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 #ifdef USE_FEATURE_J1939
  24 #include "../utils/socketcan-j1939/socketcan-j1939-data.hpp"
  25 #endif
  26
  27 low_can_subscription_t::low_can_subscription_t()
  28         : index_{-1},
  29         event_filter_{},
  30         event_{},
  31         socket_{}
  32 {}
  33
  34 low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter)
  35         : index_{-1},
  36           event_filter_{event_filter},
  37           event_{},
  38           socket_{}
  39  {}
  40
  41 low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
  42         : index_{s.index_},
  43         event_filter_{s.event_filter_},
  44         event_{},
  45         socket_{std::move(s.socket_)}
  46 {}
  47
  48 low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s)
  49 {
  50         socket_ = std::move(s.socket_);
  51         return *this;
  52 }
  53
  54 low_can_subscription_t::~low_can_subscription_t()
  55 {
  56         if(socket_)
  57                 socket_->close();
  58 }
  59
  60 low_can_subscription_t::operator bool() const
  61 {
  62         return ((signal_ != nullptr || ! diagnostic_message_.empty()) && ! socket_);
  63 }
  64 afb_event_t low_can_subscription_t::get_event()
  65 {
  66         return event_;
  67 }
  68
  69 /**
  70  * @brief Set the event calling the afb_daemon_make_event function to
  71  * create it and the checks its validity.
  72  *
  73  * @return int - 0 if OK, -1 if not
  74  */
  75 int low_can_subscription_t::set_event()
  76 {
  77         std::string event_name = get_name();
  78         event_ = afb_daemon_make_event(event_name.c_str());
  79         if (! afb_event_is_valid(event_))
  80         {
  81                 AFB_ERROR("Can't create an event for %s, something goes wrong.", event_name.c_str());
  82                 return -1;
  83         }
  84
  85         return 0;
  86 }
  87
  88 /**
  89  * @brief Subscribe to the event member of the object
  90  *
  91  * @param request the subscribe AFB client request which want to
  92  * subscribe
  93  *
  94  * @return int - 0 if OK, -1 if not
  95  */
  96 int low_can_subscription_t::subscribe(afb_req_t request)
  97 {
  98         if(! afb_event_is_valid(event_))
  99         {
 100                 if(set_event() < 0)
 101                 {
 102                         return -1;
 103                 }
 104         }
 105         return afb_req_subscribe(request, event_);
 106 }
 107
 108 /**
 109  * @brief Unsubscribe to the event member of the object
 110  *
 111  * @param request the unsubscribe AFB client request which want to
 112  * unsubscribe
 113  *
 114  * @return int - 0 if OK, -1 if not
 115  */
 116 int low_can_subscription_t::unsubscribe(afb_req_t request)
 117 {
 118         return afb_req_unsubscribe(request, event_);
 119 }
 120
 121 int low_can_subscription_t::get_index() const
 122 {
 123         return index_;
 124 }
 125
 126 const std::shared_ptr<signal_t> low_can_subscription_t::get_signal() const
 127 {
 128         return signal_;
 129 }
 130
 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
 132 {
 133         return signal_ == signal && event_filter_ == event_filter;
 134 }
 135
 136 const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_subscription_t::get_diagnostic_message() const
 137 {
 138         return diagnostic_message_;
 139 }
 140
 141 /// @brief Retrieve a diagnostic_message subscribed from a pid
 142 ///
 143 /// @param[in] pid - Diagnostic messages PID to search for
 144 ///
 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
 147 {
 148         for(const auto& diag: diagnostic_message_)
 149         {
 150                 if(diag->get_pid() == pid)
 151                 {
 152                         return diag;
 153                 }
 154         }
 155         return nullptr;
 156 }
 157
 158 /// @brief Retrieve a diagnostic message search from its name
 159 ///
 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
 162 {
 163         for(const auto& diag: diagnostic_message_)
 164         {
 165                 if(diag->get_name() == name)
 166                 {
 167                         return diag;
 168                 }
 169         }
 170         return nullptr;
 171 }
 172
 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
 176 {
 177         if (signal_ != nullptr)
 178                 return signal_->get_name();
 179         else if (!diagnostic_message_.empty())
 180                 return "diagnostic_messages";
 181
 182         AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported.");
 183         return "";
 184 }
 185
 186 /// @brief Return name from a diagnostic message from a PID
 187 ///
 188 /// @param[in] pid - Diagnostic message PID
 189 const std::string low_can_subscription_t::get_name(uint32_t pid) const
 190 {
 191         if (!diagnostic_message_.empty())
 192                 return get_diagnostic_message(pid)->get_name() ;
