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/signals.hpp"
25 #include "../diagnostic/diagnostic-message.hpp"
26 #include "../utils/socketcan.hpp"
29 #define OBDII_MAX_SIMULTANEOUS_RESPONSES 8
31 /// @brief Filtering values. Theses values have to be tested in
32 /// can_bus_t::apply_filter method.
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.
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;
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
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
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.
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();
71 low_can_subscription_t& operator=(const low_can_subscription_t& s);
72 explicit operator bool() const;
74 afb_event_t get_event();
75 int subscribe(afb_req_t request);
76 int unsubscribe(afb_req_t request);
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();
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);
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);
105 static int open_socket(low_can_subscription_t &subscription, const std::string& bus_name = "", uint32_t flags = INVALID_FLAG);
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);
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);