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 int low_can_subscription_t::get_index() const
 128 {
 129         return index_;
 130 }
 131
 132 const std::shared_ptr<signal_t> low_can_subscription_t::get_signal() const
 133 {
 134         return signal_;
 135 }
 136
 137 bool low_can_subscription_t::is_signal_subscription_corresponding(const std::shared_ptr<signal_t> signal, const struct event_filter_t& event_filter) const
 138 {
 139         return signal_ == signal && event_filter_ == event_filter;
 140 }
 141
 142 const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_subscription_t::get_diagnostic_message() const
 143 {
 144         return diagnostic_message_;
 145 }
 146
 147 /// @brief Retrieve a diagnostic_message subscribed from a pid
 148 ///
 149 /// @param[in] pid - Diagnostic messages PID to search for
 150 ///
 151 /// @return shared_ptr diagnostic_message_ if found and nullptr if not found
 152 const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(uint32_t pid) const
 153 {
 154         for(const auto& diag: diagnostic_message_)
 155         {
 156                 if(diag->get_pid() == pid)
 157                 {
 158                         return diag;
 159                 }
 160         }
 161         return nullptr;
 162 }
 163
 164 /// @brief Retrieve a diagnostic message search from its name
 165 ///
 166 /// @return shared_ptr diagnostic_message_ if found and nullptr if not found
 167 const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(const std::string& name) const
 168 {
 169         for(const auto& diag: diagnostic_message_)
 170         {
 171                 if(diag->get_name() == name)
 172                 {
 173                         return diag;
 174                 }
 175         }
 176         return nullptr;
 177 }
 178
 179 /// @brief Return the CAN signal name and empty string if not found
 180 /// or no CAN signal subscribed
 181 const std::string low_can_subscription_t::get_name() const
 182 {
 183         if (signal_ != nullptr)
 184                 return signal_->get_name();
 185         else if (!diagnostic_message_.empty())
 186                 return "diagnostic_messages";
 187
 188         AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported.");
 189         return "";
 190 }
 191
 192 /// @brief Return name from a diagnostic message from a PID
 193 ///
 194 /// @param[in] pid - Diagnostic message PID
 195 const std::string low_can_subscription_t::get_name(uint32_t pid) const
 196 {
 197         if (!diagnostic_message_.empty())
 198                 return get_diagnostic_message(pid)->get_name() ;
 199
 200         AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported.");
 201         return "";
 202 }
 203
 204 float low_can_subscription_t::get_frequency() const
 205 {
 206         return event_filter_.frequency;
 207 }
 208
 209 float low_can_subscription_t::get_min() const
 210 {
 211         return event_filter_.min;
 212 }
 213
 214 float low_can_subscription_t::get_max() const
 215 {
 216         return event_filter_.max;
 217 }
 218
 219 canid_t low_can_subscription_t::get_rx_id() const
 220 {
 221         return event_filter_.rx_id;
 222 }
 223
 224 canid_t low_can_subscription_t::get_tx_id() const
 225 {
 226         return event_filter_.tx_id;
 227 }
 228
 229 std::shared_ptr<utils::socketcan_t> low_can_subscription_t::get_socket()
 230 {
 231         return socket_;
 232 }
 233
 234 void low_can_subscription_t::set_frequency(float freq)
 235 {
 236         event_filter_.frequency = freq;
 237 }
 238
 239 void low_can_subscription_t::set_min(float min)
 240 {
 241         event_filter_.min = min;
 242 }
 243
 244 void low_can_subscription_t::set_max(float max)
 245 {
 246         event_filter_.max = max;
 247 }
 248
 249 void low_can_subscription_t::set_rx_id(canid_t rx_id)
 250 {
 251         event_filter_.rx_id = rx_id;
 252 }
 253
 254 void low_can_subscription_t::set_tx_id(canid_t tx_id)
 255 {
 256         event_filter_.tx_id = tx_id;
 257 }
 258
 259 void low_can_subscription_t::set_index(int index)
 260 {
 261         index_ = index;
 262 }
 263
 264 void low_can_subscription_t::set_signal(std::shared_ptr<signal_t> signal)
 265 {
 266         signal_ = signal;
 267 }
 268
 269
 270 /// @brief Based upon which object is a subscribed CAN signal or diagnostic message
 271 /// it will open the socket with the required CAN bus device name.
