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
  24 #ifdef USE_FEATURE_J1939
  25         #include "../utils/socketcan-j1939.hpp"
  26 #endif
  27
  28 low_can_subscription_t::low_can_subscription_t()
  29         : index_{-1},
  30         event_filter_{},
  31         event_{},
  32         socket_{}
  33 {}
  34
  35 low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter)
  36         : index_{-1},
  37           event_filter_{event_filter},
  38           event_{},
  39           socket_{}
  40  {}
  41
  42 low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
  43         : index_{s.index_},
  44         event_filter_{s.event_filter_},
  45         event_{},
  46         socket_{std::move(s.socket_)}
  47 {}
  48
  49 low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s)
  50 {
  51         socket_ = std::move(s.socket_);
  52         return *this;
  53 }
  54
  55 low_can_subscription_t::~low_can_subscription_t()
  56 {
  57         if(socket_)
  58                 socket_->close();
  59 }
  60
  61 low_can_subscription_t::operator bool() const
  62 {
  63         return ((signal_ != nullptr || ! diagnostic_message_.empty()) && ! socket_);
  64 }
  65 afb_event_t low_can_subscription_t::get_event()
  66 {
  67         return event_;
  68 }
  69
  70 /**
  71  * @brief Set the event calling the afb_daemon_make_event function to
  72  * create it and the checks its validity.
  73  *
  74  * @return int - 0 if OK, -1 if not
  75  */
  76 int low_can_subscription_t::set_event()
  77 {
  78         std::string event_name = get_name();
  79         event_ = afb_daemon_make_event(event_name.c_str());
  80         if (! afb_event_is_valid(event_))
  81         {
  82                 AFB_ERROR("Can't create an event for %s, something goes wrong.", event_name.c_str());
  83                 return -1;
  84         }
  85
  86         return 0;
  87 }
  88
  89 /**
  90  * @brief Subscribe to the event member of the object
  91  *
  92  * @param request the subscribe AFB client request which want to
  93  * subscribe
  94  *
  95  * @return int - 0 if OK, -1 if not
  96  */
  97 int low_can_subscription_t::subscribe(afb_req_t request)
  98 {
  99         if(set_event() < 0)
 100                 return -1;
 101         return afb_req_subscribe(request, event_);
 102 }
 103
 104 /**
 105  * @brief Unsubscribe to the event member of the object
 106  *
 107  * @param request the unsubscribe AFB client request which want to
 108  * unsubscribe
 109  *
 110  * @return int - 0 if OK, -1 if not
 111  */
 112 int low_can_subscription_t::unsubscribe(afb_req_t request)
 113 {
 114         return afb_req_unsubscribe(request, event_);
 115 }
 116
 117 int low_can_subscription_t::get_index() const
 118 {
 119         return index_;
 120 }
 121
 122 const std::shared_ptr<signal_t> low_can_subscription_t::get_signal() const
 123 {
 124         return signal_;
 125 }
 126
 127 bool low_can_subscription_t::is_signal_subscription_corresponding(const std::shared_ptr<signal_t> signal, const struct event_filter_t& event_filter) const
 128 {
 129         return signal_ == signal && event_filter_ == event_filter;
 130 }
 131
 132 const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_subscription_t::get_diagnostic_message() const
 133 {
 134         return diagnostic_message_;
 135 }
 136
 137 /// @brief Retrieve a diagnostic_message subscribed from a pid
 138 ///
 139 /// @param[in] pid - Diagnostic messages PID to search for
 140 ///
 141 /// @return shared_ptr diagnostic_message_ if found and nullptr if not found
 142 const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(uint32_t pid) const
 143 {
 144         for(const auto& diag: diagnostic_message_)
 145         {
 146                 if(diag->get_pid() == pid)
 147                 {
 148                         return diag;
 149                 }
 150         }
 151         return nullptr;
 152 }
 153
 154 /// @brief Retrieve a diagnostic message search from its name
 155 ///
 156 /// @return shared_ptr diagnostic_message_ if found and nullptr if not found
 157 const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(const std::string& name) const
 158 {
 159         for(const auto& diag: diagnostic_message_)
 160         {
 161                 if(diag->get_name() == name)
 162                 {
 163                         return diag;
 164                 }
 165         }
 166         return nullptr;
 167 }
 168
 169 /// @brief Return the CAN signal name and empty string if not found
 170 /// or no CAN signal subscribed
 171 const std::string low_can_subscription_t::get_name() const
 172 {
 173         if (signal_ != nullptr)
 174                 return signal_->get_name();
