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
  23 low_can_subscription_t::low_can_subscription_t()
  24         : index_{-1},
  25         event_filter_{},
  26         event_{},
  27         socket_{}
  28 {}
  29
  30 low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter)
  31         : index_{-1},
  32           event_filter_{event_filter},
  33           event_{},
  34           socket_{}
  35  {}
  36
  37 low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
  38         : index_{s.index_},
  39         event_filter_{s.event_filter_},
  40         event_{},
  41         socket_{std::move(s.socket_)}
  42 {}
  43
  44 low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s)
  45 {
  46         socket_ = std::move(s.socket_);
  47         return *this;
  48 }
  49
  50 low_can_subscription_t::~low_can_subscription_t()
  51 {
  52         socket_->close();
  53 }
  54
  55 low_can_subscription_t::operator bool() const
  56 {
  57         return ((can_signal_ != nullptr || ! diagnostic_message_.empty()) && ! socket_);
  58 }
  59 afb_event_t low_can_subscription_t::get_event()
  60 {
  61         return event_;
  62 }
  63
  64 /**
  65  * @brief Set the event calling the afb_daemon_make_event function to
  66  * create it and the checks its validity.
  67  *
  68  * @return int - 0 if OK, -1 if not
  69  */
  70 int low_can_subscription_t::set_event()
  71 {
  72         std::string event_name = get_name();
  73         event_ = afb_daemon_make_event(event_name.c_str());
  74         if (! afb_event_is_valid(event_))
  75         {
  76                 AFB_ERROR("Can't create an event for %s, something goes wrong.", event_name.c_str());
  77                 return -1;
  78         }
  79
  80         return 0;
  81 }
  82
  83 /**
  84  * @brief Subscribe to the event member of the object
  85  *
  86  * @param request the subscribe AFB client request which want to
  87  * subscribe
  88  *
  89  * @return int - 0 if OK, -1 if not
  90  */
  91 int low_can_subscription_t::subscribe(afb_req_t request)
  92 {
  93         if(set_event() < 0)
  94                 return -1;
  95         return afb_req_subscribe(request, event_);
  96 }
  97
  98 /**
  99  * @brief Unsubscribe to the event member of the object
 100  *
 101  * @param request the unsubscribe AFB client request which want to
 102  * unsubscribe
 103  *
 104  * @return int - 0 if OK, -1 if not
 105  */
 106 int low_can_subscription_t::unsubscribe(afb_req_t request)
 107 {
 108         return afb_req_unsubscribe(request, event_);
 109 }
 110
 111 int low_can_subscription_t::get_index() const
 112 {
 113         return index_;
 114 }
 115
 116 const std::shared_ptr<can_signal_t> low_can_subscription_t::get_can_signal() const
 117 {
 118         return can_signal_;
 119 }
 120
 121 bool low_can_subscription_t::is_signal_subscription_corresponding(const std::shared_ptr<can_signal_t> can_signal, const struct event_filter_t& event_filter) const
 122 {
 123         return can_signal_ == can_signal && event_filter_ == event_filter;
 124 }
 125
 126 const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_subscription_t::get_diagnostic_message() const
 127 {
 128         return diagnostic_message_;
 129 }
 130
 131 /// @brief Retrieve a diagnostic_message subscribed from a pid
 132 ///
 133 /// @param[in] pid - Diagnostic messages PID to search for
 134 ///
 135 /// @return shared_ptr diagnostic_message_ if found and nullptr if not found
 136 const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(uint32_t pid) const
 137 {
 138         for(const auto& diag: diagnostic_message_)
 139         {
 140                 if(diag->get_pid() == pid)
 141                 {
 142                         return diag;
 143                 }
 144         }
 145         return nullptr;
 146 }
 147
 148 /// @brief Retrieve a diagnostic message search from its name
 149 ///
 150 /// @return shared_ptr diagnostic_message_ if found and nullptr if not found
