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 #include "../can/can-encoder.hpp"
  24
  25 #ifdef USE_FEATURE_J1939
  26 #include "../utils/socketcan-j1939/socketcan-j1939-data.hpp"
  27 #endif
  28
  29 low_can_subscription_t::low_can_subscription_t()
  30         : index_{-1},
  31         event_filter_{},
  32         event_{},
  33         socket_{}
  34 {}
  35
  36 low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter)
  37         : index_{-1},
  38           event_filter_{event_filter},
  39           event_{},
  40           socket_{}
  41  {}
  42
  43 low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
  44         : index_{s.index_},
  45         event_filter_{s.event_filter_},
  46         event_{},
  47         socket_{std::move(s.socket_)}
  48 {}
  49
  50 low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s)
  51 {
  52         socket_ = std::move(s.socket_);
  53         return *this;
  54 }
  55
  56 low_can_subscription_t::~low_can_subscription_t()
  57 {
  58         if(socket_)
  59                 socket_->close();
  60 }
  61
  62 low_can_subscription_t::operator bool() const
  63 {
  64         return ((signal_ != nullptr || ! diagnostic_message_.empty()) && ! socket_);
  65 }
  66 afb_event_t low_can_subscription_t::get_event()
  67 {
  68         return event_;
  69 }
  70
  71 /**
  72  * @brief Set the event calling the afb_daemon_make_event function to
  73  * create it and the checks its validity.
  74  *
  75  * @return int - 0 if OK, -1 if not
  76  */
  77 int low_can_subscription_t::set_event()
  78 {
  79         std::string event_name = get_name();
  80         event_ = afb_daemon_make_event(event_name.c_str());
  81         if (! afb_event_is_valid(event_))
  82         {
  83                 AFB_ERROR("Can't create an event for %s, something goes wrong.", event_name.c_str());
  84                 return -1;
  85         }
  86
  87         return 0;
  88 }
  89
  90 /**
  91  * @brief Subscribe to the event member of the object
  92  *
  93  * @param request the subscribe AFB client request which want to
  94  * subscribe
  95  *
  96  * @return int - 0 if OK, -1 if not
  97  */
  98 int low_can_subscription_t::subscribe(afb_req_t request)
  99 {
 100         if(! afb_event_is_valid(event_))
 101         {
 102                 if(set_event() < 0)
 103                 {
 104                         return -1;
 105                 }
 106         }
 107         return afb_req_subscribe(request, event_);
 108 }
 109
 110 /**
 111  * @brief Unsubscribe to the event member of the object
 112  *
 113  * @param request the unsubscribe AFB client request which want to
 114  * unsubscribe
 115  *
 116  * @return int - 0 if OK, -1 if not
 117  */
 118 int low_can_subscription_t::unsubscribe(afb_req_t request)
 119 {
 120         return afb_req_unsubscribe(request, event_);
 121 }
 122
 123 int low_can_subscription_t::get_index() const
 124 {
 125         return index_;
 126 }
 127
 128 const std::shared_ptr<signal_t> low_can_subscription_t::get_signal() const
 129 {
 130         return signal_;
 131 }
 132
 133 bool low_can_subscription_t::is_signal_subscription_corresponding(const std::shared_ptr<signal_t> signal, const struct event_filter_t& event_filter) const
 134 {
 135         return signal_ == signal && event_filter_ == event_filter;
 136 }
 137
 138 const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_subscription_t::get_diagnostic_message() const
 139 {
 140         return diagnostic_message_;
 141 }
 142
 143 /// @brief Retrieve a diagnostic_message subscribed from a pid
 144 ///
 145 /// @param[in] pid - Diagnostic messages PID to search for
 146 ///
 147 /// @return shared_ptr diagnostic_message_ if found and nullptr if not found
 148 const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(uint32_t pid) const
 149 {
 150         for(const auto& diag: diagnostic_message_)
 151         {
 152                 if(diag->get_pid() == pid)
 153                 {
 154                         return diag;
 155                 }
 156         }
 157         return nullptr;
 158 }
 159
 160 /// @brief Retrieve a diagnostic message search from its name
 161 ///
 162 /// @return shared_ptr diagnostic_message_ if found and nullptr if not found
