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
  24 #ifdef USE_FEATURE_J1939
  25         #include "../utils/socketcan-j1939.hpp"
  26 #endif
  27
  28 low_can_subscription_t::low_can_subscription_t()
  29         : index_{-1},
  30         event_filter_{},
  31         event_{},
  32         socket_{}
  33 {}
  34
  35 low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter)
  36         : index_{-1},
  37           event_filter_{event_filter},
  38           event_{},
  39           socket_{}
  40  {}
  41
  42 low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
  43         : index_{s.index_},
  44         event_filter_{s.event_filter_},
  45         event_{},
  46         socket_{std::move(s.socket_)}
  47 {}
  48
  49 low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s)
  50 {
  51         socket_ = std::move(s.socket_);
  52         return *this;
  53 }
  54
  55 low_can_subscription_t::~low_can_subscription_t()
  56 {
  57         socket_->close();
  58 }
  59
  60 low_can_subscription_t::operator bool() const
  61 {
  62         return ((can_signal_ != nullptr || ! diagnostic_message_.empty()) && ! socket_);
  63 }
  64 afb_event_t low_can_subscription_t::get_event()
  65 {
  66         return event_;
  67 }
  68
  69 /**
  70  * @brief Set the event calling the afb_daemon_make_event function to
  71  * create it and the checks its validity.
  72  *
  73  * @return int - 0 if OK, -1 if not
  74  */
  75 int low_can_subscription_t::set_event()
  76 {
  77         std::string event_name = get_name();
  78         event_ = afb_daemon_make_event(event_name.c_str());
  79         if (! afb_event_is_valid(event_))
  80         {
  81                 AFB_ERROR("Can't create an event for %s, something goes wrong.", event_name.c_str());
  82                 return -1;
  83         }
  84
  85         return 0;
  86 }
  87
  88 /**
  89  * @brief Subscribe to the event member of the object
  90  *
  91  * @param request the subscribe AFB client request which want to
  92  * subscribe
  93  *
  94  * @return int - 0 if OK, -1 if not
  95  */
  96 int low_can_subscription_t::subscribe(afb_req_t request)
  97 {
  98         if(set_event() < 0)
  99                 return -1;
 100         return afb_req_subscribe(request, event_);
 101 }
 102
 103 /**
 104  * @brief Unsubscribe to the event member of the object
 105  *
 106  * @param request the unsubscribe AFB client request which want to
 107  * unsubscribe
 108  *
 109  * @return int - 0 if OK, -1 if not
 110  */
 111 int low_can_subscription_t::unsubscribe(afb_req_t request)
 112 {
 113         return afb_req_unsubscribe(request, event_);
 114 }
 115
 116 int low_can_subscription_t::get_index() const
 117 {
 118         return index_;
 119 }
 120
 121 const std::shared_ptr<can_signal_t> low_can_subscription_t::get_can_signal() const
 122 {
 123         return can_signal_;
 124 }
 125
 126 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
 127 {
 128         return can_signal_ == can_signal && event_filter_ == event_filter;
 129 }
 130
 131 const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_subscription_t::get_diagnostic_message() const
 132 {
 133         return diagnostic_message_;
 134 }
 135
 136 /// @brief Retrieve a diagnostic_message subscribed from a pid
 137 ///
 138 /// @param[in] pid - Diagnostic messages PID to search for
 139 ///
 140 /// @return shared_ptr diagnostic_message_ if found and nullptr if not found
 141 const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(uint32_t pid) const
 142 {
 143         for(const auto& diag: diagnostic_message_)
 144         {
 145                 if(diag->get_pid() == pid)
 146                 {
 147                         return diag;
 148                 }
 149         }
 150         return nullptr;
 151 }
 152
 153 /// @brief Retrieve a diagnostic message search from its name
 154 ///
 155 /// @return shared_ptr diagnostic_message_ if found and nullptr if not found
 156 const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(const std::string& name) const
 157 {
 158         for(const auto& diag: diagnostic_message_)
 159         {
 160                 if(diag->get_name() == name)
 161                 {
 162                         return diag;
 163                 }
 164         }
 165         return nullptr;
 166 }
 167
 168 /// @brief Return the CAN signal name and empty string if not found
 169 /// or no CAN signal subscribed
 170 const std::string low_can_subscription_t::get_name() const
 171 {
 172         if (can_signal_ != nullptr)
 173                 return can_signal_->get_name();
 174         else if (!diagnostic_message_.empty())
 175                 return "diagnostic_messages";
 176
 177         AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported.");
 178         return "";
 179 }
 180
 181 /// @brief Return name from a diagnostic message from a PID
 182 ///
 183 /// @param[in] pid - Diagnostic message PID
 184 const std::string low_can_subscription_t::get_name(uint32_t pid) const
 185 {
 186         if (!diagnostic_message_.empty())
 187                 return get_diagnostic_message(pid)->get_name() ;
 188
 189         AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported.");
 190         return "";
 191 }
 192
 193 float low_can_subscription_t::get_frequency() const
 194 {
 195         return event_filter_.frequency;
 196 }
 197
 198 float low_can_subscription_t::get_min() const
 199 {
 200         return event_filter_.min;
 201 }
 202
 203 float low_can_subscription_t::get_max() const
 204 {
 205         return event_filter_.max;
 206 }
 207
 208 std::shared_ptr<utils::socketcan_t> low_can_subscription_t::get_socket()
 209 {
 210         return socket_;
 211 }
 212
 213 void low_can_subscription_t::set_frequency(float freq)
 214 {
 215         event_filter_.frequency = freq;
 216 }
 217
 218 void low_can_subscription_t::set_min(float min)
 219 {
 220         event_filter_.min = min;
 221 }
 222
 223 void low_can_subscription_t::set_max(float max)
 224 {
 225         event_filter_.max = max;
 226 }
 227 /// @brief Based upon which object is a subscribed CAN signal or diagnostic message
 228 /// it will open the socket with the required CAN bus device name.
