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(set_event() < 0)
  99                 return -1;
 100         return afb_req_subscribe(request, event_);
 101 }
 102
 103 /**
 104  * @brief Unsubscribe to the event member of the object
 105  *
 106  * @param request the unsubscribe AFB client request which want to
 107  * unsubscribe
 108  *
 109  * @return int - 0 if OK, -1 if not
 110  */
 111 int low_can_subscription_t::unsubscribe(afb_req_t request)
 112 {
 113         return afb_req_unsubscribe(request, event_);
 114 }
 115
 116 int low_can_subscription_t::get_index() const
 117 {
 118         return index_;
 119 }
 120
 121 const std::shared_ptr<signal_t> low_can_subscription_t::get_signal() const
 122 {
 123         return signal_;
 124 }
 125
 126 bool low_can_subscription_t::is_signal_subscription_corresponding(const std::shared_ptr<signal_t> signal, const struct event_filter_t& event_filter) const
 127 {
 128         return signal_ == signal && event_filter_ == event_filter;
 129 }
 130
 131 const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_subscription_t::get_diagnostic_message() const
 132 {
 133         return diagnostic_message_;
 134 }
 135
 136 /// @brief Retrieve a diagnostic_message subscribed from a pid
 137 ///
 138 /// @param[in] pid - Diagnostic messages PID to search for
 139 ///
 140 /// @return shared_ptr diagnostic_message_ if found and nullptr if not found
 141 const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(uint32_t pid) const
 142 {
 143         for(const auto& diag: diagnostic_message_)
 144         {
 145                 if(diag->get_pid() == pid)
 146                 {
 147                         return diag;
 148                 }
 149         }
 150         return nullptr;
 151 }
 152
 153 /// @brief Retrieve a diagnostic message search from its name
 154 ///
 155 /// @return shared_ptr diagnostic_message_ if found and nullptr if not found
 156 const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(const std::string& name) const
 157 {
 158         for(const auto& diag: diagnostic_message_)
 159         {
 160                 if(diag->get_name() == name)
 161                 {
 162                         return diag;
 163                 }
 164         }
 165         return nullptr;
 166 }
 167
 168 /// @brief Return the CAN signal name and empty string if not found
 169 /// or no CAN signal subscribed
 170 const std::string low_can_subscription_t::get_name() const
 171 {
 172         if (signal_ != nullptr)
 173                 return signal_->get_name();
 174         else if (!diagnostic_message_.empty())
 175                 return "diagnostic_messages";
 176
 177         AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported.");
 178         return "";
 179 }
 180
 181 /// @brief Return name from a diagnostic message from a PID
 182 ///
 183 /// @param[in] pid - Diagnostic message PID
 184 const std::string low_can_subscription_t::get_name(uint32_t pid) const
 185 {
 186         if (!diagnostic_message_.empty())
 187                 return get_diagnostic_message(pid)->get_name() ;
 188
 189         AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported.");
 190         return "";
 191 }
 192
 193 float low_can_subscription_t::get_frequency() const
 194 {
 195         return event_filter_.frequency;
 196 }
 197
 198 float low_can_subscription_t::get_min() const
 199 {
 200         return event_filter_.min;
 201 }
 202
 203 float low_can_subscription_t::get_max() const
 204 {
 205         return event_filter_.max;
 206 }
 207
 208 std::shared_ptr<utils::socketcan_t> low_can_subscription_t::get_socket()
 209 {
 210         return socket_;
 211 }
 212
 213 void low_can_subscription_t::set_frequency(float freq)
 214 {
 215         event_filter_.frequency = freq;
 216 }
 217
 218 void low_can_subscription_t::set_min(float min)
 219 {
 220         event_filter_.min = min;
 221 }
 222
 223 void low_can_subscription_t::set_max(float max)
 224 {
 225         event_filter_.max = max;
 226 }
 227
 228 void low_can_subscription_t::set_index(int index)
 229 {
 230         index_ = index;
 231 }
 232
 233 /// @brief Based upon which object is a subscribed CAN signal or diagnostic message
 234 /// it will open the socket with the required CAN bus device name.
