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-subscription.hpp"
20 #include "application.hpp"
21 #include "canutil/write.h"
22 #include "../utils/socketcan-bcm.hpp"
23 #ifdef USE_FEATURE_J1939
24 #include "../utils/socketcan-j1939/socketcan-j1939-data.hpp"
27 low_can_subscription_t::low_can_subscription_t()
34 low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter)
36 event_filter_{event_filter},
41 low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
43 event_filter_{s.event_filter_},
45 socket_{std::move(s.socket_)}
48 low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s)
50 socket_ = std::move(s.socket_);
54 low_can_subscription_t::~low_can_subscription_t()
60 low_can_subscription_t::operator bool() const
62 return ((signal_ != nullptr || ! diagnostic_message_.empty()) && ! socket_);
64 afb_event_t low_can_subscription_t::get_event()
70 * @brief Set the event calling the afb_daemon_make_event function to
71 * create it and the checks its validity.
73 * @return int - 0 if OK, -1 if not
75 int low_can_subscription_t::set_event()
77 std::string event_name = get_name();
78 event_ = afb_daemon_make_event(event_name.c_str());
79 if (! afb_event_is_valid(event_))
81 AFB_ERROR("Can't create an event for %s, something goes wrong.", event_name.c_str());
89 * @brief Subscribe to the event member of the object
91 * @param request the subscribe AFB client request which want to
94 * @return int - 0 if OK, -1 if not
96 int low_can_subscription_t::subscribe(afb_req_t request)
98 if(! afb_event_is_valid(event_))
105 return afb_req_subscribe(request, event_);
109 * @brief Unsubscribe to the event member of the object
111 * @param request the unsubscribe AFB client request which want to
114 * @return int - 0 if OK, -1 if not
116 int low_can_subscription_t::unsubscribe(afb_req_t request)
118 return afb_req_unsubscribe(request, event_);
121 int low_can_subscription_t::get_index() const
126 const std::shared_ptr<signal_t> low_can_subscription_t::get_signal() const
131 bool low_can_subscription_t::is_signal_subscription_corresponding(const std::shared_ptr<signal_t> signal, const struct event_filter_t& event_filter) const
133 return signal_ == signal && event_filter_ == event_filter;
136 const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_subscription_t::get_diagnostic_message() const
138 return diagnostic_message_;
141 /// @brief Retrieve a diagnostic_message subscribed from a pid
143 /// @param[in] pid - Diagnostic messages PID to search for
145 /// @return shared_ptr diagnostic_message_ if found and nullptr if not found
146 const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(uint32_t pid) const
148 for(const auto& diag: diagnostic_message_)
150 if(diag->get_pid() == pid)
158 /// @brief Retrieve a diagnostic message search from its name
160 /// @return shared_ptr diagnostic_message_ if found and nullptr if not found
161 const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(const std::string& name) const
163 for(const auto& diag: diagnostic_message_)
165 if(diag->get_name() == name)
173 /// @brief Return the CAN signal name and empty string if not found
174 /// or no CAN signal subscribed
175 const std::string low_can_subscription_t::get_name() const
177 if (signal_ != nullptr)
178 return signal_->get_name();
179 else if (!diagnostic_message_.empty())
180 return "diagnostic_messages";
182 AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported.");
186 /// @brief Return name from a diagnostic message from a PID
188 /// @param[in] pid - Diagnostic message PID
189 const std::string low_can_subscription_t::get_name(uint32_t pid) const
191 if (!diagnostic_message_.empty())
192 return get_diagnostic_message(pid)->get_name() ;
194 AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported.");
198 float low_can_subscription_t::get_frequency() const
200 return event_filter_.frequency;
203 float low_can_subscription_t::get_min() const
205 return event_filter_.min;
208 float low_can_subscription_t::get_max() const
210 return event_filter_.max;
213 std::shared_ptr<utils::socketcan_t> low_can_subscription_t::get_socket()
218 void low_can_subscription_t::set_frequency(float freq)
220 event_filter_.frequency = freq;
223 void low_can_subscription_t::set_min(float min)
225 event_filter_.min = min;
228 void low_can_subscription_t::set_max(float max)
230 event_filter_.max = max;
233 void low_can_subscription_t::set_index(int index)
238 /// @brief Based upon which object is a subscribed CAN signal or diagnostic message
239 /// it will open the socket with the required CAN bus device name.
