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_ISOTP
  26 #include "../utils/socketcan-isotp.hpp"
  27 #endif
  28
  29 #ifdef USE_FEATURE_J1939
  30 #include "../utils/socketcan-j1939/socketcan-j1939-data.hpp"
  31 #endif
  32
  33 low_can_subscription_t::low_can_subscription_t()
  34         : index_{-1},
  35         event_filter_{},
  36         event_{},
  37         socket_{}
  38 {}
  39
  40 low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter)
  41         : index_{-1},
  42           event_filter_{event_filter},
  43           event_{},
  44           socket_{}
  45  {}
  46
  47 low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
  48         : index_{s.index_},
  49         event_filter_{s.event_filter_},
  50         event_{},
  51         socket_{std::move(s.socket_)}
  52 {}
  53
  54 low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s)
  55 {
  56         socket_ = std::move(s.socket_);
  57         return *this;
  58 }
  59
  60 low_can_subscription_t::~low_can_subscription_t()
  61 {
  62         if(socket_)
  63                 socket_->close();
  64 }
  65
  66 low_can_subscription_t::operator bool() const
  67 {
  68         return ((signal_ != nullptr || ! diagnostic_message_.empty()) && ! socket_);
  69 }
  70 afb_event_t low_can_subscription_t::get_event()
  71 {
  72         return event_;
  73 }
  74
  75 /**
  76  * @brief Set the event calling the afb_daemon_make_event function to
  77  * create it and the checks its validity.
  78  *
  79  * @return int - 0 if OK, -1 if not
  80  */
  81 int low_can_subscription_t::set_event()
  82 {
  83         std::string event_name = get_name();
  84         event_ = afb_daemon_make_event(event_name.c_str());
  85         if (! afb_event_is_valid(event_))
  86         {
  87                 AFB_ERROR("Can't create an event for %s, something goes wrong.", event_name.c_str());
  88                 return -1;
  89         }
  90
  91         return 0;
  92 }
  93
  94 /**
  95  * @brief Subscribe to the event member of the object
  96  *
  97  * @param request the subscribe AFB client request which want to
  98  * subscribe
  99  *
 100  * @return int - 0 if OK, -1 if not
 101  */
 102 int low_can_subscription_t::subscribe(afb_req_t request)
 103 {
 104         if(! afb_event_is_valid(event_))
 105         {
 106                 if(set_event() < 0)
 107                 {
 108                         return -1;
 109                 }
 110         }
 111         return afb_req_subscribe(request, event_);
 112 }
 113
 114 /**
 115  * @brief Unsubscribe to the event member of the object
 116  *
 117  * @param request the unsubscribe AFB client request which want to
 118  * unsubscribe
 119  *
 120  * @return int - 0 if OK, -1 if not
 121  */
 122 int low_can_subscription_t::unsubscribe(afb_req_t request)
 123 {
 124         return afb_req_unsubscribe(request, event_);
 125 }
 126
 127 /**
 128  * @brief Getter of index of subscription
 129  *
 130  * @return int Index
 131  */
 132 int low_can_subscription_t::get_index() const
 133 {
 134         return index_;
 135 }
 136
 137 /**
 138  * @brief Getter of signal of subscription
 139  *
 140  * @return const std::shared_ptr<signal_t> A shared pointer of the signal
 141  */
 142 const std::shared_ptr<signal_t> low_can_subscription_t::get_signal() const
 143 {
 144         return signal_;
 145 }
 146
 147 /**
 148  * @brief Check if the signal and event are the same that the subscription
 149  *
 150  * @param signal the signal compared
 151  * @param event_filter the event_filter compared
 152  * @return true if they are equal
 153  * @return false if they are not equal
 154  */
 155 bool low_can_subscription_t::is_signal_subscription_corresponding(const std::shared_ptr<signal_t> signal, const struct event_filter_t& event_filter) const
 156 {
 157         return signal_ == signal && event_filter_ == event_filter;
 158 }
 159
 160 /**
 161  * @brief Getter for diagnostic messages of subscription
 162  *
 163  * @return const vector_ptr_diag_msg_t Vector of pointer of diagnostic message
 164  */
 165 const vect_ptr_diag_msg_t low_can_subscription_t::get_diagnostic_message() const
 166 {