 175         else if (!diagnostic_message_.empty())
 176                 return "diagnostic_messages";
 177
 178         AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported.");
 179         return "";
 180 }
 181
 182 /// @brief Return name from a diagnostic message from a PID
 183 ///
 184 /// @param[in] pid - Diagnostic message PID
 185 const std::string low_can_subscription_t::get_name(uint32_t pid) const
 186 {
 187         if (!diagnostic_message_.empty())
 188                 return get_diagnostic_message(pid)->get_name() ;
 189
 190         AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported.");
 191         return "";
 192 }
 193
 194 float low_can_subscription_t::get_frequency() const
 195 {
 196         return event_filter_.frequency;
 197 }
 198
 199 float low_can_subscription_t::get_min() const
 200 {
 201         return event_filter_.min;
 202 }
 203
 204 float low_can_subscription_t::get_max() const
 205 {
 206         return event_filter_.max;
 207 }
 208
 209 std::shared_ptr<utils::socketcan_t> low_can_subscription_t::get_socket()
 210 {
 211         return socket_;
 212 }
 213
 214 void low_can_subscription_t::set_frequency(float freq)
 215 {
 216         event_filter_.frequency = freq;
 217 }
 218
 219 void low_can_subscription_t::set_min(float min)
 220 {
 221         event_filter_.min = min;
 222 }
 223
 224 void low_can_subscription_t::set_max(float max)
 225 {
 226         event_filter_.max = max;
 227 }
 228
 229 /// @brief Based upon which object is a subscribed CAN signal or diagnostic message
 230 /// it will open the socket with the required CAN bus device name.
 231 ///
 232 /// @return INVALID_SOCKET on failure, else positive integer
 233 int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, const std::string& bus_name)
 234 {
 235         int ret = 0;
 236         if(! subscription.socket_)
 237         {
 238
 239                 #ifdef USE_FEATURE_J1939
 240                 if((subscription.signal_ != nullptr || !bus_name.empty()) && subscription.signal_->get_message()->is_j1939())
 241                 {
 242                         name_t name = J1939_NO_NAME;
 243                         pgn_t pgn = J1939_NO_PGN;
 244                         uint8_t addr = J1939_NO_ADDR;
 245                         pgn = subscription.signal_->get_message()->get_id();
 246                         if( subscription.signal_ != nullptr)
 247                         {
 248                                 std::shared_ptr<utils::socketcan_j1939_t> socket = std::make_shared<utils::socketcan_j1939_t>();
 249                                 ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(), name, pgn, addr);
 250                                 subscription.socket_ = socket;
 251                 }
 252                 else if ( !bus_name.empty())
 253                 {
 254                                 std::shared_ptr<utils::socketcan_j1939_t> socket = std::make_shared<utils::socketcan_j1939_t>();
 255                                 ret = socket->open(bus_name, name, pgn, addr);
 256                                 subscription.socket_ = socket;
 257                 }
 258                 subscription.index_ = (int)subscription.socket_->socket();
 259                 }
 260                 else
 261                 {
 262                 #endif
 263                         if( subscription.signal_ != nullptr)
 264                         {
 265                                         subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
 266                                         ret = subscription.socket_->open(subscription.signal_->get_message()->get_bus_device_name());
 267                         }
 268                         else if (! subscription.diagnostic_message_ .empty())
 269                         {
 270                                         subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
 271                                         ret = subscription.socket_->open(application_t::instance().get_diagnostic_manager().get_bus_device_name());
 272                         }
 273                         else if ( !bus_name.empty())
 274                         {
 275                                         subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
 276                                         ret = subscription.socket_->open(bus_name);
 277                         }
 278                         subscription.index_ = (int)subscription.socket_->socket();
 279                 #ifdef USE_FEATURE_J1939
 280                 }
 281                 #endif
 282         }
 283         return ret;
 284 }
 285
 286 /// @brief Builds a BCM message head but doesn't set can_frame.