 229 ///
 230 /// @return INVALID_SOCKET on failure, else positive integer
 231 int low_can_subscription_t::open_socket(const std::string& bus_name)
 232 {
 233         int ret = 0;
 234         if(! socket_)
 235         {
 236                 if( can_signal_ != nullptr)
 237                         {ret = socket_->open(can_signal_->get_message()->get_bus_device_name());}
 238                 else if (! diagnostic_message_ .empty())
 239                         {ret = socket_->open(application_t::instance().get_diagnostic_manager().get_bus_device_name());}
 240                 else if ( ! bus_name.empty())
 241                         { ret = socket_->open(bus_name);}
 242                 index_ = (int)socket_->socket();
 243         }
 244         return ret;
 245 }
 246
 247 /// @brief Builds a BCM message head but doesn't set can_frame.
 248 ///
 249 /// @returns a bcm_msg with the msg_head parts set and can_frame
 250 /// zeroed.
 251 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) const
 252 {
 253         struct bcm_msg bcm_msg;
 254         ::memset(&bcm_msg, 0, sizeof(bcm_msg));
 255
 256         bcm_msg.msg_head.opcode  = opcode;
 257         bcm_msg.msg_head.can_id  = can_id;
 258         bcm_msg.msg_head.flags = flags;
 259         bcm_msg.msg_head.ival1.tv_sec = timeout.tv_sec ;
 260         bcm_msg.msg_head.ival1.tv_usec = timeout.tv_usec;
 261         bcm_msg.msg_head.ival2.tv_sec = frequency_thinning.tv_sec ;
 262         bcm_msg.msg_head.ival2.tv_usec = frequency_thinning.tv_usec;
 263
 264         return bcm_msg;
 265 }
 266
 267 /// @brief Take an existing bcm_msg struct and add a can_frame.
 268 /// Currently only 1 uniq can_frame can be added, it's not possible to build
 269 /// a multiplexed message with several can_frame.
 270 void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg) const
 271 {
 272         struct can_frame cf;
 273
 274         if (bcm_msg.msg_head.flags & CAN_FD_FRAME)
 275                 bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cfd;
 276         else
 277         {
 278                 cf.can_id = cfd.can_id;
 279                 cf.can_dlc = cfd.len;
 280                 ::memcpy(&cf.data, cfd.data, cfd.len);
 281                 bcm_msg.frames[bcm_msg.msg_head.nframes] = cf;
 282         }
 283         bcm_msg.msg_head.nframes++;
 284 }
 285
 286 #ifdef USE_FEATURE_J1939
 287 int low_can_subscription_t::create_rx_filter_j1939(low_can_subscription_t &subscription, std::shared_ptr<can_signal_t> sig)
 288 {
 289         subscription.can_signal_= sig;
 290
 291         // Make sure that socket is opened.
