig->get_message()->get_id(),
 578                             length_msg,
 579                             false,
 580                             sig->get_message()->get_flags(),
 581                             data,
 582                             0);
 583
 584         frequency_clock_t f = subscription.event_filter_.frequency == 0 ? subscription.signal_->get_frequency() : frequency_clock_t(subscription.event_filter_.frequency);
 585         freq = f.get_timeval_from_period();
 586
 587         struct bcm_msg bcm_msg = subscription.make_bcm_head(RX_SETUP, subscription.signal_->get_message()->get_id(), flags_bcm, timeout, freq);
 588
 589         std::vector<canfd_frame> cfd_vect = cm.convert_to_canfd_frame_vector();
 590
 591         if(cfd_vect.size() > 1) //multi
 592         {
 593                 AFB_ERROR("Not implemented yet");
 594                 return -1;
 595         }
 596         else if(cfd_vect.size() == 1)
 597         {
 598                 subscription.add_one_bcm_frame(cfd_vect[0], bcm_msg);
 599         }
 600         else
 601         {
 602                 AFB_ERROR("No data available");
 603                 return -1;
 604         }
 605
 606         return create_rx_filter_bcm(subscription, bcm_msg);
 607 }
 608
 609 /**
 610  * @brief Create the good socket to read message
 611  * depending on the signal
 612  *
 613  * @param sig The signal subscribed
 614  * @return  0 if ok else -1
 615  */
 616 int low_can_subscription_t::create_rx_filter(std::shared_ptr<signal_t> sig)
 617 {
 618         if(!sig->get_message()->is_isotp() && !sig->get_message()->is_j1939())
 619         {
 620                 return low_can_subscription_t::create_rx_filter_can(*this, sig);
 621         }
 622 #ifdef USE_FEATURE_ISOTP
 623         else if(sig->get_message()->is_isotp())
 624         {
 625                 return low_can_subscription_t::create_rx_filter_isotp(*this, sig);
 626         }
 627 #endif
 628 #ifdef USE_FEATURE_J1939
 629         else if(sig->get_message()->is_j1939())
 630         {
 631                 return low_can_subscription_t::create_rx_filter_j1939(*this, sig);
 632         }
 633 #endif
 634         else
 635         {
 636                 AFB_ERROR("Signal can't be j1939 and isotp");
 637                 return -1;
 638         }
 639 }
 640
 641
 642 /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a
 643 /// diagnostic message subscription.
 644 ///
 645 /// @return 0 if ok else -1
 646 int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig)
 647 {
 648         diagnostic_message_.push_back(sig);
 649
 650         struct timeval freq = frequency_clock_t(event_filter_.frequency).get_timeval_from_period();
 651         struct timeval timeout = {0, 0};
 652
 653         struct bcm_msg bcm_msg =  make_bcm_head(RX_SETUP, OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER | RX_NO_AUTOTIMER | RX_FILTER_ID, timeout, freq);
 654         return create_rx_filter_bcm(*this, bcm_msg);
 655 }
 656
 657 /// @brief Create a RX_SETUP receive job used by the BCM socket directly from
 658 /// a bcm_msg. The method should not be used directly but rather through the
 659 /// two previous method with signal_t or diagnostic_message_t object.
 660 ///
 661 /// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed
 662 /// to the 8 classics OBD2 functional response ID
 663 ///
 664 /// @return 0 if ok else -1
 665 int low_can_subscription_t::create_rx_filter_bcm(low_can_subscription_t &subscription, struct bcm_msg& bcm_msg)
 666 {
 667         // Make sure that socket is opened.
 668         if(subscription.open_socket(subscription, "", CAN_PROTOCOL) < 0)
 669                 return -1;
 670
 671         can_message_t msg = can_message_t();
 672         msg.set_bcm_msg(bcm_msg);
 673
 674         // If it's not an OBD2 CAN ID then just add a simple RX_SETUP job
 675         // else monitor all standard 8 CAN OBD2 ID response.