 151 const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(const std::string& name) const
 152 {
 153         for(const auto& diag: diagnostic_message_)
 154         {
 155                 if(diag->get_name() == name)
 156                 {
 157                         return diag;
 158                 }
 159         }
 160         return nullptr;
 161 }
 162
 163 /// @brief Return the CAN signal name and empty string if not found
 164 /// or no CAN signal subscribed
 165 const std::string low_can_subscription_t::get_name() const
 166 {
 167         if (can_signal_ != nullptr)
 168                 return can_signal_->get_name();
 169         else if (!diagnostic_message_.empty())
 170                 return "diagnostic_messages";
 171
 172         AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported.");
 173         return "";
 174 }
 175
 176 /// @brief Return name from a diagnostic message from a PID
 177 ///
 178 /// @param[in] pid - Diagnostic message PID
 179 const std::string low_can_subscription_t::get_name(uint32_t pid) const
 180 {
 181         if (!diagnostic_message_.empty())
 182                 return get_diagnostic_message(pid)->get_name() ;
 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 float low_can_subscription_t::get_frequency() const
 189 {
 190         return event_filter_.frequency;
 191 }
 192
 193 float low_can_subscription_t::get_min() const
 194 {
 195         return event_filter_.min;
 196 }
 197
 198 float low_can_subscription_t::get_max() const
 199 {
 200         return event_filter_.max;
 201 }
 202
 203 std::shared_ptr<utils::socketcan_t> low_can_subscription_t::get_socket()
 204 {
 205         return socket_;
 206 }
 207
 208 void low_can_subscription_t::set_frequency(float freq)
 209 {
 210         event_filter_.frequency = freq;
 211 }
 212
 213 void low_can_subscription_t::set_min(float min)
 214 {
 215         event_filter_.min = min;
 216 }
 217
 218 void low_can_subscription_t::set_max(float max)
 219 {
 220         event_filter_.max = max;
 221 }
 222 /// @brief Based upon which object is a subscribed CAN signal or diagnostic message
 223 /// it will open the socket with the required CAN bus device name.
 224 ///
 225 /// @return INVALID_SOCKET on failure, else positive integer
 226 int low_can_subscription_t::open_socket(const std::string& bus_name)
 227 {
 228         int ret = 0;
 229         if(! socket_)
 230         {
 231                 if( can_signal_ != nullptr)
 232                         {ret = socket_->open(can_signal_->get_message()->get_bus_device_name());}
 233                 else if (! diagnostic_message_ .empty())
 234                         {ret = socket_->open(application_t::instance().get_diagnostic_manager().get_bus_device_name());}
 235                 else if ( ! bus_name.empty())
 236                         { ret = socket_->open(bus_name);}
 237                 index_ = (int)socket_->socket();
 238         }
 239         return ret;
 240 }
 241
 242 /// @brief Builds a BCM message head but doesn't set can_frame.
 243 ///
 244 /// @returns a bcm_msg with the msg_head parts set and can_frame
 245 /// zeroed.
 246 struct utils::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
 247 {
 248         struct utils::bcm_msg bcm_msg;
 249         ::memset(&bcm_msg, 0, sizeof(bcm_msg));
 250
 251         bcm_msg.msg_head.opcode  = opcode;
 252         bcm_msg.msg_head.can_id  = can_id;
 253         bcm_msg.msg_head.flags = flags;
 254         bcm_msg.msg_head.ival1.tv_sec = timeout.tv_sec ;
 255         bcm_msg.msg_head.ival1.tv_usec = timeout.tv_usec;
 256         bcm_msg.msg_head.ival2.tv_sec = frequency_thinning.tv_sec ;
 257         bcm_msg.msg_head.ival2.tv_usec = frequency_thinning.tv_usec;
 258
 259         return bcm_msg;
 260 }
 261
 262 /// @brief Take an existing bcm_msg struct and add a can_frame.
 263 /// Currently only 1 uniq can_frame can be added, it's not possible to build
 264 /// a multiplexed message with several can_frame.