 167         return diagnostic_message_;
 168 }
 169
 170 /// @brief Retrieve a diagnostic_message subscribed from a pid
 171 ///
 172 /// @param[in] pid - Diagnostic messages PID to search for
 173 ///
 174 /// @return shared_ptr diagnostic_message_ if found and nullptr if not found
 175 const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(uint32_t pid) const
 176 {
 177         for(const auto& diag: diagnostic_message_)
 178         {
 179                 if(diag->get_pid() == pid)
 180                 {
 181                         return diag;
 182                 }
 183         }
 184         return nullptr;
 185 }
 186
 187 /// @brief Retrieve a diagnostic message search from its name
 188 ///
 189 /// @return shared_ptr diagnostic_message_ if found and nullptr if not found
 190 const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(const std::string& name) const
 191 {
 192         for(const auto& diag: diagnostic_message_)
 193         {
 194                 if(diag->get_name() == name)
 195                 {
 196                         return diag;
 197                 }
 198         }
 199         return nullptr;
 200 }
 201
 202 /// @brief Return the CAN signal name and empty string if not found
 203 /// or no CAN signal subscribed
 204 const std::string low_can_subscription_t::get_name() const
 205 {
 206         if (signal_ != nullptr)
 207                 return signal_->get_name();
 208         else if (!diagnostic_message_.empty())
 209                 return "diagnostic_messages";
 210
 211         AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported.");
 212         return "";
 213 }
 214
 215 /// @brief Return name from a diagnostic message from a PID
 216 ///
 217 /// @param[in] pid - Diagnostic message PID
 218 const std::string low_can_subscription_t::get_name(uint32_t pid) const
 219 {
 220         if (!diagnostic_message_.empty())
 221                 return get_diagnostic_message(pid)->get_name() ;
 222
 223         AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported.");
 224         return "";
 225 }
 226
 227 /**
 228  * @brief Getter of the frequency of the event_filter
 229  *
 230  * @return float The frequency
 231  */
 232 float low_can_subscription_t::get_frequency() const
 233 {
 234         return event_filter_.frequency;
 235 }
 236
 237 /**
 238  * @brief Getter of the min of the event_filter
 239  *
 240  * @return float The min value filtered
 241  */
 242 float low_can_subscription_t::get_min() const
 243 {
 244         return event_filter_.min;
 245 }
 246
 247 /**
 248  * @brief Getter of the max of the event_filter
 249  *
 250  * @return float The max value filtered
 251  */
 252 float low_can_subscription_t::get_max() const
 253 {
 254         return event_filter_.max;
 255 }
 256
 257 /**
 258  * @brief Getter of the rx_id of the event_filter
 259  *
 260  * @return canid_t The rx_id value
 261  */
 262 canid_t low_can_subscription_t::get_rx_id() const
 263 {
 264         return event_filter_.rx_id;
 265 }
 266
 267 /**
 268  * @brief Getter of the tx_id of the event_filter
 269  *
 270  * @return canid_t The tx_id value
 271  */
 272 canid_t low_can_subscription_t::get_tx_id() const
 273 {
 274         return event_filter_.tx_id;
 275 }
 276
 277 /**
 278  * @brief Getter of the socket of the subscription
 279  *
 280  * @return std::shared_ptr<utils::socketcan_t> Pointer of the socket object
 281  */
 282 std::shared_ptr<utils::socketcan_t> low_can_subscription_t::get_socket()
 283 {
 284         return socket_;
 285 }
 286
 287 /**
 288  * @brief Setter for the frequency of the event_filter
 289  *
 290  * @param freq The new frequency
 291  */
 292 void low_can_subscription_t::set_frequency(float freq)
 293 {
 294         event_filter_.frequency = freq;
 295 }
 296
 297 /**
 298  * @brief Setter for the min of the event_filter
 299  *
 300  * @param min The new min
 301  */
 302 void low_can_subscription_t::set_min(float min)
 303 {
 304         event_filter_.min = min;
 305 }
 306
 307 /**
 308  * @brief Setter for the max of the event_filter
 309  *
 310  * @param max The new max
 311  */
 312 void low_can_subscription_t::set_max(float max)