 272 ///
 273 /// @return INVALID_SOCKET on failure, else positive integer
 274 int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, const std::string& bus_name,  uint32_t flags)
 275 {
 276         int ret = -1;
 277         if(! subscription.socket_)
 278         {
 279                 if(flags&BCM_PROTOCOL)
 280                 {
 281                         if( subscription.signal_ != nullptr)
 282                         {
 283                                         subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
 284                                         ret = subscription.socket_->open(subscription.signal_->get_message()->get_bus_device_name());
 285                         }
 286                         else if (! subscription.diagnostic_message_ .empty())
 287                         {
 288                                         subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
 289                                         ret = subscription.socket_->open(application_t::instance().get_diagnostic_manager().get_bus_device_name());
 290                         }
 291                         else if ( !bus_name.empty())
 292                         {
 293                                         subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
 294                                         ret = subscription.socket_->open(bus_name);
 295                         }
 296                         subscription.index_ = (int)subscription.socket_->socket();
 297                 }
 298 #ifdef USE_FEATURE_ISOTP
 299                 else if(flags&ISOTP_PROTOCOL)
 300                 {
 301                         if(subscription.signal_ != nullptr)
 302                         {
 303                                 canid_t rx = NO_CAN_ID;
 304                                 canid_t tx = NO_CAN_ID;
 305                                 if(flags&ISOTP_SEND)
 306                                 {
 307                                         rx = subscription.get_rx_id();
 308                                         tx = subscription.signal_->get_message()->get_id();
 309                                 }
 310                                 else if(flags&ISOTP_RECEIVE)
 311                                 {
 312                                         rx = subscription.signal_->get_message()->get_id();
 313                                         tx = subscription.get_tx_id();
 314                                 }
 315                                 std::shared_ptr<utils::socketcan_isotp_t> socket = std::make_shared<utils::socketcan_isotp_t>();
 316                                 ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(),rx,tx);
 317                                 subscription.socket_ = socket;
 318                         }
 319                         else if(!bus_name.empty())
 320                         {
 321                                 std::shared_ptr<utils::socketcan_isotp_t> socket = std::make_shared<utils::socketcan_isotp_t>();
 322                                 ret = socket->open(bus_name, subscription.get_rx_id(),subscription.get_tx_id());
 323                                 subscription.socket_ = socket;
 324                         }
 325                         subscription.index_ = (int)subscription.socket_->socket();
 326                 }
 327 #endif
 328 #ifdef USE_FEATURE_J1939
 329                 else if(flags&J1939_ADDR_CLAIM_PROTOCOL)
 330                 {
 331                         pgn_t pgn = J1939_NO_PGN;
 332                         if(!bus_name.empty())
 333                         {
 334                                 std::shared_ptr<utils::socketcan_j1939_addressclaiming_t> socket = std::make_shared<utils::socketcan_j1939_addressclaiming_t>();
 335                                 ret = socket->open(bus_name, pgn);
 336                                 subscription.socket_ = socket;
 337                         }
 338                         subscription.index_ = (int)subscription.socket_->socket();
 339                 }
 340                 else if(flags&J1939_PROTOCOL)
 341                 {
 342                         pgn_t pgn = J1939_NO_PGN;
 343                         if(subscription.signal_ != nullptr)
 344                         {
 345                                 pgn = subscription.signal_->get_message()->get_id();
 346                                 std::shared_ptr<utils::socketcan_j1939_data_t> socket = std::make_shared<utils::socketcan_j1939_data_t>();
 347                                 ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(), pgn);
 348                                 subscription.socket_ = socket;
 349                         }
 350                         else if(!bus_name.empty())
 351                         {
 352                                 std::shared_ptr<utils::socketcan_j1939_data_t> socket = std::make_shared<utils::socketcan_j1939_data_t>();
 353                                 ret = socket->open(bus_name, pgn);
 354                                 subscription.socket_ = socket;
 355                         }
 356                         subscription.index_ = (int)subscription.socket_->socket();
 357                 }
 358 #endif
 359                 else
 360                 {
 361                         AFB_ERROR("Socket format not supported");
 362                         return INVALID_SOCKET;
 363                 }
 364         }
 365         else{
 366                 ret = subscription.socket_->socket();
 367         }
 368         return ret;
 369 }
 370
 371
 372 /// @brief Builds a BCM message head but doesn't set can_frame.