 163 const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(const std::string& name) const
 164 {
 165         for(const auto& diag: diagnostic_message_)
 166         {
 167                 if(diag->get_name() == name)
 168                 {
 169                         return diag;
 170                 }
 171         }
 172         return nullptr;
 173 }
 174
 175 /// @brief Return the CAN signal name and empty string if not found
 176 /// or no CAN signal subscribed
 177 const std::string low_can_subscription_t::get_name() const
 178 {
 179         if (signal_ != nullptr)
 180                 return signal_->get_name();
 181         else if (!diagnostic_message_.empty())
 182                 return "diagnostic_messages";
 183
 184         AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported.");
 185         return "";
 186 }
 187
 188 /// @brief Return name from a diagnostic message from a PID
 189 ///
 190 /// @param[in] pid - Diagnostic message PID
 191 const std::string low_can_subscription_t::get_name(uint32_t pid) const
 192 {
 193         if (!diagnostic_message_.empty())
 194                 return get_diagnostic_message(pid)->get_name() ;
 195
 196         AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported.");
 197         return "";
 198 }
 199
 200 float low_can_subscription_t::get_frequency() const
 201 {
 202         return event_filter_.frequency;
 203 }
 204
 205 float low_can_subscription_t::get_min() const
 206 {
 207         return event_filter_.min;
 208 }
 209
 210 float low_can_subscription_t::get_max() const
 211 {
 212         return event_filter_.max;
 213 }
 214
 215 std::shared_ptr<utils::socketcan_t> low_can_subscription_t::get_socket()
 216 {
 217         return socket_;
 218 }
 219
 220 void low_can_subscription_t::set_frequency(float freq)
 221 {
 222         event_filter_.frequency = freq;
 223 }
 224
 225 void low_can_subscription_t::set_min(float min)
 226 {
 227         event_filter_.min = min;
 228 }
 229
 230 void low_can_subscription_t::set_max(float max)
 231 {
 232         event_filter_.max = max;
 233 }
 234
 235 void low_can_subscription_t::set_index(int index)
 236 {
 237         index_ = index;
 238 }
 239
 240 /// @brief Based upon which object is a subscribed CAN signal or diagnostic message
 241 /// it will open the socket with the required CAN bus device name.
 242 ///
 243 /// @return INVALID_SOCKET on failure, else positive integer
 244 int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, const std::string& bus_name, socket_type type)
 245 {
 246         int ret = -1;
 247         if(! subscription.socket_)
 248         {
 249                 switch (type)
 250                 {
 251                 case socket_type::BCM:
 252                 {
 253                         if( subscription.signal_ != nullptr)
 254                         {
 255                                         subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
 256                                         ret = subscription.socket_->open(subscription.signal_->get_message()->get_bus_device_name());
 257                         }
 258                         else if (! subscription.diagnostic_message_ .empty())
 259                         {
 260                                         subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
 261                                         ret = subscription.socket_->open(application_t::instance().get_diagnostic_manager().get_bus_device_name());
 262                         }
 263                         else if ( !bus_name.empty())
 264                         {
 265                                         subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
 266                                         ret = subscription.socket_->open(bus_name);
 267                         }
 268                         subscription.index_ = (int)subscription.socket_->socket();
 269                         break;
 270                 }
 271 #ifdef USE_FEATURE_J1939
 272                 case socket_type::J1939_ADDR_CLAIM:
 273                 {
 274                         pgn_t pgn = J1939_NO_PGN;
 275                         if(!bus_name.empty())
 276                         {
 277                                 std::shared_ptr<utils::socketcan_j1939_addressclaiming_t> socket = std::make_shared<utils::socketcan_j1939_addressclaiming_t>();
