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"
24 #ifdef USE_FEATURE_J1939
25 #include "../utils/socketcan-j1939.hpp"
28 low_can_subscription_t::low_can_subscription_t()
35 low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter)
37 event_filter_{event_filter},
42 low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
44 event_filter_{s.event_filter_},
46 socket_{std::move(s.socket_)}
49 low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s)
51 socket_ = std::move(s.socket_);
55 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)
100 return afb_req_subscribe(request, event_);
104 * @brief Unsubscribe to the event member of the object
106 * @param request the unsubscribe AFB client request which want to
109 * @return int - 0 if OK, -1 if not
111 int low_can_subscription_t::unsubscribe(afb_req_t request)
113 return afb_req_unsubscribe(request, event_);
116 int low_can_subscription_t::get_index() const
121 const std::shared_ptr<signal_t> low_can_subscription_t::get_signal() const
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
128 return signal_ == signal && event_filter_ == event_filter;
131 const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_subscription_t::get_diagnostic_message() const
133 return diagnostic_message_;
136 /// @brief Retrieve a diagnostic_message subscribed from a pid
138 /// @param[in] pid - Diagnostic messages PID to search for
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
143 for(const auto& diag: diagnostic_message_)
145 if(diag->get_pid() == pid)
153 /// @brief Retrieve a diagnostic message search from its name
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
158 for(const auto& diag: diagnostic_message_)
160 if(diag->get_name() == name)
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
172 if (signal_ != nullptr)
173 return signal_->get_name();
174 else if (!diagnostic_message_.empty())
175 return "diagnostic_messages";
177 AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported.");
181 /// @brief Return name from a diagnostic message from a PID
183 /// @param[in] pid - Diagnostic message PID
184 const std::string low_can_subscription_t::get_name(uint32_t pid) const
186 if (!diagnostic_message_.empty())
187 return get_diagnostic_message(pid)->get_name() ;
189 AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported.");
193 float low_can_subscription_t::get_frequency() const
195 return event_filter_.frequency;
198 float low_can_subscription_t::get_min() const
200 return event_filter_.min;
203 float low_can_subscription_t::get_max() const
205 return event_filter_.max;
208 std::shared_ptr<utils::socketcan_t> low_can_subscription_t::get_socket()
213 void low_can_subscription_t::set_frequency(float freq)
215 event_filter_.frequency = freq;
218 void low_can_subscription_t::set_min(float min)
220 event_filter_.min = min;
223 void low_can_subscription_t::set_max(float max)
225 event_filter_.max = max;
227 /// @brief Based upon which object is a subscribed CAN signal or diagnostic message
228 /// it will open the socket with the required CAN bus device name.
230 /// @return INVALID_SOCKET on failure, else positive integer
231 int low_can_subscription_t::open_socket(const std::string& bus_name)
236 if( signal_ != nullptr)
237 {ret = socket_->open(signal_->get_message()->get_bus_device_name());}
238 else if (! diagnostic_message_ .empty())
239 {ret = socket_->open(application_t::instance().get_diagnostic_manager().get_bus_device_name());}
240 else if ( ! bus_name.empty())
241 { ret = socket_->open(bus_name);}
242 index_ = (int)socket_->socket();
247 /// @brief Builds a BCM message head but doesn't set can_frame.
249 /// @returns a bcm_msg with the msg_head parts set and can_frame
251 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) const
253 struct bcm_msg bcm_msg;
254 ::memset(&bcm_msg, 0, sizeof(bcm_msg));
256 bcm_msg.msg_head.opcode = opcode;
257 bcm_msg.msg_head.can_id = can_id;
258 bcm_msg.msg_head.flags = flags;
259 bcm_msg.msg_head.ival1.tv_sec = timeout.tv_sec ;
260 bcm_msg.msg_head.ival1.tv_usec = timeout.tv_usec;
261 bcm_msg.msg_head.ival2.tv_sec = frequency_thinning.tv_sec ;
262 bcm_msg.msg_head.ival2.tv_usec = frequency_thinning.tv_usec;
267 /// @brief Take an existing bcm_msg struct and add a can_frame.
268 /// Currently only 1 uniq can_frame can be added, it's not possible to build
269 /// a multiplexed message with several can_frame.
