low-can-binding/binding/low-can-subscription.hpp

   1 /*
   2  * Copyright (C) 2015, 2016 "IoT.bzh"
   3  * Author "Romain Forlot" <romain.forlot@iot.bzh>
   4   *
   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
   8  *
   9  *       http://www.apache.org/licenses/LICENSE-2.0
  10  *
  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.
  16  */
  17
  18 #pragma once
  19
  20 #include <string>
  21 #include <cmath>
  22 #include <utility>
  23
  24 #include "../can/signals.hpp"
  25 #include "../diagnostic/diagnostic-message.hpp"
  26 #include "../utils/socketcan.hpp"
  27
  28
  29 #define OBDII_MAX_SIMULTANEOUS_RESPONSES 8
  30
  31 /// @brief Filtering values. Theses values have to be tested in
  32 /// can_bus_t::apply_filter method.
  33 struct event_filter_t
  34 {
  35         float frequency; ///< frequency - Maximum frequency which will be received and pushed to a subscribed event.
  36         float min; ///< min - Minimum value that the signal doesn't have to go below to be pushed.
  37         float max; ///< max - Maximum value that the signal doesn't have to go above to be pushed.
  38         canid_t rx_id;
  39         canid_t tx_id;
  40
  41         event_filter_t() : frequency{0}, min{-__FLT_MAX__}, max{__FLT_MAX__}, rx_id{NO_CAN_ID}, tx_id{NO_CAN_ID} {};
  42         bool operator==(const event_filter_t& ext) const {
  43                 return frequency == ext.frequency && min == ext.min && max == ext.max && rx_id == ext.rx_id && tx_id == ext.tx_id;
  44         }
  45 };
  46
  47 /// @brief The object stores socket to CAN to be used to write on it.
  48 /// This is a simple access to a CAN bus device without any subscriptions attached
  49 class low_can_subscription_t
  50 {
  51 private:
  52         int index_; ///< index_ - index number is the socket (int) casted
  53         struct event_filter_t event_filter_;
  54         afb_event_t event_; ///< event_ - application framework event used to push on client
  55
  56         /// Signal part
  57         std::shared_ptr<signal_t> signal_; ///< signal_ - the CAN signal subscribed
  58         std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_message_; ///< diagnostic_message_ - diagnostic messages meant to receive OBD2
  59                                                                                  /// responses. Normal diagnostic request and response are not tested for now.
  60         std::shared_ptr<utils::socketcan_t> socket_; ///< socket_ - socket_ that receives CAN messages.
  61
  62         int set_event();
  63
  64 public:
  65         low_can_subscription_t();
  66         low_can_subscription_t(struct event_filter_t event_filter);
  67         low_can_subscription_t(const low_can_subscription_t& s) = delete;
  68         low_can_subscription_t(low_can_subscription_t&& s);
  69         ~low_can_subscription_t();
  70
  71         low_can_subscription_t& operator=(const low_can_subscription_t& s);
  72         explicit operator bool() const;
  73
  74         afb_event_t get_event();
  75         int subscribe(afb_req_t request);
  76         int unsubscribe(afb_req_t request);
  77
  78         int get_index() const;
  79         const std::shared_ptr<signal_t> get_signal() const;
  80         bool is_signal_subscription_corresponding(const std::shared_ptr<signal_t>, const struct event_filter_t& event_filter) const;
  81         const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(uint32_t pid) const;
  82         const std::vector<std::shared_ptr<diagnostic_message_t> > get_diagnostic_message() const;
  83         const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(const std::string& name) const;
  84         const std::string get_name() const;
  85         const std::string get_name(uint32_t pid) const;
  86         float get_frequency() const;
  87         float get_min() const;
  88         float get_max() const;
  89         canid_t get_rx_id() const;
  90         canid_t get_tx_id() const;
  91         std::shared_ptr<utils::socketcan_t> get_socket();
  92
  93         void set_frequency(float freq);
  94         void set_min(float min);
  95         void set_max(float max);
  96         void set_index(int index);
  97         void set_rx_id(canid_t rx_id);
  98         void set_tx_id(canid_t tx_id);
  99         void set_signal(std::shared_ptr<signal_t> signal);
 100
 101         static struct bcm_msg make_bcm_head(uint32_t opcode, uint32_t can_id = 0, uint32_t flags = 0, const struct timeval& timeout = {0,0}, const struct timeval& frequency_thinning = {0,0});
 102         static void add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg);
 103         static void remove_last_bcm_frame(struct bcm_msg& bcm_msg);
 104
 105         static int open_socket(low_can_subscription_t &subscription, const std::string& bus_name = "", uint32_t flags = INVALID_FLAG);
 106
 107         int create_rx_filter(std::shared_ptr<signal_t> sig);
 108         int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig);
 109         static int create_rx_filter_can(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig);
 110         static int create_rx_filter_j1939(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig);
 111         static int create_rx_filter_isotp(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig);
 112         static int create_rx_filter_bcm(low_can_subscription_t &subscription, bcm_msg& bcm_msg);
 113
 114         static int tx_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name);
 115         static int j1939_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name);
 116         static int isotp_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name);
 117 };