241 /// @return INVALID_SOCKET on failure, else positive integer
242 int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, const std::string& bus_name, socket_type type)
245 if(! subscription.socket_)
249 case socket_type::BCM:
251 if( subscription.signal_ != nullptr)
253 subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
254 ret = subscription.socket_->open(subscription.signal_->get_message()->get_bus_device_name());
256 else if (! subscription.diagnostic_message_ .empty())
258 subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
259 ret = subscription.socket_->open(application_t::instance().get_diagnostic_manager().get_bus_device_name());
261 else if ( !bus_name.empty())
263 subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
264 ret = subscription.socket_->open(bus_name);
266 subscription.index_ = (int)subscription.socket_->socket();
269 #ifdef USE_FEATURE_J1939
270 case socket_type::J1939_ADDR_CLAIM:
272 pgn_t pgn = J1939_NO_PGN;
273 if(!bus_name.empty())
275 std::shared_ptr<utils::socketcan_j1939_addressclaiming_t> socket = std::make_shared<utils::socketcan_j1939_addressclaiming_t>();
276 ret = socket->open(bus_name, pgn);
277 subscription.socket_ = socket;
279 subscription.index_ = (int)subscription.socket_->socket();
282 case socket_type::J1939:
284 pgn_t pgn = J1939_NO_PGN;
285 if(subscription.signal_ != nullptr)
287 pgn = subscription.signal_->get_message()->get_id();
288 std::shared_ptr<utils::socketcan_j1939_data_t> socket = std::make_shared<utils::socketcan_j1939_data_t>();
289 ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(), pgn);
290 subscription.socket_ = socket;
292 else if(!bus_name.empty())
294 std::shared_ptr<utils::socketcan_j1939_data_t> socket = std::make_shared<utils::socketcan_j1939_data_t>();
295 ret = socket->open(bus_name, pgn);
296 subscription.socket_ = socket;
298 subscription.index_ = (int)subscription.socket_->socket();
304 AFB_ERROR("Socket format not supported");
305 return INVALID_SOCKET;
311 ret = subscription.socket_->socket();
317 /// @brief Builds a BCM message head but doesn't set can_frame.
319 /// @returns a bcm_msg with the msg_head parts set and can_frame
321 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)
323 struct bcm_msg bcm_msg;
324 ::memset(&bcm_msg, 0, sizeof(bcm_msg));
326 bcm_msg.msg_head.opcode = opcode;
327 bcm_msg.msg_head.can_id = can_id;
328 bcm_msg.msg_head.flags = flags;
329 bcm_msg.msg_head.ival1.tv_sec = timeout.tv_sec ;
330 bcm_msg.msg_head.ival1.tv_usec = timeout.tv_usec;
331 bcm_msg.msg_head.ival2.tv_sec = frequency_thinning.tv_sec ;
332 bcm_msg.msg_head.ival2.tv_usec = frequency_thinning.tv_usec;
337 /// @brief Take an existing bcm_msg struct and add a can_frame.
338 /// Currently only 1 uniq can_frame can be added, it's not possible to build
339 /// a multiplexed message with several can_frame.
340 void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg)
344 if (bcm_msg.msg_head.flags & CAN_FD_FRAME)
345 bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cfd;
348 cf.can_id = cfd.can_id;
349 cf.can_dlc = cfd.len;
350 ::memcpy(&cf.data, cfd.data, cfd.len);
351 bcm_msg.frames[bcm_msg.msg_head.nframes] = cf;
353 bcm_msg.msg_head.nframes++;
356 #ifdef USE_FEATURE_J1939
357 int low_can_subscription_t::create_rx_filter_j1939(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig)
359 subscription.signal_= sig;
361 // Make sure that socket is opened.