 278                                 ret = socket->open(bus_name, pgn);
 279                                 subscription.socket_ = socket;
 280                         }
 281                         subscription.index_ = (int)subscription.socket_->socket();
 282                         break;
 283                 }
 284                 case socket_type::J1939:
 285                 {
 286                         pgn_t pgn = J1939_NO_PGN;
 287                         if(subscription.signal_ != nullptr)
 288                         {
 289                                 pgn = subscription.signal_->get_message()->get_id();
 290                                 std::shared_ptr<utils::socketcan_j1939_data_t> socket = std::make_shared<utils::socketcan_j1939_data_t>();
 291                                 ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(), pgn);
 292                                 subscription.socket_ = socket;
 293                         }
 294                         else if(!bus_name.empty())
 295                         {
 296                                 std::shared_ptr<utils::socketcan_j1939_data_t> socket = std::make_shared<utils::socketcan_j1939_data_t>();
 297                                 ret = socket->open(bus_name, pgn);
 298                                 subscription.socket_ = socket;
 299                         }
 300                         subscription.index_ = (int)subscription.socket_->socket();
 301                         break;
 302                 }
 303 #endif
 304                 default:
 305                 {
 306                         AFB_ERROR("Socket format not supported");
 307                         return INVALID_SOCKET;
 308                         break;
 309                 }
 310                 }
 311         }
 312         else{
 313                 ret = subscription.socket_->socket();
 314         }
 315         return ret;
 316 }
 317
 318
 319 /// @brief Builds a BCM message head but doesn't set can_frame.
 320 ///
 321 /// @returns a bcm_msg with the msg_head parts set and can_frame
 322 /// zeroed.
 323 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)
 324 {
 325         struct bcm_msg bcm_msg;
 326         ::memset(&bcm_msg, 0, sizeof(bcm_msg));
 327
 328         bcm_msg.msg_head.opcode  = opcode;
 329         bcm_msg.msg_head.can_id  = can_id;
 330         bcm_msg.msg_head.flags = flags;
 331         bcm_msg.msg_head.ival1.tv_sec = timeout.tv_sec ;
 332         bcm_msg.msg_head.ival1.tv_usec = timeout.tv_usec;
 333         bcm_msg.msg_head.ival2.tv_sec = frequency_thinning.tv_sec ;
 334         bcm_msg.msg_head.ival2.tv_usec = frequency_thinning.tv_usec;
 335
 336
 337         return bcm_msg;
 338 }
 339
 340 /// @brief Take an existing bcm_msg struct and add a can_frame.
 341 /// Currently only 1 uniq can_frame can be added, it's not possible to build
 342 /// a multiplexed message with several can_frame.
 343 void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg)
 344 {
 345         struct can_frame cf;
 346
 347         if (bcm_msg.msg_head.flags & CAN_FD_FRAME)
 348                 bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cfd;
 349         else
 350         {
 351                 cf.can_id = cfd.can_id;
 352                 cf.can_dlc = cfd.len;
 353                 ::memcpy(&cf.data, cfd.data, cfd.len);
 354                 bcm_msg.frames[bcm_msg.msg_head.nframes] = cf;
 355         }
 356         bcm_msg.msg_head.nframes++;
 357 }
 358
 359 /// @brief Take an existing bcm_msg struct and add a can_frame.
 360 /// Currently only 1 uniq can_frame can be added, it's not possible to build
 361 /// a multiplexed message with several can_frame.
 362 void low_can_subscription_t::remove_last_bcm_frame(struct bcm_msg& bcm_msg)
 363 {
 364         struct canfd_frame cf;
 365         memset(&cf,0,sizeof(cf));
 366         bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cf;
 367         bcm_msg.msg_head.nframes--;
 368 }
 369
 370 #ifdef USE_FEATURE_J1939
 371 int low_can_subscription_t::create_rx_filter_j1939(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig)
 372 {
 373         subscription.signal_= sig;
 374
 375         // Make sure that socket is opened.