 313 {
 314         event_filter_.max = max;
 315 }
 316
 317 /**
 318  * @brief Setter for the rx_id of the event_filter
 319  *
 320  * @param rx_id The new rx_id
 321  */
 322 void low_can_subscription_t::set_rx_id(canid_t rx_id)
 323 {
 324         event_filter_.rx_id = rx_id;
 325 }
 326
 327 /**
 328  * @brief Setter for the tx_id of the event_filter
 329  *
 330  * @param tx_id The new tx_id
 331  */
 332 void low_can_subscription_t::set_tx_id(canid_t tx_id)
 333 {
 334         event_filter_.tx_id = tx_id;
 335 }
 336
 337 /**
 338  * @brief Setter for the index of the subscription
 339  *
 340  * @param index The new index
 341  */
 342 void low_can_subscription_t::set_index(int index)
 343 {
 344         index_ = index;
 345 }
 346
 347 /**
 348  * @brief Setter for the signal of the subscription
 349  *
 350  * @param signal The new signal
 351  */
 352 void low_can_subscription_t::set_signal(std::shared_ptr<signal_t> signal)
 353 {
 354         signal_ = signal;
 355 }
 356
 357
 358 /// @brief Based upon which object is a subscribed CAN signal or diagnostic message
 359 /// it will open the socket with the required CAN bus device name.
 360 ///
 361 /// @return INVALID_SOCKET on failure, else positive integer
 362 int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, const std::string& bus_name,  uint32_t flags)
 363 {
 364         int ret = -1;
 365         if(! subscription.socket_)
 366         {
 367                 if(flags&BCM_PROTOCOL)
 368                 {
 369                         if( subscription.signal_ != nullptr)
 370                         {
 371                                         subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
 372                                         ret = subscription.socket_->open(subscription.signal_->get_message()->get_bus_device_name());
 373                         }
 374                         else if (! subscription.diagnostic_message_ .empty())
 375                         {
 376                                         subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
 377                                         ret = subscription.socket_->open(application_t::instance().get_diagnostic_manager().get_bus_device_name());
 378                         }
 379                         else if ( !bus_name.empty())
 380                         {
 381                                         subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
 382                                         ret = subscription.socket_->open(bus_name);
 383                         }
 384                         subscription.index_ = (int)subscription.socket_->socket();
 385                 }
 386 #ifdef USE_FEATURE_ISOTP
 387                 else if(flags&ISOTP_PROTOCOL)
 388                 {
 389                         if(subscription.signal_ != nullptr)
 390                         {
 391                                 canid_t rx = NO_CAN_ID;
 392                                 canid_t tx = NO_CAN_ID;
 393                                 if(flags&ISOTP_SEND)
 394                                 {
 395                                         rx = subscription.get_rx_id();
 396                                         tx = subscription.signal_->get_message()->get_id();
 397                                 }
 398                                 else if(flags&ISOTP_RECEIVE)
 399                                 {
 400                                         rx = subscription.signal_->get_message()->get_id();
 401                                         tx = subscription.get_tx_id();
 402                                 }
 403                                 std::shared_ptr<utils::socketcan_isotp_t> socket = std::make_shared<utils::socketcan_isotp_t>();
 404                                 ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(),rx,tx);
 405                                 subscription.socket_ = socket;
 406                         }
 407                         else if(!bus_name.empty())
 408                         {
 409                                 std::shared_ptr<utils::socketcan_isotp_t> socket = std::make_shared<utils::socketcan_isotp_t>();