270 void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg) const
274 if (bcm_msg.msg_head.flags & CAN_FD_FRAME)
275 bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cfd;
278 cf.can_id = cfd.can_id;
279 cf.can_dlc = cfd.len;
280 ::memcpy(&cf.data, cfd.data, cfd.len);
281 bcm_msg.frames[bcm_msg.msg_head.nframes] = cf;
283 bcm_msg.msg_head.nframes++;
286 #ifdef USE_FEATURE_J1939
287 int low_can_subscription_t::create_rx_filter_j1939(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig)
289 subscription.signal_= sig;
291 // Make sure that socket is opened.
292 if(subscription.open_socket() < 0)
300 /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a CAN signal
303 /// @return 0 if ok else -1
304 int low_can_subscription_t::create_rx_filter_can(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig)
308 struct timeval freq, timeout = {0, 0};
309 struct canfd_frame cfd;
310 subscription.signal_= sig;
312 if (sig->get_message()->is_fd())
314 flags = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME;
315 cfd.len = CANFD_MAX_DLEN;
319 flags = SETTIMER|RX_NO_AUTOTIMER;
320 cfd.len = CAN_MAX_DLEN;
322 val = (float)(1 << subscription.signal_->get_bit_size()) - 1;
323 if(! bitfield_encode_float(val,
324 subscription.signal_->get_bit_position(),
325 subscription.signal_->get_bit_size(),
327 subscription.signal_->get_offset(),
332 frequency_clock_t f = subscription.event_filter_.frequency == 0 ? subscription.signal_->get_frequency() : frequency_clock_t(subscription.event_filter_.frequency);
333 freq = f.get_timeval_from_period();
335 struct bcm_msg bcm_msg = subscription.make_bcm_head(RX_SETUP, subscription.signal_->get_message()->get_id(), flags, timeout, freq);
336 subscription.add_one_bcm_frame(cfd, bcm_msg);
338 return create_rx_filter_bcm(subscription, bcm_msg);
341 int low_can_subscription_t::create_rx_filter(std::shared_ptr<signal_t> sig)
343 #ifdef USE_FEATURE_J1939
344 if(sig->get_message()->is_j1939())
346 return low_can_subscription_t::create_rx_filter_j1939(*this, sig);
351 return low_can_subscription_t::create_rx_filter_can(*this, sig);
352 #ifdef USE_FEATURE_J1939
358 /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a
359 /// diagnostic message subscription.
361 /// @return 0 if ok else -1
362 int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig)
364 diagnostic_message_.push_back(sig);
366 struct timeval freq = frequency_clock_t(event_filter_.frequency).get_timeval_from_period();
367 //struct timeval timeout = frequency_clock_t(10).get_timeval_from_period();
368 struct timeval timeout = {0,0};
370 struct bcm_msg bcm_msg = make_bcm_head(RX_SETUP, OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
371 return create_rx_filter_bcm(*this, bcm_msg);
374 /// @brief Create a RX_SETUP receive job used by the BCM socket directly from
375 /// a bcm_msg. The method should not be used directly but rather through the
376 /// two previous method with signal_t or diagnostic_message_t object.
378 /// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed
379 /// to the 8 classics OBD2 functional response ID
381 /// @return 0 if ok else -1
382 int low_can_subscription_t::create_rx_filter_bcm(low_can_subscription_t &subscription, struct bcm_msg& bcm_msg)
384 // Make sure that socket is opened.
385 if(subscription.open_socket() < 0)
388 // If it's not an OBD2 CAN ID then just add a simple RX_SETUP job
389 // else monitor all standard 8 CAN OBD2 ID response.
391 std::shared_ptr<message_t> msg = std::make_shared<can_message_t>();
393 msg->set_bcm_msg(bcm_msg);
395 if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
397 subscription.socket_->write_message(msg);
398 if(! subscription.socket_)
403 for(uint8_t i = 0; i < 8; i++)
405 bcm_msg.msg_head.can_id = OBD2_FUNCTIONAL_RESPONSE_START + i;
406 msg->set_bcm_msg(bcm_msg);
407 subscription.socket_->write_message(msg);
408 if(! subscription.socket_)
415 /// @brief Creates a TX_SEND job that is used by the BCM socket to
418 /// @return 0 if ok else -1
419 int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, struct canfd_frame& cfd, const std::string& bus_name)
421 struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cfd.can_id);
422 subscription.add_one_bcm_frame(cfd, bcm_msg);
424 if(subscription.open_socket(bus_name) < 0)
428 std::shared_ptr<message_t> msg = std::make_shared<can_message_t>();
430 msg->set_bcm_msg(bcm_msg);
432 subscription.socket_->write_message(msg);
433 if(! subscription.socket_.get())