 373 ///
 374 /// @returns a bcm_msg with the msg_head parts set and can_frame
 375 /// zeroed.
 376 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)
 377 {
 378         struct bcm_msg bcm_msg;
 379         ::memset(&bcm_msg, 0, sizeof(bcm_msg));
 380
 381         bcm_msg.msg_head.opcode  = opcode;
 382         bcm_msg.msg_head.can_id  = can_id;
 383         bcm_msg.msg_head.flags = flags;
 384         bcm_msg.msg_head.ival1.tv_sec = timeout.tv_sec ;
 385         bcm_msg.msg_head.ival1.tv_usec = timeout.tv_usec;
 386         bcm_msg.msg_head.ival2.tv_sec = frequency_thinning.tv_sec ;
 387         bcm_msg.msg_head.ival2.tv_usec = frequency_thinning.tv_usec;
 388
 389
 390         return bcm_msg;
 391 }
 392
 393 /// @brief Take an existing bcm_msg struct and add a can_frame.
 394 /// Currently only 1 uniq can_frame can be added, it's not possible to build
 395 /// a multiplexed message with several can_frame.
 396 void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg)
 397 {
 398         struct can_frame cf;
 399
 400         if (bcm_msg.msg_head.flags & CAN_FD_FRAME)
 401                 bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cfd;
 402         else
 403         {
 404                 cf.can_id = cfd.can_id;
 405                 cf.can_dlc = cfd.len;
 406                 ::memcpy(&cf.data, cfd.data, cfd.len);
 407                 bcm_msg.frames[bcm_msg.msg_head.nframes] = cf;
 408         }
 409         bcm_msg.msg_head.nframes++;
 410 }
 411
 412 /// @brief Take an existing bcm_msg struct and add a can_frame.
 413 /// Currently only 1 uniq can_frame can be added, it's not possible to build
 414 /// a multiplexed message with several can_frame.
 415 void low_can_subscription_t::remove_last_bcm_frame(struct bcm_msg& bcm_msg)
 416 {
 417         struct canfd_frame cf;
 418         memset(&cf,0,sizeof(cf));
 419         bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cf;
 420         bcm_msg.msg_head.nframes--;
 421 }
 422
 423 #ifdef USE_FEATURE_J1939
 424 int low_can_subscription_t::create_rx_filter_j1939(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig)
 425 {
 426         subscription.signal_= sig;
 427
 428         // Make sure that socket is opened.
 429         if(open_socket(subscription,"",J1939_PROTOCOL) < 0)
 430         {
 431                         return -1;
 432         }
 433         return 0;
 434 }
 435 #endif
 436
 437 int low_can_subscription_t::create_rx_filter_isotp(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig)
 438 {
 439         subscription.signal_= sig;
 440
 441         // Make sure that socket is opened.