 292         if(subscription.open_socket() < 0)
 293         {
 294                         return -1;
 295         }
 296         return 0;
 297 }
 298 #endif
 299
 300 /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a CAN signal
 301 /// subscription
 302 ///
 303 /// @return 0 if ok else -1
 304 int low_can_subscription_t::create_rx_filter_can(low_can_subscription_t &subscription, std::shared_ptr<can_signal_t> sig)
 305 {
 306         uint32_t flags;
 307         float val;
 308         struct timeval freq, timeout = {0, 0};
 309         struct canfd_frame cfd;
 310         subscription.can_signal_= sig;
 311
 312         if (sig->get_message()->is_fd())
 313         {
 314                 flags = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME;
 315                 cfd.len = CANFD_MAX_DLEN;
 316         }
 317         else
 318         {
 319                 flags = SETTIMER|RX_NO_AUTOTIMER;
 320                 cfd.len = CAN_MAX_DLEN;
 321         }
 322         val = (float)(1 << subscription.can_signal_->get_bit_size()) - 1;
 323         if(! bitfield_encode_float(val,
 324                                    subscription.can_signal_->get_bit_position(),
 325                                    subscription.can_signal_->get_bit_size(),
 326                                    1,
 327                                    subscription.can_signal_->get_offset(),
 328                                    cfd.data,
 329                                    cfd.len))
 330                 return -1;
 331
 332         frequency_clock_t f = subscription.event_filter_.frequency == 0 ? subscription.can_signal_->get_frequency() : frequency_clock_t(subscription.event_filter_.frequency);
 333         freq = f.get_timeval_from_period();
 334
 335         struct bcm_msg bcm_msg = subscription.make_bcm_head(RX_SETUP, subscription.can_signal_->get_message()->get_id(), flags, timeout, freq);
 336         subscription.add_one_bcm_frame(cfd, bcm_msg);
 337
 338         return create_rx_filter_bcm(subscription, bcm_msg);
 339 }
 340
 341 int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
 342 {
 343         #ifdef USE_FEATURE_J1939
 344         if(sig->get_message()->is_j1939())
 345         {
 346                 return low_can_subscription_t::create_rx_filter_j1939(*this, sig);
 347         }
 348         else
 349         {
 350         #endif
 351                 return low_can_subscription_t::create_rx_filter_can(*this, sig);
 352         #ifdef USE_FEATURE_J1939
 353         }
 354         #endif
 355 }
 356
 357
 358 /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a
 359 /// diagnostic message subscription.
 360 ///
 361 /// @return 0 if ok else -1
 362 int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig)
 363 {
 364         diagnostic_message_.push_back(sig);
 365
 366         struct timeval freq = frequency_clock_t(event_filter_.frequency).get_timeval_from_period();
 367         //struct timeval timeout = frequency_clock_t(10).get_timeval_from_period();
 368         struct timeval timeout = {0,0};
 369
 370         struct bcm_msg bcm_msg =  make_bcm_head(RX_SETUP, OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
 371         return create_rx_filter_bcm(*this, bcm_msg);
 372 }
 373
 374 /// @brief Create a RX_SETUP receive job used by the BCM socket directly from
 375 /// a bcm_msg. The method should not be used directly but rather through the
 376 /// two previous method with signal_t or diagnostic_message_t object.
 377 ///
 378 /// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed
 379 /// to the 8 classics OBD2 functional response ID
 380 ///
 381 /// @return 0 if ok else -1
 382 int low_can_subscription_t::create_rx_filter_bcm(low_can_subscription_t &subscription, struct bcm_msg& bcm_msg)
 383 {
 384         // Make sure that socket is opened.
 385         if(subscription.open_socket() < 0)
 386                 {return -1;}
 387
 388         // If it's not an OBD2 CAN ID then just add a simple RX_SETUP job
 389         // else monitor all standard 8 CAN OBD2 ID response.
 390
 391         std::shared_ptr<message_t> msg = std::make_shared<can_message_t>();
 392
 393         msg->set_bcm_msg(bcm_msg);
 394
 395         if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
 396         {
 397                 subscription.socket_->write_message(msg);
 398                         if(! subscription.socket_)
 399                                 return -1;
 400         }
 401         else
 402         {
 403                 for(uint8_t i = 0; i < 8; i++)
 404                 {
 405                         bcm_msg.msg_head.can_id  =  OBD2_FUNCTIONAL_RESPONSE_START + i;
 406                         msg->set_bcm_msg(bcm_msg);
 407                         subscription.socket_->write_message(msg);
 408                         if(! subscription.socket_)
 409                                 return -1;
 410                 }
 411         }
 412         return 0;
 413 }
 414
 415 /// @brief Creates a TX_SEND job that is used by the BCM socket to
 416 /// send a message
 417 ///
 418 /// @return 0 if ok else -1
 419 int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, struct canfd_frame& cfd, const std::string& bus_name)
 420 {
 421         struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cfd.can_id);
 422         subscription.add_one_bcm_frame(cfd, bcm_msg);
 423
 424         if(subscription.open_socket(bus_name) < 0)
 425                 {return -1;}
 426
 427
 428         std::shared_ptr<message_t> msg = std::make_shared<can_message_t>();
 429
 430         msg->set_bcm_msg(bcm_msg);
 431
 432         subscription.socket_->write_message(msg);
 433         if(! subscription.socket_.get())
 434                 return -1;
 435
 436         return 0;
 437 }