 235 ///
 236 /// @return INVALID_SOCKET on failure, else positive integer
 237 int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, const std::string& bus_name, socket_type type)
 238 {
 239         int ret = -1;
 240         if(! subscription.socket_)
 241         {
 242                 switch (type)
 243                 {
 244                 case socket_type::BCM:
 245                 {
 246                         if( subscription.signal_ != nullptr)
 247                         {
 248                                         subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
 249                                         ret = subscription.socket_->open(subscription.signal_->get_message()->get_bus_device_name());
 250                         }
 251                         else if (! subscription.diagnostic_message_ .empty())
 252                         {
 253                                         subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
 254                                         ret = subscription.socket_->open(application_t::instance().get_diagnostic_manager().get_bus_device_name());
 255                         }
 256                         else if ( !bus_name.empty())
 257                         {
 258                                         subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
 259                                         ret = subscription.socket_->open(bus_name);
 260                         }
 261                         subscription.index_ = (int)subscription.socket_->socket();
 262                         break;
 263                 }
 264 #ifdef USE_FEATURE_J1939
 265                 case socket_type::J1939_ADDR_CLAIM:
 266                 {
 267                         pgn_t pgn = J1939_NO_PGN;
 268                         if(!bus_name.empty())
 269                         {
 270                                 std::shared_ptr<utils::socketcan_j1939_addressclaiming_t> socket = std::make_shared<utils::socketcan_j1939_addressclaiming_t>();
 271                                 ret = socket->open(bus_name, pgn);
 272                                 subscription.socket_ = socket;
 273                         }
 274                         subscription.index_ = (int)subscription.socket_->socket();
 275                         break;
 276                 }
 277                 case socket_type::J1939:
 278                 {
 279                         pgn_t pgn = J1939_NO_PGN;
 280                         if(subscription.signal_ != nullptr)
 281                         {
 282                                 pgn = subscription.signal_->get_message()->get_id();
 283                                 std::shared_ptr<utils::socketcan_j1939_data_t> socket = std::make_shared<utils::socketcan_j1939_data_t>();
 284                                 ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(), pgn);
 285                                 subscription.socket_ = socket;
 286                         }
 287                         else if(!bus_name.empty())
 288                         {
 289                                 std::shared_ptr<utils::socketcan_j1939_data_t> socket = std::make_shared<utils::socketcan_j1939_data_t>();
 290                                 ret = socket->open(bus_name, pgn);
 291                                 subscription.socket_ = socket;
 292                         }
 293                         subscription.index_ = (int)subscription.socket_->socket();
 294                         break;
 295                 }
 296 #endif
 297                 default:
 298                 {
 299                         AFB_ERROR("Socket format not supported");
 300                         return INVALID_SOCKET;
 301                         break;
 302                 }
 303                 }
 304         }
 305         else{
 306                 ret = subscription.socket_->socket();
 307         }
 308         return ret;
 309 }
 310
 311
 312 /// @brief Builds a BCM message head but doesn't set can_frame.
 313 ///
 314 /// @returns a bcm_msg with the msg_head parts set and can_frame
 315 /// zeroed.
 316 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)
 317 {
 318         struct bcm_msg bcm_msg;
 319         ::memset(&bcm_msg, 0, sizeof(bcm_msg));
 320
 321         bcm_msg.msg_head.opcode  = opcode;
 322         bcm_msg.msg_head.can_id  = can_id;
 323         bcm_msg.msg_head.flags = flags;
 324         bcm_msg.msg_head.ival1.tv_sec = timeout.tv_sec ;
 325         bcm_msg.msg_head.ival1.tv_usec = timeout.tv_usec;
 326         bcm_msg.msg_head.ival2.tv_sec = frequency_thinning.tv_sec ;
 327         bcm_msg.msg_head.ival2.tv_usec = frequency_thinning.tv_usec;
 328
 329         return bcm_msg;
 330 }
 331
 332 /// @brief Take an existing bcm_msg struct and add a can_frame.
 333 /// Currently only 1 uniq can_frame can be added, it's not possible to build
 334 /// a multiplexed message with several can_frame.
 335 void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg)
 336 {
 337         struct can_frame cf;
 338
 339         if (bcm_msg.msg_head.flags & CAN_FD_FRAME)
 340                 bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cfd;
 341         else
 342         {
 343                 cf.can_id = cfd.can_id;
 344                 cf.can_dlc = cfd.len;
 345                 ::memcpy(&cf.data, cfd.data, cfd.len);
 346                 bcm_msg.frames[bcm_msg.msg_head.nframes] = cf;
 347         }
 348         bcm_msg.msg_head.nframes++;
 349 }
 350
 351 #ifdef USE_FEATURE_J1939
 352 int low_can_subscription_t::create_rx_filter_j1939(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig)
 353 {
 354         subscription.signal_= sig;
 355
 356         // Make sure that socket is opened.
 357         if(open_socket(subscription,"",socket_type::J1939) < 0)
 358         {
 359                         return -1;
 360         }
 361         return 0;
 362 }
 363 #endif
 364
 365 /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a CAN signal
 366 /// subscription
 367 ///
 368 /// @return 0 if ok else -1
 369 int low_can_subscription_t::create_rx_filter_can(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig)
 370 {
 371         uint32_t flags;
 372         float val;
 373         struct timeval freq, timeout = {0, 0};
 374         struct canfd_frame cfd;
 375         subscription.signal_= sig;
 376
 377         if (sig->get_message()->is_fd())
 378         {
 379                 flags = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME;
 380                 cfd.len = CANFD_MAX_DLEN;
 381         }
 382         else
 383         {
 384                 flags = SETTIMER|RX_NO_AUTOTIMER;
 385                 cfd.len = CAN_MAX_DLEN;
 386         }
 387         val = (float)(1 << subscription.signal_->get_bit_size()) - 1;
 388         if(! bitfield_encode_float(val,
 389                                    subscription.signal_->get_bit_position(),
 390                                    subscription.signal_->get_bit_size(),
 391                                    1,
 392                                    subscription.signal_->get_offset(),
 393                                    cfd.data,
 394                                    cfd.len))
 395                 return -1;
 396
 397         frequency_clock_t f = subscription.event_filter_.frequency == 0 ? subscription.signal_->get_frequency() : frequency_clock_t(subscription.event_filter_.frequency);
 398         freq = f.get_timeval_from_period();
 399
 400         struct bcm_msg bcm_msg = subscription.make_bcm_head(RX_SETUP, subscription.signal_->get_message()->get_id(), flags, timeout, freq);
 401         subscription.add_one_bcm_frame(cfd, bcm_msg);
 402
 403         return create_rx_filter_bcm(subscription, bcm_msg);
 404 }
 405
 406 int low_can_subscription_t::create_rx_filter(std::shared_ptr<signal_t> sig)
 407 {
 408         #ifdef USE_FEATURE_J1939
 409         if(sig->get_message()->is_j1939())
 410         {
 411                 return low_can_subscription_t::create_rx_filter_j1939(*this, sig);
 412         }
 413         else
 414         {
 415         #endif
 416                 return low_can_subscription_t::create_rx_filter_can(*this, sig);
 417         #ifdef USE_FEATURE_J1939
 418         }
 419         #endif
 420 }
 421
 422
 423 /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a
 424 /// diagnostic message subscription.
