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-hat.hpp"
  20
  21 #include "low-can-subscription.hpp"
  22 #include "application.hpp"
  23 #include "canutil/write.h"
  24
  25 low_can_subscription_t::low_can_subscription_t()
  26         : index_{-1},
  27         event_filter_{event_filter_t()},
  28         socket_{}
  29 {}
  30
  31 low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter)
  32         : event_filter_{event_filter}
  33 {}
  34
  35 low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
  36         : index_{s.index_},
  37         event_filter_{s.event_filter_},
  38         socket_{std::move(s.socket_)}
  39 {}
  40
  41 low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s)
  42 {
  43         socket_ = std::move(s.socket_);
  44         return *this;
  45 }
  46
  47 low_can_subscription_t::~low_can_subscription_t()
  48 {
  49         socket_.close();
  50 }
  51
  52 low_can_subscription_t::operator bool() const
  53 {
  54         return ((can_signal_ != nullptr || ! diagnostic_message_.empty()) && afb_event_is_valid(event_));
  55 }
  56
  57 struct afb_event& low_can_subscription_t::get_event()
  58 {
  59         return event_;
  60 }
  61
  62 int low_can_subscription_t::get_index() const
  63 {
  64         return index_;
  65 }
  66
  67 const std::shared_ptr<can_signal_t> low_can_subscription_t::get_can_signal() const
  68 {
  69         return can_signal_;
  70 }
  71
  72 const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_subscription_t::get_diagnostic_message() const
  73 {
  74         return diagnostic_message_;
  75 }
  76
  77 /// @brief Retrieve a diagnostic_message subscribed from a pid
  78 ///
  79 /// @param[in] pid - Diagnostic messages PID to search for
  80 ///
  81 /// @return shared_ptr diagnostic_message_ if found and nullptr if not found
  82 const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(uint32_t pid) const
  83 {
  84         for(const auto& diag: diagnostic_message_)
  85         {
  86                 if(diag->get_pid() == pid)
  87                 {
  88                         return diag;
  89                 }
  90         }
  91         return nullptr;
  92 }
  93
  94 /// @brief Retrieve a diagnostic message search from its name
  95 ///
  96 /// @return shared_ptr diagnostic_message_ if found and nullptr if not found
  97 const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(const std::string& name) const
  98 {
  99         for(const auto& diag: diagnostic_message_)
 100         {
 101                 if(diag->get_name() == name)
 102                 {
 103                         return diag;
 104                 }
 105         }
 106         return nullptr;
 107 }
 108
 109 /// @brief Return the CAN signal name and empty string if not found
 110 /// or no CAN signal subscribed
 111 const std::string low_can_subscription_t::get_name() const
 112 {
 113         if (can_signal_ != nullptr)
 114                 return can_signal_->get_name();
 115
 116         return "";
 117 }
 118
 119 /// @brief Return name from a diagnostic message from a PID
 120 ///
 121 /// @param[in] pid - Diagnostic message PID
 122 const std::string low_can_subscription_t::get_name(uint32_t pid) const
 123 {
 124         if (!diagnostic_message_.empty())
 125                 return get_diagnostic_message(pid)->get_name() ;
 126
 127         return "";
 128 }
 129
 130 float low_can_subscription_t::get_frequency() const
 131 {
 132         return event_filter_.frequency;
 133 }
 134
 135 float low_can_subscription_t::get_min() const
 136 {
 137         return event_filter_.min;
 138 }
 139
 140 float low_can_subscription_t::get_max() const
 141 {
 142         return event_filter_.max;
 143 }
 144
 145 utils::socketcan_bcm_t& low_can_subscription_t::get_socket()
 146 {
 147         return socket_;
 148 }
 149
 150 void low_can_subscription_t::set_event(struct afb_event event)
 151 {
 152         event_ = event;
 153 }
 154
 155 void low_can_subscription_t::set_frequency(float freq)
 156 {
 157         event_filter_.frequency = freq;
 158 }
 159
 160 void low_can_subscription_t::set_min(float min)
 161 {
 162         event_filter_.min = min;
 163 }
 164
 165 void low_can_subscription_t::set_max(float max)
 166 {
 167         event_filter_.max = max;
 168 }
 169
 170 /// @brief Based upon which object is subscribed CAN signal or diagnostic message
 171 /// this will open the socket with the required CAN bus device name.
 172 ///
 173 /// @return INVALID_SOCKET on failure else positive integer
 174 int low_can_subscription_t::open_socket()
 175 {
 176         int ret = 0;
 177         if(! socket_)
 178         {
 179                 if( can_signal_ != nullptr)
 180                         {ret = socket_.open(can_signal_->get_message()->get_bus_device_name());}
 181                 else if (! diagnostic_message_ .empty())
 182                         {ret = socket_.open(application_t::instance().get_diagnostic_manager().get_bus_device_name());}
 183                 index_ = (int)socket_.socket();
 184         }
 185         return ret;
 186 }
 187
 188 /// @brief Build a BCM message head but don't set can_frame.
