2 * Copyright (C) 2015, 2016 "IoT.bzh"
3 * Author "Romain Forlot" <romain.forlot@iot.bzh>
5 * Licensed under the Apache License, Version 2.0 (the "License");
6 * you may not use this file except in compliance with the License.
7 * You may obtain a copy of the License at
9 * http://www.apache.org/licenses/LICENSE-2.0
11 * Unless required by applicable law or agreed to in writing, software
12 * distributed under the License is distributed on an "AS IS" BASIS,
13 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
14 * See the License for the specific language governing permissions and
15 * limitations under the License.
24 #include "../can/can-signals.hpp"
25 #include "../diagnostic/diagnostic-message.hpp"
26 #include "../utils/socketcan-bcm.hpp"
28 /// @brief Filtering values. Theses values has to be tested into
29 /// can_bus_t::apply_filter method.
32 float frequency; ///< frequency - Maximum frequency which will be received and pushed a subscribed event.
33 float min; ///< min - Minimum value that the signal don't have to go below to be pushed.
34 float max; ///< max - Maximum value that the signal don't have to go above to be pushed.
35 event_filter_t() : frequency{NAN}, min{NAN}, max{NAN} {}
38 /// @brief A subscription object used has a context that handle all needed values to describe a subscription
39 /// to the low-can binding. It can holds a CAN signal or diagnostic message. Diagnostic message for OBD2 is a kind
40 /// of special because there is only 1 listener to retrieve OBD2 requests. So it's needed that all diagnostic messages
41 /// subscriptions is to be in 1 object.
42 class low_can_subscription_t
45 int index_; ///< index_ - index number is the socket (int) casted
46 struct afb_event event_; ///< event_ - application framework event used to push on client
49 std::shared_ptr<can_signal_t> can_signal_; ///< can_signal_ - the CAN signal subscribed
50 std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_message_; ///< diagnostic_message_ - diagnostic messages meant to received OBD2 responses.
51 /// normal diagnostic request and response not tested for now.
54 struct event_filter_t event_filter_; ///< event_filter_ - filtering values applied to a subscription
56 utils::socketcan_bcm_t socket_; ///< socket_ - socket_ that receives CAN messages.
58 low_can_subscription_t();
59 low_can_subscription_t(struct event_filter_t event_filter);
60 low_can_subscription_t(const low_can_subscription_t& s) = delete;
61 low_can_subscription_t(low_can_subscription_t&& s);
62 ~low_can_subscription_t();
64 low_can_subscription_t& operator=(const low_can_subscription_t& s);
65 explicit operator bool() const;
67 int get_index() const;
68 struct afb_event& get_event();
69 const std::shared_ptr<can_signal_t> get_can_signal() const;
70 const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(uint32_t pid) const;
71 const std::vector<std::shared_ptr<diagnostic_message_t> > get_diagnostic_message() const;
72 const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(const std::string& name) const;
73 const std::string get_name() const;
74 const std::string get_name(uint32_t pid) const;
75 float get_frequency() const;
76 float get_min() const;
77 float get_max() const;
78 utils::socketcan_bcm_t& get_socket();
80 void set_event(struct afb_event event);
81 void set_frequency(float freq);
82 void set_min(float min);
83 void set_max(float max);
85 struct utils::simple_bcm_msg make_bcm_head(uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const;
86 void add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const;
88 int create_rx_filter(std::shared_ptr<can_signal_t> sig);
89 int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig);
90 int create_rx_filter(utils::simple_bcm_msg& bcm_msg);