 376         if(open_socket(subscription,"",socket_type::J1939) < 0)
 377         {
 378                         return -1;
 379         }
 380         return 0;
 381 }
 382 #endif
 383
 384 /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a CAN signal
 385 /// subscription
 386 ///
 387 /// @return 0 if ok else -1
 388 int low_can_subscription_t::create_rx_filter_can(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig)
 389 {
 390         uint32_t flags;
 391         float val;
 392         struct timeval freq, timeout = {0, 0};
 393         struct canfd_frame cfd;
 394         subscription.signal_= sig;
 395         bool is_fd = sig->get_message()->is_fd();
 396
 397         std::vector<uint8_t> data;
 398         uint32_t length_msg = sig->get_message()->get_length();
 399
 400         if(length_msg == 0)
 401         {
 402                 AFB_ERROR("Error in the length of message with id %d",sig->get_message()->get_id());
 403                 return -1;
 404         }
 405
 406         for(int i = 0; i<length_msg;i++)
 407         {
 408                 data.push_back(0);
 409         }
 410
 411         encoder_t::encode_data(subscription.signal_,data,true,false,true);
 412
 413         can_message_t cm;
 414
 415         if (is_fd)
 416         {
 417                 flags = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME;
 418                 cfd.len = CANFD_MAX_DLEN;
 419                 cm = can_message_t(CANFD_MAX_DLEN,sig->get_message()->get_id(),length_msg,sig->get_message()->get_format(),false,CAN_FD_FRAME,data,0);
 420         }
 421         else
 422         {
 423                 flags = SETTIMER|RX_NO_AUTOTIMER;
 424                 cfd.len = CAN_MAX_DLEN;
 425                 cm = can_message_t(CAN_MAX_DLEN,sig->get_message()->get_id(),length_msg,sig->get_message()->get_format(),false,0,data,0);
 426         }
 427
 428         frequency_clock_t f = subscription.event_filter_.frequency == 0 ? subscription.signal_->get_frequency() : frequency_clock_t(subscription.event_filter_.frequency);
 429         freq = f.get_timeval_from_period();
 430
 431         struct bcm_msg bcm_msg = subscription.make_bcm_head(RX_SETUP, subscription.signal_->get_message()->get_id(), flags, timeout, freq);
 432
 433         std::vector<canfd_frame> cfd_vect = cm.convert_to_canfd_frame_vector();
 434
 435         if(cfd_vect.size() > 1) //multi
 436         {
 437                 AFB_ERROR("Not implemented yet");
 438                 return -1;
 439         }
 440         else if(cfd_vect.size() == 1)
 441         {
 442                 canfd_frame cf = cfd_vect[0];
 443                 for(int i=0;i<cfd.len;i++)
 444                 {
 445                         cfd.data[i] = cf.data[i];
 446                 }
 447                 subscription.add_one_bcm_frame(cfd, bcm_msg);
 448         }
 449         else
 450         {
 451                 AFB_ERROR("No data available");
 452                 return -1;
 453         }
 454
 455         return create_rx_filter_bcm(subscription, bcm_msg);
 456 }
 457
 458 int low_can_subscription_t::create_rx_filter(std::shared_ptr<signal_t> sig)
 459 {
 460         #ifdef USE_FEATURE_J1939
 461         if(sig->get_message()->is_j1939())
 462         {
 463                 return low_can_subscription_t::create_rx_filter_j1939(*this, sig);
 464         }
 465         else
 466         {
 467         #endif
 468                 return low_can_subscription_t::create_rx_filter_can(*this, sig);
 469         #ifdef USE_FEATURE_J1939
 470         }
 471         #endif
 472 }
 473
 474
 475 /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a
 476 /// diagnostic message subscription.
 477 ///
 478 /// @return 0 if ok else -1
 479 int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig)
 480 {
 481         diagnostic_message_.push_back(sig);
 482
 483         struct timeval freq = frequency_clock_t(event_filter_.frequency).get_timeval_from_period();
 484         //struct timeval timeout = frequency_clock_t(10).get_timeval_from_period();
 485         struct timeval timeout = {0,0};
 486
 487         struct bcm_msg bcm_msg =  make_bcm_head(RX_SETUP, OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
 488         return create_rx_filter_bcm(*this, bcm_msg);
 489 }
 490
 491 /// @brief Create a RX_SETUP receive job used by the BCM socket directly from
 492 /// a bcm_msg. The method should not be used directly but rather through the
 493 /// two previous method with signal_t or diagnostic_message_t object.