 189 ///
 190 /// @return a simple_bcm_msg with the msg_head parts set and can_frame
 191 /// zeroed.
 192 struct utils::simple_bcm_msg low_can_subscription_t::make_bcm_head(uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const
 193 {
 194         struct utils::simple_bcm_msg bcm_msg;
 195
 196         memset(&bcm_msg, 0, sizeof(bcm_msg));
 197
 198         bcm_msg.msg_head.opcode  = RX_SETUP;
 199         bcm_msg.msg_head.can_id  = can_id;
 200         bcm_msg.msg_head.flags = flags;
 201         bcm_msg.msg_head.ival1.tv_sec = timeout.tv_sec ;
 202         bcm_msg.msg_head.ival1.tv_usec = timeout.tv_usec;
 203         bcm_msg.msg_head.ival2.tv_sec = frequency_thinning.tv_sec ;
 204         bcm_msg.msg_head.ival2.tv_usec = frequency_thinning.tv_usec;
 205
 206         return bcm_msg;
 207 }
 208
 209 /// @brief Take an existing simple_bcm_msg struct and add a can_frame to it.
 210 /// Only possible for now to add 1 uniq can_frame, it isn't possible to build
 211 /// a multiplexed message with several can_frame.
 212 void low_can_subscription_t::add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const
 213 {
 214         for(int i=0; i < CAN_MAX_DLEN; i++)
 215         {
 216                 if(cfd.data[i] != 0)
 217                 {
 218                         bcm_msg.msg_head.nframes = 1;
 219                         bcm_msg.frames = cfd;
 220                         return;
 221                 }
 222         }
 223 }
 224
 225 /// @brief Create a RX_SETUP receive job used by the BCM socket for a CAN signal
 226 /// subscription
 227 ///
 228 /// @return 0 if ok else -1
 229 int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
 230 {
 231         can_signal_= sig;
 232
 233         struct can_frame cfd;
 234         memset(&cfd, 0, sizeof(cfd));
 235
 236         float val = (float)(1 << can_signal_->get_bit_size()) - 1;
 237         bitfield_encode_float(val,
 238                                                         can_signal_->get_bit_position(),
 239                                                         can_signal_->get_bit_size(),
 240                                                         can_signal_->get_factor(),
 241                                                         can_signal_->get_offset(),
 242                                                         cfd.data,
 243                                                         CAN_MAX_DLEN);
 244
 245         struct timeval freq, timeout = {0, 0};
 246         frequency_clock_t f = std::isnan(event_filter_.frequency) ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency);
 247         freq = f.get_timeval_from_period();
 248
 249         utils::simple_bcm_msg bcm_msg = make_bcm_head(can_signal_->get_message()->get_id(), SETTIMER|RX_NO_AUTOTIMER, timeout, freq);
 250         add_bcm_frame(cfd, bcm_msg);
 251
 252         return create_rx_filter(bcm_msg);
 253 }
 254
 255 /// @brief Create a RX_SETUP receive job used by the BCM socket for a
 256 /// diagnostic message subscription.
 257 ///
 258 /// @return 0 if ok else -1
 259 int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig)
 260 {
 261         diagnostic_message_.push_back(sig);
 262
 263         struct timeval freq = frequency_clock_t(event_filter_.frequency).get_timeval_from_period();
 264         //struct timeval timeout = frequency_clock_t(10).get_timeval_from_period();
 265         struct timeval timeout = {0,0};
 266
 267         utils::simple_bcm_msg bcm_msg =  make_bcm_head(OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
 268         return create_rx_filter(bcm_msg);
 269 }
 270
 271 /// @brief Create a RX_SETUP receive job used by the BCM socket directly from
 272 /// a simple_bcm_msg. You will not use this method directly but rather use the
 273 /// two previous method with can_signal_t or diagnostic_message_t object.
 274 ///
 275 /// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed
 276 /// to the 8 classics OBD2 functional response ID
 277 ///
 278 /// @return 0 if ok else -1
 279 int low_can_subscription_t::create_rx_filter(utils::simple_bcm_msg& bcm_msg)
 280 {
 281         // Make sure that socket has been opened.
 282         if(open_socket() < 0)
 283                 {return -1;}
 284
 285         // If it isn't an OBD2 CAN ID then just add a simple RX_SETUP job
 286         // else monitor all standard 8 CAN OBD2 ID response.
 287         if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
 288         {
 289                 socket_ << bcm_msg;
 290                         if(! socket_)
 291                                 return -1;
 292         }
 293         else
 294         {
 295                 for(uint8_t i = 0; i < 8; i++)
 296                 {
 297                         bcm_msg.msg_head.can_id  =  OBD2_FUNCTIONAL_RESPONSE_START + i;
 298
 299                         socket_ << bcm_msg;
 300                         if(! socket_)
 301                                 return -1;
 302                 }
 303         }
 304
 305         return 0;
 306 }