 410                                 ret = socket->open(bus_name, subscription.get_rx_id(),subscription.get_tx_id());
 411                                 subscription.socket_ = socket;
 412                         }
 413                         subscription.index_ = (int)subscription.socket_->socket();
 414                 }
 415 #endif
 416 #ifdef USE_FEATURE_J1939
 417                 else if(flags&J1939_ADDR_CLAIM_PROTOCOL)
 418                 {
 419                         pgn_t pgn = J1939_NO_PGN;
 420                         if(!bus_name.empty())
 421                         {
 422                                 std::shared_ptr<utils::socketcan_j1939_addressclaiming_t> socket = std::make_shared<utils::socketcan_j1939_addressclaiming_t>();
 423                                 ret = socket->open(bus_name, pgn);
 424                                 subscription.socket_ = socket;
 425                         }
 426                         subscription.index_ = (int)subscription.socket_->socket();
 427                 }
 428                 else if(flags&J1939_PROTOCOL)
 429                 {
 430                         pgn_t pgn = J1939_NO_PGN;
 431                         if(subscription.signal_ != nullptr)
 432                         {
 433                                 pgn = subscription.signal_->get_message()->get_id();
 434                                 std::shared_ptr<utils::socketcan_j1939_data_t> socket = std::make_shared<utils::socketcan_j1939_data_t>();
 435                                 ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(), pgn);
 436                                 subscription.socket_ = socket;
 437                         }
 438                         else if(!bus_name.empty())
 439                         {
 440                                 std::shared_ptr<utils::socketcan_j1939_data_t> socket = std::make_shared<utils::socketcan_j1939_data_t>();
 441                                 ret = socket->open(bus_name, pgn);
 442                                 subscription.socket_ = socket;
 443                         }
 444                         subscription.index_ = (int)subscription.socket_->socket();
 445                 }
 446 #endif
 447                 else
 448                 {
 449                         AFB_ERROR("Socket format not supported");
 450                         return INVALID_SOCKET;
 451                 }
 452         }
 453         else{
 454                 ret = subscription.socket_->socket();
 455         }
 456         return ret;
 457 }
 458
 459
 460 /// @brief Builds a BCM message head but doesn't set can_frame.
 461 ///
 462 /// @returns a bcm_msg with the msg_head parts set and can_frame
 463 /// zeroed.
 464 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)
 465 {
 466         struct bcm_msg bcm_msg;
 467         ::memset(&bcm_msg, 0, sizeof(bcm_msg));
 468
 469         bcm_msg.msg_head.opcode  = opcode;
 470         bcm_msg.msg_head.can_id  = can_id;
 471         bcm_msg.msg_head.flags = flags;
 472         bcm_msg.msg_head.ival1.tv_sec = timeout.tv_sec ;
 473         bcm_msg.msg_head.ival1.tv_usec = timeout.tv_usec;
 474         bcm_msg.msg_head.ival2.tv_sec = frequency_thinning.tv_sec ;
 475         bcm_msg.msg_head.ival2.tv_usec = frequency_thinning.tv_usec;
 476
 477
 478         return bcm_msg;
 479 }
 480
 481 /// @brief Take an existing bcm_msg struct and add a can_frame.
 482 /// Currently only 1 uniq can_frame can be added, it's not possible to build
 483 /// a multiplexed message with several can_frame.
 484 void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg)
 485 {
 486         struct can_frame cf;
 487
 488         if (bcm_msg.msg_head.flags & CAN_FD_FRAME)
 489                 bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cfd;
 490         else
 491         {
 492                 cf.can_id = cfd.can_id;
 493                 cf.can_dlc = cfd.len;
 494                 ::memcpy(&cf.data, cfd.data, cfd.len);
 495                 bcm_msg.frames[bcm_msg.msg_head.nframes] = cf;
 496         }
 497         bcm_msg.msg_head.nframes++;
 498 }
 499
 500 /// @brief Take an existing bcm_msg struct and add a can_frame.