 287 ///
 288 /// @returns a bcm_msg with the msg_head parts set and can_frame
 289 /// zeroed.
 290 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)
 291 {
 292         struct bcm_msg bcm_msg;
 293         ::memset(&bcm_msg, 0, sizeof(bcm_msg));
 294
 295         bcm_msg.msg_head.opcode  = opcode;
 296         bcm_msg.msg_head.can_id  = can_id;
 297         bcm_msg.msg_head.flags = flags;
 298         bcm_msg.msg_head.ival1.tv_sec = timeout.tv_sec ;
 299         bcm_msg.msg_head.ival1.tv_usec = timeout.tv_usec;
 300         bcm_msg.msg_head.ival2.tv_sec = frequency_thinning.tv_sec ;
 301         bcm_msg.msg_head.ival2.tv_usec = frequency_thinning.tv_usec;
 302
 303         return bcm_msg;
 304 }
 305
 306 /// @brief Take an existing bcm_msg struct and add a can_frame.
 307 /// Currently only 1 uniq can_frame can be added, it's not possible to build
 308 /// a multiplexed message with several can_frame.
 309 void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg)
 310 {
 311         struct can_frame cf;
 312
 313         if (bcm_msg.msg_head.flags & CAN_FD_FRAME)
 314                 bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cfd;
 315         else
 316         {
 317                 cf.can_id = cfd.can_id;
 318                 cf.can_dlc = cfd.len;
 319                 ::memcpy(&cf.data, cfd.data, cfd.len);
 320                 bcm_msg.frames[bcm_msg.msg_head.nframes] = cf;
 321         }
 322         bcm_msg.msg_head.nframes++;
 323 }
 324
 325 #ifdef USE_FEATURE_J1939
 326 int low_can_subscription_t::create_rx_filter_j1939(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig)
 327 {
 328         subscription.signal_= sig;
 329
 330         // Make sure that socket is opened.
 331         if(open_socket(subscription) < 0)
 332         {
 333                         return -1;
 334         }
 335         return 0;
 336 }
 337 #endif
 338
 339 /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a CAN signal
 340 /// subscription
 341 ///
 342 /// @return 0 if ok else -1
 343 int low_can_subscription_t::create_rx_filter_can(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig)
 344 {
 345         uint32_t flags;
 346         float val;
 347         struct timeval freq, timeout = {0, 0};
 348         struct canfd_frame cfd;
 349         subscription.signal_= sig;
 350
 351         if (sig->get_message()->is_fd())
 352         {
 353                 flags = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME;
 354                 cfd.len = CANFD_MAX_DLEN;
 355         }
 356         else
 357         {
 358                 flags = SETTIMER|RX_NO_AUTOTIMER;
 359                 cfd.len = CAN_MAX_DLEN;
 360         }
 361         val = (float)(1 << subscription.signal_->get_bit_size()) - 1;
 362         if(! bitfield_encode_float(val,
 363                                    subscription.signal_->get_bit_position(),
 364                                    subscription.signal_->get_bit_size(),
 365                                    1,
 366                                    subscription.signal_->get_offset(),
 367                                    cfd.data,
 368                                    cfd.len))
 369                 return -1;
 370
 371         frequency_clock_t f = subscription.event_filter_.frequency == 0 ? subscription.signal_->get_frequency() : frequency_clock_t(subscription.event_filter_.frequency);
 372         freq = f.get_timeval_from_period();
 373
 374         struct bcm_msg bcm_msg = subscription.make_bcm_head(RX_SETUP, subscription.signal_->get_message()->get_id(), flags, timeout, freq);
 375         subscription.add_one_bcm_frame(cfd, bcm_msg);
 376
 377         return create_rx_filter_bcm(subscription, bcm_msg);
 378 }
 379
 380 int low_can_subscription_t::create_rx_filter(std::shared_ptr<signal_t> sig)
 381 {
 382         #ifdef USE_FEATURE_J1939
 383         if(sig->get_message()->is_j1939())
 384         {
 385                 return low_can_subscription_t::create_rx_filter_j1939(*this, sig);
 386         }
 387         else
 388         {
 389         #endif
 390                 return low_can_subscription_t::create_rx_filter_can(*this, sig);
 391         #ifdef USE_FEATURE_J1939
 392         }
 393         #endif
 394 }
 395
 396
 397 /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a
 398 /// diagnostic message subscription.