 676         if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
 677         {
 678                 subscription.socket_->write_message(msg);
 679                 if(! subscription.socket_)
 680                         return -1;
 681         }
 682         else
 683         {
 684                 for(uint8_t i = 0; i < 8; i++)
 685                 {
 686                         bcm_msg.msg_head.can_id = OBD2_FUNCTIONAL_RESPONSE_START + i;
 687                         msg.set_bcm_msg(bcm_msg);
 688                         subscription.socket_->write_message(msg);
 689                         if(! subscription.socket_)
 690                                 return -1;
 691                 }
 692         }
 693         return 0;
 694 }
 695
 696 /// @brief Creates a TX_SEND job that is used by the BCM socket to
 697 /// send a message
 698 ///
 699 /// @return 0 if ok else -1
 700 int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name)
 701 {
 702         can_message_t *cm = static_cast<can_message_t*>(message);
 703
 704         struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cm->get_id(), cm->get_flags()|TX_CP_CAN_ID); // TX_CP_CAN_ID -> copy in cfd the id of bcm
 705         cm->set_bcm_msg(bcm_msg);
 706
 707         std::vector<canfd_frame> cfd_vect = cm->convert_to_canfd_frame_vector();
 708
 709         if(subscription.open_socket(subscription, bus_name, CAN_PROTOCOL) < 0)
 710                 return -1;
 711
 712         struct bcm_msg &bcm_cm = cm->get_bcm_msg();
 713
 714         if(cfd_vect.size() > 1)
 715         {
 716                 AFB_ERROR("Multi frame BCM not implemented");
 717                 return -1;
 718         }
 719         else if(cfd_vect.size() == 1) // raw or fd
 720         {
 721                 subscription.add_one_bcm_frame(cfd_vect[0], bcm_cm);
 722
 723                 if(subscription.socket_->write_message(*cm) < 0)
 724                 {
 725                         AFB_ERROR("Error write message id : %d", cfd_vect[0].can_id);
 726                         return -1;
 727                 }
 728         }
 729         else // error
 730         {
 731                 AFB_ERROR("Error no data available");
 732                 return -1;
 733         }
 734
 735         if(! subscription.socket_.get())
 736                 return -1;
 737
 738         return 0;
 739 }
 740
 741 #ifdef USE_FEATURE_J1939
 742 /**
 743  * @brief Allows to open socket j1939 and send j1939 messsage
 744  *
 745  * @param subscription The subscription
 746  * @param message The j1939 message to send
 747  * @param bus_name The bus name where to send message
 748  * @return int  0 if ok else -1
 749  */
 750 int low_can_subscription_t::j1939_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name)
 751 {
 752         //struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cfd.can_id);
 753         //subscription.add_one_bcm_frame(cfd, bcm_msg);
 754
 755         if(subscription.open_socket(subscription, bus_name, J1939_PROTOCOL) < 0)
 756                 return -1;
 757
 758         j1939_message_t *jm = static_cast<j1939_message_t*>(message);
 759         jm->set_sockname(jm->get_pgn(), J1939_NO_NAME, J1939_NO_ADDR);
 760         if(subscription.socket_->write_message(*jm) < 0)
 761         {
 762                 AFB_ERROR("Error write j1939 message");
 763                 return -1;
 764         }
 765
 766         return 0;
 767 }
 768 #endif
 769
 770
 771 /**
 772  * @brief Allows to open socket isotp and send can messsage
 773  *
 774  * @param subscription The subscription
 775  * @param message The can message to send
 776  * @param bus_name The bus name where to send message
 777  * @return int  0 if ok else -1
 778  */
 779 int low_can_subscription_t::isotp_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name)
 780 {
 781         //struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cfd.can_id);
 782         //subscription.add_one_bcm_frame(cfd, bcm_msg);
 783
 784         if(subscription.open_socket(subscription, bus_name, ISOTP_PROTOCOL|ISOTP_SEND) < 0)
 785                 return -1;
 786
 787         can_message_t *cm = static_cast<can_message_t*>(message);
 788         if(subscription.socket_->write_message(*cm) < 0)
 789         {
 790                 AFB_ERROR("Error write iso tp message");
 791                 return -1;
 792         }
 793
 794         return 0;
 795 }