 425 ///
 426 /// @return 0 if ok else -1
 427 int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig)
 428 {
 429         diagnostic_message_.push_back(sig);
 430
 431         struct timeval freq = frequency_clock_t(event_filter_.frequency).get_timeval_from_period();
 432         //struct timeval timeout = frequency_clock_t(10).get_timeval_from_period();
 433         struct timeval timeout = {0,0};
 434
 435         struct bcm_msg bcm_msg =  make_bcm_head(RX_SETUP, OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
 436         return create_rx_filter_bcm(*this, bcm_msg);
 437 }
 438
 439 /// @brief Create a RX_SETUP receive job used by the BCM socket directly from
 440 /// a bcm_msg. The method should not be used directly but rather through the
 441 /// two previous method with signal_t or diagnostic_message_t object.
 442 ///
 443 /// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed
 444 /// to the 8 classics OBD2 functional response ID
 445 ///
 446 /// @return 0 if ok else -1
 447 int low_can_subscription_t::create_rx_filter_bcm(low_can_subscription_t &subscription, struct bcm_msg& bcm_msg)
 448 {
 449         // Make sure that socket is opened.
 450         if(subscription.open_socket(subscription,"",socket_type::BCM) < 0)
 451                 {return -1;}
 452
 453         // If it's not an OBD2 CAN ID then just add a simple RX_SETUP job
 454         // else monitor all standard 8 CAN OBD2 ID response.
 455
 456         can_message_t msg = can_message_t();
 457
 458         msg.set_bcm_msg(bcm_msg);
 459
 460         if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
 461         {
 462                 subscription.socket_->write_message(msg);
 463                         if(! subscription.socket_)
 464                                 return -1;
 465         }
 466         else
 467         {
 468                 for(uint8_t i = 0; i < 8; i++)
 469                 {
 470                         bcm_msg.msg_head.can_id  =  OBD2_FUNCTIONAL_RESPONSE_START + i;
 471                         msg.set_bcm_msg(bcm_msg);
 472                         subscription.socket_->write_message(msg);
 473                         if(! subscription.socket_)
 474                                 return -1;
 475                 }
 476         }
 477         return 0;
 478 }
 479
 480 /// @brief Creates a TX_SEND job that is used by the BCM socket to
 481 /// send a message
 482 ///
 483 /// @return 0 if ok else -1
 484 int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name)
 485 {
 486         can_message_t *cm = static_cast<can_message_t*>(message);
 487
 488         struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cm->get_id(),cm->get_flags());
 489         canfd_frame cfd = cm->convert_to_canfd_frame();
 490         subscription.add_one_bcm_frame(cfd, bcm_msg);
 491
 492         if(subscription.open_socket(subscription, bus_name,socket_type::BCM) < 0)
 493         {
 494                         return -1;
 495         }
 496
 497         cm->set_bcm_msg(bcm_msg);
 498         subscription.socket_->write_message(*cm);
 499         if(! subscription.socket_.get())
 500         {
 501                         return -1;
 502         }
 503
 504         return 0;
 505 }
 506
 507 #ifdef USE_FEATURE_J1939
 508 int low_can_subscription_t::j1939_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name)
 509 {
 510         //struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cfd.can_id);
 511         //subscription.add_one_bcm_frame(cfd, bcm_msg);
 512
 513         if(subscription.open_socket(subscription, bus_name, socket_type::J1939) < 0)
 514         {
 515                 return -1;
 516         }
 517
 518         j1939_message_t *jm = static_cast<j1939_message_t*>(message);
 519         jm->set_sockname(jm->get_pgn(),J1939_NO_NAME,J1939_NO_ADDR);
 520         if(subscription.socket_->write_message(*jm) < 0)
 521         {
 522                 AFB_ERROR("Error write j1939 message");
 523                 return -1;
 524         }
 525
 526         return 0;
 527 }
 528 #endif