 501 /// Currently only 1 uniq can_frame can be added, it's not possible to build
 502 /// a multiplexed message with several can_frame.
 503 void low_can_subscription_t::remove_last_bcm_frame(struct bcm_msg& bcm_msg)
 504 {
 505         struct canfd_frame cf;
 506         memset(&cf,0,sizeof(cf));
 507         bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cf;
 508         bcm_msg.msg_head.nframes--;
 509 }
 510
 511 #ifdef USE_FEATURE_J1939
 512 /**
 513  * @brief Create a j1939 socket to read message
 514  *
 515  * @param subscription The subscription
 516  * @param sig The signal subscribed
 517  * @return int 0 if ok else -1
 518  */
 519 int low_can_subscription_t::create_rx_filter_j1939(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig)
 520 {
 521         subscription.signal_= sig;
 522
 523         // Make sure that socket is opened.
 524         if(open_socket(subscription,"",J1939_PROTOCOL) < 0)
 525         {
 526                         return -1;
 527         }
 528         return 0;
 529 }
 530 #endif
 531
 532 /**
 533  * @brief Create an iso tp socket to read message
 534  *
 535  * @param subscription The subscription
 536  * @param sig The signal subscribed
 537  * @return int 0 if ok else -1
 538  */
 539 int low_can_subscription_t::create_rx_filter_isotp(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig)
 540 {
 541         subscription.signal_= sig;
 542
 543         // Make sure that socket is opened.
 544         if(open_socket(subscription,"",ISOTP_PROTOCOL|ISOTP_RECEIVE) < 0)
 545         {
 546                         return -1;
 547         }
 548         return 0;
 549 }
 550
 551 /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a CAN signal
 552 /// subscription
 553 ///
 554 /// @return 0 if ok else -1
 555 int low_can_subscription_t::create_rx_filter_can(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig)
 556 {
 557         uint32_t flags_bcm;
 558         struct timeval freq, timeout = {0, 0};
 559         struct canfd_frame cfd;
 560         subscription.signal_= sig;
 561         bool is_fd = sig->get_message()->is_fd();
 562
 563         std::vector<uint8_t> data;
 564         uint32_t length_msg = sig->get_message()->get_length();
 565
 566         if(length_msg == 0)
 567         {
 568                 AFB_ERROR("Error in the length of message with id %d",sig->get_message()->get_id());
 569                 return -1;
 570         }
 571
 572         for(int i = 0; i<length_msg;i++)
 573         {
 574                 data.push_back(0);
 575         }
 576
 577         encoder_t::encode_data(subscription.signal_,data,true,false,true);
 578
 579         can_message_t cm;
 580
 581         if (is_fd)
 582         {
 583                 flags_bcm = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME;
 584                 cfd.len = CANFD_MAX_DLEN;
 585                 cm = can_message_t( CANFD_MAX_DLEN,
 586                                                         sig->get_message()->get_id(),
 587                                                         length_msg,
 588                                                         false,
 589                                                         sig->get_message()->get_flags(),
 590                                                         data,
 591                                                         0);
 592         }
 593         else
 594         {
 595                 flags_bcm = SETTIMER|RX_NO_AUTOTIMER;
 596                 cfd.len = CAN_MAX_DLEN;
 597                 cm = can_message_t( CAN_MAX_DLEN,
 598                                                         sig->get_message()->get_id(),
 599                                                         length_msg,
 600                                                         false,
 601                                                         sig->get_message()->get_flags(),