 193
 194         AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported.");
 195         return "";
 196 }
 197
 198 float low_can_subscription_t::get_frequency() const
 199 {
 200         return event_filter_.frequency;
 201 }
 202
 203 float low_can_subscription_t::get_min() const
 204 {
 205         return event_filter_.min;
 206 }
 207
 208 float low_can_subscription_t::get_max() const
 209 {
 210         return event_filter_.max;
 211 }
 212
 213 std::shared_ptr<utils::socketcan_t> low_can_subscription_t::get_socket()
 214 {
 215         return socket_;
 216 }
 217
 218 void low_can_subscription_t::set_frequency(float freq)
 219 {
 220         event_filter_.frequency = freq;
 221 }
 222
 223 void low_can_subscription_t::set_min(float min)
 224 {
 225         event_filter_.min = min;
 226 }
 227
 228 void low_can_subscription_t::set_max(float max)
 229 {
 230         event_filter_.max = max;
 231 }
 232
 233 void low_can_subscription_t::set_index(int index)
 234 {
 235         index_ = index;
 236 }
 237
 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.
 240 ///
 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)
 243 {
 244         int ret = -1;
 245         if(! subscription.socket_)
 246         {
 247                 switch (type)
 248                 {
 249                 case socket_type::BCM:
 250                 {
 251                         if( subscription.signal_ != nullptr)
 252                         {
 253                                         subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
 254                                         ret = subscription.socket_->open(subscription.signal_->get_message()->get_bus_device_name());
 255                         }
 256                         else if (! subscription.diagnostic_message_ .empty())
 257                         {
 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());
 260                         }
 261                         else if ( !bus_name.empty())
 262                         {
 263                                         subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
 264                                         ret = subscription.socket_->open(bus_name);
 265                         }
 266                         subscription.index_ = (int)subscription.socket_->socket();
 267                         break;
 268                 }
 269 #ifdef USE_FEATURE_J1939
 270                 case socket_type::J1939_ADDR_CLAIM:
 271                 {
 272                         pgn_t pgn = J1939_NO_PGN;
 273                         if(!bus_name.empty())
 274                         {
 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;
 278                         }
 279                         subscription.index_ = (int)subscription.socket_->socket();
 280                         break;
 281                 }
 282                 case socket_type::J1939:
 283                 {
 284                         pgn_t pgn = J1939_NO_PGN;
 285                         if(subscription.signal_ != nullptr)
 286                         {
 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;
 291                         }
 292                         else if(!bus_name.empty())
 293                         {
 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;
 297                         }
 298                         subscription.index_ = (int)subscription.socket_->socket();
 299                         break;
 300                 }
 301 #endif
 302                 default:
 303                 {
 304                         AFB_ERROR("Socket format not supported");
 305                         return INVALID_SOCKET;
 306                         break;
 307                 }
 308                 }
 309         }
 310         else{
 311                 ret = subscription.socket_->socket();
 312         }
 313         return ret;
 314 }
 315
 316
 317 /// @brief Builds a BCM message head but doesn't set can_frame.
 318 ///
 319 /// @returns a bcm_msg with the msg_head parts set and can_frame
 320 /// zeroed.
 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)
 322 {
 323         struct bcm_msg bcm_msg;
 324         ::memset(&bcm_msg, 0, sizeof(bcm_msg));
 325
 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;
 333
 334         return bcm_msg;
 335 }
 336
 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)
 341 {
 342         struct can_frame cf;
 343
 344         if (bcm_msg.msg_head.flags & CAN_FD_FRAME)
 345                 bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cfd;
 346         else
 347         {
 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;
 352         }
 353         bcm_msg.msg_head.nframes++;
 354 }
 355
 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)
 358 {
 359         subscription.signal_= sig;
 360
 361         // Make sure that socket is opened.