 265 void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct utils::bcm_msg& bcm_msg) const
 266 {
 267         struct can_frame cf;
 268
 269         if (bcm_msg.msg_head.flags & CAN_FD_FRAME)
 270                 bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cfd;
 271         else
 272         {
 273                 cf.can_id = cfd.can_id;
 274                 cf.can_dlc = cfd.len;
 275                 ::memcpy(&cf.data, cfd.data, cfd.len);
 276                 bcm_msg.frames[bcm_msg.msg_head.nframes] = cf;
 277         }
 278         bcm_msg.msg_head.nframes++;
 279 }
 280
 281 /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a CAN signal
 282 /// subscription
 283 ///
 284 /// @return 0 if ok else -1
 285 int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
 286 {
 287         uint32_t flags;
 288         float val;
 289         struct timeval freq, timeout = {0, 0};
 290         struct canfd_frame cfd;
 291         can_signal_= sig;
 292
 293         if (sig->get_message()->is_fd())
 294         {
 295                 flags = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME;
 296                 cfd.len = CANFD_MAX_DLEN;
 297         }
 298         else
 299         {
 300                 flags = SETTIMER|RX_NO_AUTOTIMER;
 301                 cfd.len = CAN_MAX_DLEN;
 302         }
 303         val = (float)(1 << can_signal_->get_bit_size()) - 1;
 304         if(! bitfield_encode_float(val,
 305                                    can_signal_->get_bit_position(),
 306                                    can_signal_->get_bit_size(),
 307                                    1,
 308                                    can_signal_->get_offset(),
 309                                    cfd.data,
 310                                    cfd.len))
 311                 return -1;
 312
 313         frequency_clock_t f = event_filter_.frequency == 0 ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency);
 314         freq = f.get_timeval_from_period();
 315
 316         utils::bcm_msg bcm_msg = make_bcm_head(RX_SETUP, can_signal_->get_message()->get_id(), flags, timeout, freq);
 317         add_one_bcm_frame(cfd, bcm_msg);
 318
 319         return create_rx_filter(bcm_msg);
 320 }
 321
 322 /// @brief Create a RX_SETUP receive job used by the BCM socket directly from
 323 /// a bcm_msg. The method should not be used directly but rather through the
 324 /// two previous method with can_signal_t or diagnostic_message_t object.
 325 ///
 326 /// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed
 327 /// to the 8 classics OBD2 functional response ID
 328 ///
 329 /// @return 0 if ok else -1
 330 int low_can_subscription_t::create_rx_filter(utils::bcm_msg& bcm_msg)
 331 {
 332         // Make sure that socket is opened.
 333         if(open_socket() < 0)
 334                 {return -1;}
 335
 336         // If it's not an OBD2 CAN ID then just add a simple RX_SETUP job
 337         // else monitor all standard 8 CAN OBD2 ID response.
 338         if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
 339         {
 340                 socket_->write_message(bcm_msg);
 341                         if(! socket_)
 342                                 return -1;
 343         }
 344         else
 345         {
 346                 for(uint8_t i = 0; i < 8; i++)
 347                 {
 348                         bcm_msg.msg_head.can_id  =  OBD2_FUNCTIONAL_RESPONSE_START + i;
 349
 350                         socket_->write_message(bcm_msg);
 351                         if(! socket_)
 352                                 return -1;
 353                 }
 354         }
 355
 356         return 0;
 357 }
 358
 359 /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a
 360 /// diagnostic message subscription.
 361 ///
 362 /// @return 0 if ok else -1
 363 int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig)
 364 {
 365         diagnostic_message_.push_back(sig);
 366
 367         struct timeval freq = frequency_clock_t(event_filter_.frequency).get_timeval_from_period();
 368         //struct timeval timeout = frequency_clock_t(10).get_timeval_from_period();
 369         struct timeval timeout = {0,0};
 370
 371         utils::bcm_msg bcm_msg =  make_bcm_head(RX_SETUP, OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
 372         return create_rx_filter(bcm_msg);
 373 }
 374
 375 /// @brief Creates a TX_SEND job that is used by the BCM socket to
 376 /// send a message
 377 ///
 378 /// @return 0 if ok else -1
 379 int low_can_subscription_t::tx_send(struct canfd_frame& cfd, const std::string& bus_name)
 380 {
 381         struct utils::bcm_msg bcm_msg =  make_bcm_head(TX_SEND, cfd.can_id);
 382         add_one_bcm_frame(cfd, bcm_msg);
 383
 384         if(open_socket(bus_name) < 0)
 385                 {return -1;}
 386
 387         socket_->write_message(bcm_msg);
 388         if(! socket_)
 389                 return -1;
 390
 391         return 0;
 392 }