 602                                                         data,
 603                                                         0);
 604         }
 605
 606         frequency_clock_t f = subscription.event_filter_.frequency == 0 ? subscription.signal_->get_frequency() : frequency_clock_t(subscription.event_filter_.frequency);
 607         freq = f.get_timeval_from_period();
 608
 609         struct bcm_msg bcm_msg = subscription.make_bcm_head(RX_SETUP, subscription.signal_->get_message()->get_id(), flags_bcm, timeout, freq);
 610
 611         std::vector<canfd_frame> cfd_vect = cm.convert_to_canfd_frame_vector();
 612
 613         if(cfd_vect.size() > 1) //multi
 614         {
 615                 AFB_ERROR("Not implemented yet");
 616                 return -1;
 617         }
 618         else if(cfd_vect.size() == 1)
 619         {
 620                 canfd_frame cf = cfd_vect[0];
 621                 for(int i=0;i<cfd.len;i++)
 622                 {
 623                         cfd.data[i] = cf.data[i];
 624                 }
 625                 subscription.add_one_bcm_frame(cfd, bcm_msg);
 626         }
 627         else
 628         {
 629                 AFB_ERROR("No data available");
 630                 return -1;
 631         }
 632
 633         return create_rx_filter_bcm(subscription, bcm_msg);
 634 }
 635
 636 /**
 637  * @brief Create the good socket to read message
 638  * depending on the signal
 639  *
 640  * @param sig The signal subscribed
 641  * @return  0 if ok else -1
 642  */
 643 int low_can_subscription_t::create_rx_filter(std::shared_ptr<signal_t> sig)
 644 {
 645         if(!sig->get_message()->is_isotp() && !sig->get_message()->is_j1939())
 646         {
 647                 return low_can_subscription_t::create_rx_filter_can(*this, sig);
 648         }
 649 #ifdef USE_FEATURE_ISOTP
 650         else if(sig->get_message()->is_isotp())
 651         {
 652                 return low_can_subscription_t::create_rx_filter_isotp(*this,sig);
 653         }
 654 #endif
 655 #ifdef USE_FEATURE_J1939
 656         else if(sig->get_message()->is_j1939())
 657         {
 658                 return low_can_subscription_t::create_rx_filter_j1939(*this, sig);
 659         }
 660 #endif
 661         else
 662         {
 663                 AFB_ERROR("Signal can't be j1939 and isotp");
 664                 return -1;
 665         }
 666 }
 667
 668
 669 /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a
 670 /// diagnostic message subscription.
 671 ///
 672 /// @return 0 if ok else -1
 673 int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig)
 674 {
 675         diagnostic_message_.push_back(sig);
 676
 677         struct timeval freq = frequency_clock_t(event_filter_.frequency).get_timeval_from_period();
 678         //struct timeval timeout = frequency_clock_t(10).get_timeval_from_period();
 679         struct timeval timeout = {0,0};
 680
 681         struct bcm_msg bcm_msg =  make_bcm_head(RX_SETUP, OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
 682         return create_rx_filter_bcm(*this, bcm_msg);
 683 }
 684
 685 /// @brief Create a RX_SETUP receive job used by the BCM socket directly from
 686 /// a bcm_msg. The method should not be used directly but rather through the
 687 /// two previous method with signal_t or diagnostic_message_t object.
 688 ///
 689 /// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed
 690 /// to the 8 classics OBD2 functional response ID
 691 ///
 692 /// @return 0 if ok else -1
 693 int low_can_subscription_t::create_rx_filter_bcm(low_can_subscription_t &subscription, struct bcm_msg& bcm_msg)
 694 {
 695         // Make sure that socket is opened.
 696         if(subscription.open_socket(subscription,"",BCM_PROTOCOL) < 0)
 697                 {return -1;}
 698
 699         // If it's not an OBD2 CAN ID then just add a simple RX_SETUP job
 700         // else monitor all standard 8 CAN OBD2 ID response.