 399 ///
 400 /// @return 0 if ok else -1
 401 int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig)
 402 {
 403         diagnostic_message_.push_back(sig);
 404
 405         struct timeval freq = frequency_clock_t(event_filter_.frequency).get_timeval_from_period();
 406         //struct timeval timeout = frequency_clock_t(10).get_timeval_from_period();
 407         struct timeval timeout = {0,0};
 408
 409         struct bcm_msg bcm_msg =  make_bcm_head(RX_SETUP, OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
 410         return create_rx_filter_bcm(*this, bcm_msg);
 411 }
 412
 413 /// @brief Create a RX_SETUP receive job used by the BCM socket directly from
 414 /// a bcm_msg. The method should not be used directly but rather through the
 415 /// two previous method with signal_t or diagnostic_message_t object.
 416 ///
 417 /// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed
 418 /// to the 8 classics OBD2 functional response ID
 419 ///
 420 /// @return 0 if ok else -1
 421 int low_can_subscription_t::create_rx_filter_bcm(low_can_subscription_t &subscription, struct bcm_msg& bcm_msg)
 422 {
 423         // Make sure that socket is opened.
 424         if(subscription.open_socket(subscription) < 0)
 425                 {return -1;}
 426
 427         // If it's not an OBD2 CAN ID then just add a simple RX_SETUP job
 428         // else monitor all standard 8 CAN OBD2 ID response.
 429
 430         can_message_t msg = can_message_t();
 431
 432         msg.set_bcm_msg(bcm_msg);
 433
 434         if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
 435         {
 436                 subscription.socket_->write_message(msg);
 437                         if(! subscription.socket_)
 438                                 return -1;
 439         }
 440         else
 441         {
 442                 for(uint8_t i = 0; i < 8; i++)
 443                 {
 444                         bcm_msg.msg_head.can_id  =  OBD2_FUNCTIONAL_RESPONSE_START + i;
 445                         msg.set_bcm_msg(bcm_msg);
 446                         subscription.socket_->write_message(msg);
 447                         if(! subscription.socket_)
 448                                 return -1;
 449                 }
 450         }
 451         return 0;
 452 }
 453
 454 /// @brief Creates a TX_SEND job that is used by the BCM socket to
 455 /// send a message
 456 ///
 457 /// @return 0 if ok else -1
 458 int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name)
 459 {
 460         can_message_t *cm = static_cast<can_message_t*>(message);
 461
 462         struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cm->get_id(),cm->get_flags());
 463         canfd_frame cfd = cm->convert_to_canfd_frame();
 464         subscription.add_one_bcm_frame(cfd, bcm_msg);
 465
 466         if(subscription.open_socket(subscription, bus_name) < 0)
 467                 {return -1;}
 468
 469         cm->set_bcm_msg(bcm_msg);
 470         subscription.socket_->write_message(*cm);
 471         if(! subscription.socket_.get())
 472         {
 473                         return -1;
 474         }
 475
 476         return 0;
 477 }