362 if(open_socket(subscription,"",socket_type::J1939) < 0)
370 /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a CAN signal
373 /// @return 0 if ok else -1
374 int low_can_subscription_t::create_rx_filter_can(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig)
378 struct timeval freq, timeout = {0, 0};
379 struct canfd_frame cfd;
380 subscription.signal_= sig;
382 if (sig->get_message()->is_fd())
384 flags = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME;
385 cfd.len = CANFD_MAX_DLEN;
389 flags = SETTIMER|RX_NO_AUTOTIMER;
390 cfd.len = CAN_MAX_DLEN;
392 val = (float)(1 << subscription.signal_->get_bit_size()) - 1;
393 if(! bitfield_encode_float(val,
394 subscription.signal_->get_bit_position(),
395 subscription.signal_->get_bit_size(),
397 subscription.signal_->get_offset(),
402 frequency_clock_t f = subscription.event_filter_.frequency == 0 ? subscription.signal_->get_frequency() : frequency_clock_t(subscription.event_filter_.frequency);
403 freq = f.get_timeval_from_period();
405 struct bcm_msg bcm_msg = subscription.make_bcm_head(RX_SETUP, subscription.signal_->get_message()->get_id(), flags, timeout, freq);
406 subscription.add_one_bcm_frame(cfd, bcm_msg);
408 return create_rx_filter_bcm(subscription, bcm_msg);
411 int low_can_subscription_t::create_rx_filter(std::shared_ptr<signal_t> sig)
413 #ifdef USE_FEATURE_J1939
414 if(sig->get_message()->is_j1939())
416 return low_can_subscription_t::create_rx_filter_j1939(*this, sig);
421 return low_can_subscription_t::create_rx_filter_can(*this, sig);
422 #ifdef USE_FEATURE_J1939
428 /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a
429 /// diagnostic message subscription.
431 /// @return 0 if ok else -1
432 int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig)
434 diagnostic_message_.push_back(sig);
436 struct timeval freq = frequency_clock_t(event_filter_.frequency).get_timeval_from_period();
437 //struct timeval timeout = frequency_clock_t(10).get_timeval_from_period();
438 struct timeval timeout = {0,0};
440 struct bcm_msg bcm_msg = make_bcm_head(RX_SETUP, OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
441 return create_rx_filter_bcm(*this, bcm_msg);
444 /// @brief Create a RX_SETUP receive job used by the BCM socket directly from
445 /// a bcm_msg. The method should not be used directly but rather through the
446 /// two previous method with signal_t or diagnostic_message_t object.
448 /// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed
449 /// to the 8 classics OBD2 functional response ID
451 /// @return 0 if ok else -1
452 int low_can_subscription_t::create_rx_filter_bcm(low_can_subscription_t &subscription, struct bcm_msg& bcm_msg)
454 // Make sure that socket is opened.
455 if(subscription.open_socket(subscription,"",socket_type::BCM) < 0)
458 // If it's not an OBD2 CAN ID then just add a simple RX_SETUP job
459 // else monitor all standard 8 CAN OBD2 ID response.
461 can_message_t msg = can_message_t();
463 msg.set_bcm_msg(bcm_msg);
465 if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
467 subscription.socket_->write_message(msg);
468 if(! subscription.socket_)
473 for(uint8_t i = 0; i < 8; i++)
475 bcm_msg.msg_head.can_id = OBD2_FUNCTIONAL_RESPONSE_START + i;
476 msg.set_bcm_msg(bcm_msg);
477 subscription.socket_->write_message(msg);
478 if(! subscription.socket_)
485 /// @brief Creates a TX_SEND job that is used by the BCM socket to
488 /// @return 0 if ok else -1
489 int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name)
491 can_message_t *cm = static_cast<can_message_t*>(message);
493 struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cm->get_id(),cm->get_flags());
494 canfd_frame cfd = cm->convert_to_canfd_frame();
495 subscription.add_one_bcm_frame(cfd, bcm_msg);
497 if(subscription.open_socket(subscription, bus_name,socket_type::BCM) < 0)
502 cm->set_bcm_msg(bcm_msg);
503 subscription.socket_->write_message(*cm);
504 if(! subscription.socket_.get())
512 #ifdef USE_FEATURE_J1939
513 int low_can_subscription_t::j1939_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name)
515 //struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cfd.can_id);
516 //subscription.add_one_bcm_frame(cfd, bcm_msg);
518 if(subscription.open_socket(subscription, bus_name, socket_type::J1939) < 0)
523 j1939_message_t *jm = static_cast<j1939_message_t*>(message);
524 jm->set_sockname(jm->get_pgn(),J1939_NO_NAME,J1939_NO_ADDR);
525 if(subscription.socket_->write_message(*jm) < 0)
527 AFB_ERROR("Error write j1939 message");