 494 ///
 495 /// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed
 496 /// to the 8 classics OBD2 functional response ID
 497 ///
 498 /// @return 0 if ok else -1
 499 int low_can_subscription_t::create_rx_filter_bcm(low_can_subscription_t &subscription, struct bcm_msg& bcm_msg)
 500 {
 501         // Make sure that socket is opened.
 502         if(subscription.open_socket(subscription,"",socket_type::BCM) < 0)
 503                 {return -1;}
 504
 505         // If it's not an OBD2 CAN ID then just add a simple RX_SETUP job
 506         // else monitor all standard 8 CAN OBD2 ID response.
 507
 508         can_message_t msg = can_message_t();
 509
 510         msg.set_bcm_msg(bcm_msg);
 511
 512         if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
 513         {
 514                 subscription.socket_->write_message(msg);
 515                         if(! subscription.socket_)
 516                                 return -1;
 517         }
 518         else
 519         {
 520                 for(uint8_t i = 0; i < 8; i++)
 521                 {
 522                         bcm_msg.msg_head.can_id  =  OBD2_FUNCTIONAL_RESPONSE_START + i;
 523                         msg.set_bcm_msg(bcm_msg);
 524                         subscription.socket_->write_message(msg);
 525                         if(! subscription.socket_)
 526                                 return -1;
 527                 }
 528         }
 529         return 0;
 530 }
 531
 532 /// @brief Creates a TX_SEND job that is used by the BCM socket to
 533 /// send a message
 534 ///
 535 /// @return 0 if ok else -1
 536 int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name)
 537 {
 538         can_message_t *cm = static_cast<can_message_t*>(message);
 539
 540         struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cm->get_id(),cm->get_flags()|TX_CP_CAN_ID); // TX_CP_CAN_ID -> copy in cfd the id of bcm
 541         cm->set_bcm_msg(bcm_msg);
 542
 543         std::vector<canfd_frame> cfd_vect = cm->convert_to_canfd_frame_vector();
 544
 545         if(subscription.open_socket(subscription, bus_name,socket_type::BCM) < 0)
 546         {
 547                         return -1;
 548         }
 549
 550         struct bcm_msg &bcm_cm = cm->get_bcm_msg();
 551
 552
 553
 554         if(cfd_vect.size() > 1)
 555         {
 556                 AFB_ERROR("Multi frame BCM not implemented");
 557                 return -1;
 558         }
 559         else if(cfd_vect.size() == 1) // raw or fd
 560         {
 561                 subscription.add_one_bcm_frame(cfd_vect[0], bcm_cm);
 562
 563                 if(subscription.socket_->write_message(*cm) < 0)
 564                 {
 565                         AFB_ERROR("Error write message id : %d",cfd_vect[0].can_id);
 566                         return -1;
 567                 }
 568         }
 569         else // error
 570         {
 571                 AFB_ERROR("Error no data available");
 572                 return -1;
 573         }
 574
 575         if(! subscription.socket_.get())
 576         {
 577                         return -1;
 578         }
 579
 580         return 0;
 581 }
 582
 583 #ifdef USE_FEATURE_J1939
 584 int low_can_subscription_t::j1939_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name)
 585 {
 586         //struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cfd.can_id);
 587         //subscription.add_one_bcm_frame(cfd, bcm_msg);
 588
 589         if(subscription.open_socket(subscription, bus_name, socket_type::J1939) < 0)
 590         {
 591                 return -1;
 592         }
 593
 594         j1939_message_t *jm = static_cast<j1939_message_t*>(message);
 595         jm->set_sockname(jm->get_pgn(),J1939_NO_NAME,J1939_NO_ADDR);
 596         if(subscription.socket_->write_message(*jm) < 0)
 597         {
 598                 AFB_ERROR("Error write j1939 message");
 599                 return -1;
 600         }
 601
 602         return 0;
 603 }
 604 #endif