 362         if(open_socket(subscription,"",socket_type::J1939) < 0)
 363         {
 364                         return -1;
 365         }
 366         return 0;
 367 }
 368 #endif
 369
 370 /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a CAN signal
 371 /// subscription
 372 ///
 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)
 375 {
 376         uint32_t flags;
 377         float val;
 378         struct timeval freq, timeout = {0, 0};
 379         struct canfd_frame cfd;
 380         subscription.signal_= sig;
 381
 382         if (sig->get_message()->is_fd())
 383         {
 384                 flags = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME;
 385                 cfd.len = CANFD_MAX_DLEN;
 386         }
 387         else
 388         {
 389                 flags = SETTIMER|RX_NO_AUTOTIMER;
 390                 cfd.len = CAN_MAX_DLEN;
 391         }
 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(),
 396                                    1,
 397                                    subscription.signal_->get_offset(),
 398                                    cfd.data,
 399                                    cfd.len))
 400                 return -1;
 401
 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();
 404
 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);
 407
 408         return create_rx_filter_bcm(subscription, bcm_msg);
 409 }
 410
 411 int low_can_subscription_t::create_rx_filter(std::shared_ptr<signal_t> sig)
 412 {
 413         #ifdef USE_FEATURE_J1939
 414         if(sig->get_message()->is_j1939())
 415         {
 416                 return low_can_subscription_t::create_rx_filter_j1939(*this, sig);
 417         }
 418         else
 419         {
 420         #endif
 421                 return low_can_subscription_t::create_rx_filter_can(*this, sig);
 422         #ifdef USE_FEATURE_J1939
 423         }
 424         #endif
 425 }
 426
 427
 428 /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a
 429 /// diagnostic message subscription.
 430 ///
 431 /// @return 0 if ok else -1
 432 int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig)
 433 {
 434         diagnostic_message_.push_back(sig);
 435
 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};
 439
 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);
 442 }
 443
 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.
 447 ///
 448 /// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed
 449 /// to the 8 classics OBD2 functional response ID
 450 ///
 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)
 453 {
 454         // Make sure that socket is opened.
 455         if(subscription.open_socket(subscription,"",socket_type::BCM) < 0)
 456                 {return -1;}
 457
 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.
 460
 461         can_message_t msg = can_message_t();
 462
 463         msg.set_bcm_msg(bcm_msg);
 464
 465         if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
 466         {
 467                 subscription.socket_->write_message(msg);
 468                         if(! subscription.socket_)
 469                                 return -1;
 470         }
 471         else
 472         {
 473                 for(uint8_t i = 0; i < 8; i++)
 474                 {
 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_)
 479                                 return -1;
 480                 }
 481         }
 482         return 0;
 483 }
 484
 485 /// @brief Creates a TX_SEND job that is used by the BCM socket to
 486 /// send a message
 487 ///
 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)
 490 {
 491         can_message_t *cm = static_cast<can_message_t*>(message);
 492
 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);
 496
 497         if(subscription.open_socket(subscription, bus_name,socket_type::BCM) < 0)
 498         {
 499                         return -1;
 500         }
 501
 502         cm->set_bcm_msg(bcm_msg);
 503         subscription.socket_->write_message(*cm);
 504         if(! subscription.socket_.get())
 505         {
 506                         return -1;
 507         }
 508
 509         return 0;
 510 }
 511
 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)
 514 {
 515         //struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cfd.can_id);
 516         //subscription.add_one_bcm_frame(cfd, bcm_msg);
 517
 518         if(subscription.open_socket(subscription, bus_name, socket_type::J1939) < 0)
 519         {
 520                 return -1;
 521         }
 522
 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)
 526         {
 527                 AFB_ERROR("Error write j1939 message");
 528                 return -1;
 529         }
 530
 531         return 0;
 532 }
 533 #endif