 701
 702         can_message_t msg = can_message_t();
 703
 704         msg.set_bcm_msg(bcm_msg);
 705
 706         if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
 707         {
 708                 subscription.socket_->write_message(msg);
 709                         if(! subscription.socket_)
 710                                 return -1;
 711         }
 712         else
 713         {
 714                 for(uint8_t i = 0; i < 8; i++)
 715                 {
 716                         bcm_msg.msg_head.can_id  =  OBD2_FUNCTIONAL_RESPONSE_START + i;
 717                         msg.set_bcm_msg(bcm_msg);
 718                         subscription.socket_->write_message(msg);
 719                         if(! subscription.socket_)
 720                                 return -1;
 721                 }
 722         }
 723         return 0;
 724 }
 725
 726 /// @brief Creates a TX_SEND job that is used by the BCM socket to
 727 /// send a message
 728 ///
 729 /// @return 0 if ok else -1
 730 int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name)
 731 {
 732         can_message_t *cm = static_cast<can_message_t*>(message);
 733
 734         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
 735         cm->set_bcm_msg(bcm_msg);
 736
 737         std::vector<canfd_frame> cfd_vect = cm->convert_to_canfd_frame_vector();
 738
 739         if(subscription.open_socket(subscription, bus_name, BCM_PROTOCOL) < 0)
 740         {
 741                         return -1;
 742         }
 743
 744         struct bcm_msg &bcm_cm = cm->get_bcm_msg();
 745
 746
 747
 748         if(cfd_vect.size() > 1)
 749         {
 750                 AFB_ERROR("Multi frame BCM not implemented");
 751                 return -1;
 752         }
 753         else if(cfd_vect.size() == 1) // raw or fd
 754         {
 755                 subscription.add_one_bcm_frame(cfd_vect[0], bcm_cm);
 756
 757                 if(subscription.socket_->write_message(*cm) < 0)
 758                 {
 759                         AFB_ERROR("Error write message id : %d",cfd_vect[0].can_id);
 760                         return -1;
 761                 }
 762         }
 763         else // error
 764         {
 765                 AFB_ERROR("Error no data available");
 766                 return -1;
 767         }
 768
 769         if(! subscription.socket_.get())
 770         {
 771                         return -1;
 772         }
 773
 774         return 0;
 775 }
 776
 777 #ifdef USE_FEATURE_J1939
 778 /**
 779  * @brief Allows to open socket j1939 and send j1939 messsage
 780  *
 781  * @param subscription The subscription
 782  * @param message The j1939 message to send
 783  * @param bus_name The bus name where to send message
 784  * @return int  0 if ok else -1
 785  */
 786 int low_can_subscription_t::j1939_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name)
 787 {
 788         //struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cfd.can_id);
 789         //subscription.add_one_bcm_frame(cfd, bcm_msg);
 790
 791         if(subscription.open_socket(subscription, bus_name, J1939_PROTOCOL) < 0)
 792         {
 793                 return -1;
 794         }
 795
 796         j1939_message_t *jm = static_cast<j1939_message_t*>(message);
 797         jm->set_sockname(jm->get_pgn(),J1939_NO_NAME,J1939_NO_ADDR);
 798         if(subscription.socket_->write_message(*jm) < 0)
 799         {
 800                 AFB_ERROR("Error write j1939 message");
 801                 return -1;
 802         }
 803
 804         return 0;
 805 }
 806 #endif
 807
 808
 809 /**
 810  * @brief Allows to open socket isotp and send can messsage
 811  *
 812  * @param subscription The subscription
 813  * @param message The can message to send
 814  * @param bus_name The bus name where to send message
 815  * @return int  0 if ok else -1
 816  */
 817 int low_can_subscription_t::isotp_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name)
 818 {
 819         //struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cfd.can_id);
 820         //subscription.add_one_bcm_frame(cfd, bcm_msg);
 821
 822         if(subscription.open_socket(subscription, bus_name, ISOTP_PROTOCOL|ISOTP_SEND) < 0)
 823         {
 824                 return -1;
 825         }
 826
 827         can_message_t *cm = static_cast<can_message_t*>(message);
 828         if(subscription.socket_->write_message(*cm) < 0)
 829         {
 830                 AFB_ERROR("Error write iso tp message");
 831                 return -1;
 832         }
 833
 834         return 0;
 835 }