 442         if(open_socket(subscription,"",ISOTP_PROTOCOL|ISOTP_RECEIVE) < 0)
 443         {
 444                         return -1;
 445         }
 446         return 0;
 447 }
 448
 449 /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a CAN signal
 450 /// subscription
 451 ///
 452 /// @return 0 if ok else -1
 453 int low_can_subscription_t::create_rx_filter_can(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig)
 454 {
 455         uint32_t flags_bcm;
 456         float val;
 457         struct timeval freq, timeout = {0, 0};
 458         struct canfd_frame cfd;
 459         subscription.signal_= sig;
 460         bool is_fd = sig->get_message()->is_fd();
 461
 462         std::vector<uint8_t> data;
 463         uint32_t length_msg = sig->get_message()->get_length();
 464
 465         if(length_msg == 0)
 466         {
 467                 AFB_ERROR("Error in the length of message with id %d",sig->get_message()->get_id());
 468                 return -1;
 469         }
 470
 471         for(int i = 0; i<length_msg;i++)
 472         {
 473                 data.push_back(0);
 474         }
 475
 476         encoder_t::encode_data(subscription.signal_,data,true,false,true);
 477
 478         can_message_t cm;
 479
 480         if (is_fd)
 481         {
 482                 flags_bcm = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME;
 483                 cfd.len = CANFD_MAX_DLEN;
 484                 cm = can_message_t( CANFD_MAX_DLEN,
 485                                                         sig->get_message()->get_id(),
 486                                                         length_msg,
 487                                                         false,
 488                                                         sig->get_message()->get_flags(),
 489                                                         data,
 490                                                         0);
 491         }
 492         else
 493         {
 494                 flags_bcm = SETTIMER|RX_NO_AUTOTIMER;
 495                 cfd.len = CAN_MAX_DLEN;
 496                 cm = can_message_t( CAN_MAX_DLEN,
 497                                                         sig->get_message()->get_id(),
 498                                                         length_msg,
 499                                                         false,
 500                                                         sig->get_message()->get_flags(),
 501                                                         data,
 502                                                         0);
 503         }
 504
 505         frequency_clock_t f = subscription.event_filter_.frequency == 0 ? subscription.signal_->get_frequency() : frequency_clock_t(subscription.event_filter_.frequency);
 506         freq = f.get_timeval_from_period();
 507
 508         struct bcm_msg bcm_msg = subscription.make_bcm_head(RX_SETUP, subscription.signal_->get_message()->get_id(), flags_bcm, timeout, freq);
 509
 510         std::vector<canfd_frame> cfd_vect = cm.convert_to_canfd_frame_vector();
 511
 512         if(cfd_vect.size() > 1) //multi
 513         {
 514                 AFB_ERROR("Not implemented yet");
 515                 return -1;
 516         }
 517         else if(cfd_vect.size() == 1)
 518         {
 519                 canfd_frame cf = cfd_vect[0];
 520                 for(int i=0;i<cfd.len;i++)
 521                 {
 522                         cfd.data[i] = cf.data[i];
 523                 }
 524                 subscription.add_one_bcm_frame(cfd, bcm_msg);
 525         }
 526         else
 527         {
 528                 AFB_ERROR("No data available");
 529                 return -1;
 530         }
 531
 532         return create_rx_filter_bcm(subscription, bcm_msg);
 533 }
 534
 535 int low_can_subscription_t::create_rx_filter(std::shared_ptr<signal_t> sig)
 536 {
 537         if(!sig->get_message()->is_isotp() && !sig->get_message()->is_j1939())
 538         {
 539                 return low_can_subscription_t::create_rx_filter_can(*this, sig);
 540         }
 541 #ifdef USE_FEATURE_ISOTP
 542         else if(sig->get_message()->is_isotp())
 543         {
 544                 return low_can_subscription_t::create_rx_filter_isotp(*this,sig);
 545         }
 546 #endif
 547 #ifdef USE_FEATURE_J1939
 548         else if(sig->get_message()->is_j1939())
 549         {
 550                 return low_can_subscription_t::create_rx_filter_j1939(*this, sig);
 551         }
 552 #endif
 553         else
 554         {
 555                 AFB_ERROR("Signal can't be j1939 and isotp");
 556                 return -1;
 557         }
 558 }
 559
 560
 561 /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a
 562 /// diagnostic message subscription.
 563 ///
 564 /// @return 0 if ok else -1
 565 int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig)
 566 {
 567         diagnostic_message_.push_back(sig);
 568
 569         struct timeval freq = frequency_clock_t(event_filter_.frequency).get_timeval_from_period();
 570         //struct timeval timeout = frequency_clock_t(10).get_timeval_from_period();
 571         struct timeval timeout = {0,0};
 572
 573         struct bcm_msg bcm_msg =  make_bcm_head(RX_SETUP, OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
 574         return create_rx_filter_bcm(*this, bcm_msg);
 575 }
 576
 577 /// @brief Create a RX_SETUP receive job used by the BCM socket directly from
 578 /// a bcm_msg. The method should not be used directly but rather through the
 579 /// two previous method with signal_t or diagnostic_message_t object.
 580 ///
 581 /// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed
 582 /// to the 8 classics OBD2 functional response ID
 583 ///
 584 /// @return 0 if ok else -1
 585 int low_can_subscription_t::create_rx_filter_bcm(low_can_subscription_t &subscription, struct bcm_msg& bcm_msg)
 586 {
 587         // Make sure that socket is opened.
