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_subscription_t::low_can_subscription_t()
27 event_filter_{event_filter_t()},
31 low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter)
32 : event_filter_{event_filter}
35 low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
37 event_filter_{s.event_filter_},
38 socket_{std::move(s.socket_)}
41 low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s)
43 socket_ = std::move(s.socket_);
47 low_can_subscription_t::~low_can_subscription_t()
52 low_can_subscription_t::operator bool() const
54 return ((can_signal_ != nullptr || ! diagnostic_message_.empty()) && afb_event_is_valid(event_));
57 struct afb_event& low_can_subscription_t::get_event()
62 int low_can_subscription_t::get_index() const
67 const std::shared_ptr<can_signal_t> low_can_subscription_t::get_can_signal() const
72 const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_subscription_t::get_diagnostic_message() const
74 return diagnostic_message_;
77 /// @brief Retrieve a diagnostic_message subscribed from a pid
79 /// @param[in] pid - Diagnostic messages PID to search for
81 /// @return shared_ptr diagnostic_message_ if found and nullptr if not found
82 const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(uint32_t pid) const
84 for(const auto& diag: diagnostic_message_)
86 if(diag->get_pid() == pid)
94 /// @brief Retrieve a diagnostic message search from its name
96 /// @return shared_ptr diagnostic_message_ if found and nullptr if not found
97 const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(const std::string& name) const
99 for(const auto& diag: diagnostic_message_)
101 if(diag->get_name() == name)
109 /// @brief Return the CAN signal name and empty string if not found
110 /// or no CAN signal subscribed
111 const std::string low_can_subscription_t::get_name() const
113 if (can_signal_ != nullptr)
114 return can_signal_->get_name();
119 /// @brief Return name from a diagnostic message from a PID
121 /// @param[in] pid - Diagnostic message PID
122 const std::string low_can_subscription_t::get_name(uint32_t pid) const
124 if (!diagnostic_message_.empty())
125 return get_diagnostic_message(pid)->get_name() ;
130 float low_can_subscription_t::get_frequency() const
132 return event_filter_.frequency;
135 float low_can_subscription_t::get_min() const
137 return event_filter_.min;
140 float low_can_subscription_t::get_max() const
142 return event_filter_.max;
145 utils::socketcan_bcm_t& low_can_subscription_t::get_socket()
150 void low_can_subscription_t::set_event(struct afb_event event)
155 void low_can_subscription_t::set_frequency(float freq)
157 event_filter_.frequency = freq;
160 void low_can_subscription_t::set_min(float min)
162 event_filter_.min = min;
165 void low_can_subscription_t::set_max(float max)
167 event_filter_.max = max;
170 /// @brief Based upon which object is subscribed CAN signal or diagnostic message
171 /// this will open the socket with the required CAN bus device name.
173 /// @return INVALID_SOCKET on failure else positive integer
174 int low_can_subscription_t::open_socket()
179 if( can_signal_ != nullptr)
180 {ret = socket_.open(can_signal_->get_message()->get_bus_device_name());}
181 else if (! diagnostic_message_ .empty())
182 {ret = socket_.open(application_t::instance().get_diagnostic_manager().get_bus_device_name());}
183 index_ = (int)socket_.socket();
188 /// @brief Build a BCM message head but don't set can_frame.
190 /// @return a simple_bcm_msg with the msg_head parts set and can_frame
192 struct utils::simple_bcm_msg low_can_subscription_t::make_bcm_head(uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const
194 struct utils::simple_bcm_msg bcm_msg;
196 memset(&bcm_msg, 0, sizeof(bcm_msg));
198 bcm_msg.msg_head.opcode = RX_SETUP;
199 bcm_msg.msg_head.can_id = can_id;
200 bcm_msg.msg_head.flags = flags;
201 bcm_msg.msg_head.ival1.tv_sec = timeout.tv_sec ;
202 bcm_msg.msg_head.ival1.tv_usec = timeout.tv_usec;
203 bcm_msg.msg_head.ival2.tv_sec = frequency_thinning.tv_sec ;
204 bcm_msg.msg_head.ival2.tv_usec = frequency_thinning.tv_usec;
209 /// @brief Take an existing simple_bcm_msg struct and add a can_frame to it.
210 /// Only possible for now to add 1 uniq can_frame, it isn't possible to build
211 /// a multiplexed message with several can_frame.
212 void low_can_subscription_t::add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const
214 for(int i=0; i < CAN_MAX_DLEN; i++)
218 bcm_msg.msg_head.nframes = 1;
219 bcm_msg.frames = cfd;
225 /// @brief Create a RX_SETUP receive job used by the BCM socket for a CAN signal
228 /// @return 0 if ok else -1
229 int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
233 struct can_frame cfd;
234 memset(&cfd, 0, sizeof(cfd));
236 float val = (float)(1 << can_signal_->get_bit_size()) - 1;
237 bitfield_encode_float(val,
238 can_signal_->get_bit_position(),
239 can_signal_->get_bit_size(),
240 can_signal_->get_factor(),
241 can_signal_->get_offset(),
245 struct timeval freq, timeout = {0, 0};
246 frequency_clock_t f = std::isnan(event_filter_.frequency) ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency);
247 freq = f.get_timeval_from_period();
249 utils::simple_bcm_msg bcm_msg = make_bcm_head(can_signal_->get_message()->get_id(), SETTIMER|RX_NO_AUTOTIMER, timeout, freq);
250 add_bcm_frame(cfd, bcm_msg);
252 return create_rx_filter(bcm_msg);
255 /// @brief Create a RX_SETUP receive job used by the BCM socket for a
256 /// diagnostic message subscription.
258 /// @return 0 if ok else -1
259 int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig)
261 diagnostic_message_.push_back(sig);
263 struct timeval freq = frequency_clock_t(event_filter_.frequency).get_timeval_from_period();
264 //struct timeval timeout = frequency_clock_t(10).get_timeval_from_period();
265 struct timeval timeout = {0,0};
267 utils::simple_bcm_msg bcm_msg = make_bcm_head(OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
268 return create_rx_filter(bcm_msg);
271 /// @brief Create a RX_SETUP receive job used by the BCM socket directly from
272 /// a simple_bcm_msg. You will not use this method directly but rather use the
273 /// two previous method with can_signal_t or diagnostic_message_t object.
275 /// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed
276 /// to the 8 classics OBD2 functional response ID
278 /// @return 0 if ok else -1
279 int low_can_subscription_t::create_rx_filter(utils::simple_bcm_msg& bcm_msg)
281 // Make sure that socket has been opened.
282 if(open_socket() < 0)
285 // If it isn't an OBD2 CAN ID then just add a simple RX_SETUP job
286 // else monitor all standard 8 CAN OBD2 ID response.
287 if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
295 for(uint8_t i = 0; i < 8; i++)
297 bcm_msg.msg_head.can_id = OBD2_FUNCTIONAL_RESPONSE_START + i;