 588         if(subscription.open_socket(subscription,"",BCM_PROTOCOL) < 0)
 589                 {return -1;}
 590
 591         // If it's not an OBD2 CAN ID then just add a simple RX_SETUP job
 592         // else monitor all standard 8 CAN OBD2 ID response.
 593
 594         can_message_t msg = can_message_t();
 595
 596         msg.set_bcm_msg(bcm_msg);
 597
 598         if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
 599         {
 600                 subscription.socket_->write_message(msg);
 601                         if(! subscription.socket_)
 602                                 return -1;
 603         }
 604         else
 605         {
 606                 for(uint8_t i = 0; i < 8; i++)
 607                 {
 608                         bcm_msg.msg_head.can_id  =  OBD2_FUNCTIONAL_RESPONSE_START + i;
 609                         msg.set_bcm_msg(bcm_msg);
 610                         subscription.socket_->write_message(msg);
 611                         if(! subscription.socket_)
 612                                 return -1;
 613                 }
 614         }
 615         return 0;
 616 }
 617
 618 /// @brief Creates a TX_SEND job that is used by the BCM socket to
 619 /// send a message
 620 ///
 621 /// @return 0 if ok else -1
 622 int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name)
 623 {
 624         can_message_t *cm = static_cast<can_message_t*>(message);
 625
 626         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
 627         cm->set_bcm_msg(bcm_msg);
 628
 629         std::vector<canfd_frame> cfd_vect = cm->convert_to_canfd_frame_vector();
 630
 631         if(subscription.open_socket(subscription, bus_name, BCM_PROTOCOL) < 0)
 632         {
 633                         return -1;
 634         }
 635
 636         struct bcm_msg &bcm_cm = cm->get_bcm_msg();
 637
 638
 639
 640         if(cfd_vect.size() > 1)
 641         {
 642                 AFB_ERROR("Multi frame BCM not implemented");
 643                 return -1;
 644         }
 645         else if(cfd_vect.size() == 1) // raw or fd
 646         {
 647                 subscription.add_one_bcm_frame(cfd_vect[0], bcm_cm);
 648
 649                 if(subscription.socket_->write_message(*cm) < 0)
 650                 {
 651                         AFB_ERROR("Error write message id : %d",cfd_vect[0].can_id);
 652                         return -1;
 653                 }
 654         }
 655         else // error
 656         {
 657                 AFB_ERROR("Error no data available");
 658                 return -1;
 659         }
 660
 661         if(! subscription.socket_.get())
 662         {
 663                         return -1;
 664         }
 665
 666         return 0;
 667 }
 668
 669 #ifdef USE_FEATURE_J1939
 670 int low_can_subscription_t::j1939_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name)
 671 {
 672         //struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cfd.can_id);
 673         //subscription.add_one_bcm_frame(cfd, bcm_msg);
 674
 675         if(subscription.open_socket(subscription, bus_name, J1939_PROTOCOL) < 0)
 676         {
 677                 return -1;
 678         }
 679
 680         j1939_message_t *jm = static_cast<j1939_message_t*>(message);
 681         jm->set_sockname(jm->get_pgn(),J1939_NO_NAME,J1939_NO_ADDR);
 682         if(subscription.socket_->write_message(*jm) < 0)
 683         {
 684                 AFB_ERROR("Error write j1939 message");
 685                 return -1;
 686         }
 687
 688         return 0;
 689 }
 690 #endif
 691
 692
 693 int low_can_subscription_t::isotp_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name)
 694 {
 695         //struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cfd.can_id);
 696         //subscription.add_one_bcm_frame(cfd, bcm_msg);
 697
 698         if(subscription.open_socket(subscription, bus_name, ISOTP_PROTOCOL|ISOTP_SEND) < 0)
 699         {
 700                 return -1;
 701         }
 702
 703         can_message_t *cm = static_cast<can_message_t*>(message);
 704         if(subscription.socket_->write_message(*cm) < 0)
 705         {
 706                 AFB_ERROR("Error write iso tp message");
 707                 return -1;
 708         }
 709
 710         return 0;
 711 }