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 #define OBDII_MAX_SIMULTANEOUS_RESPONSES 8
30 /// @brief Filtering values. Theses values have to be tested in
31 /// can_bus_t::apply_filter method.
34 float frequency; ///< frequency - Maximum frequency which will be received and pushed to a subscribed event.
35 float min; ///< min - Minimum value that the signal doesn't have to go below to be pushed.
36 float max; ///< max - Maximum value that the signal doesn't have to go above to be pushed.
38 event_filter_t() : frequency{0}, min{-__FLT_MAX__}, max{__FLT_MAX__} {};
39 bool operator==(const event_filter_t& ext) const {
40 return frequency == ext.frequency && min == ext.min && max == ext.max;
44 /// @brief The object stores socket to CAN to be used to write on it.
45 /// This is a simple access to a CAN bus device without any subscriptions attached
46 class low_can_subscription_t
49 int index_; ///< index_ - index number is the socket (int) casted
50 struct event_filter_t event_filter_;
51 afb_event_t event_; ///< event_ - application framework event used to push on client
54 std::shared_ptr<can_signal_t> can_signal_; ///< can_signal_ - the CAN signal subscribed
55 std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_message_; ///< diagnostic_message_ - diagnostic messages meant to receive OBD2
56 /// responses. Normal diagnostic request and response are not tested for now.
57 std::shared_ptr<utils::socketcan_t> socket_; ///< socket_ - socket_ that receives CAN messages.
62 low_can_subscription_t();
63 low_can_subscription_t(struct event_filter_t event_filter);
64 low_can_subscription_t(const low_can_subscription_t& s) = delete;
65 low_can_subscription_t(low_can_subscription_t&& s);
66 ~low_can_subscription_t();
68 low_can_subscription_t& operator=(const low_can_subscription_t& s);
69 explicit operator bool() const;
71 afb_event_t get_event();
72 int subscribe(afb_req_t request);
73 int unsubscribe(afb_req_t request);
75 int get_index() const;
76 const std::shared_ptr<can_signal_t> get_can_signal() const;
77 bool is_signal_subscription_corresponding(const std::shared_ptr<can_signal_t>, const struct event_filter_t& event_filter) const;
78 const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(uint32_t pid) const;
79 const std::vector<std::shared_ptr<diagnostic_message_t> > get_diagnostic_message() const;
80 const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(const std::string& name) const;
81 const std::string get_name() const;
82 const std::string get_name(uint32_t pid) const;
83 float get_frequency() const;
84 float get_min() const;
85 float get_max() const;
86 std::shared_ptr<utils::socketcan_t> get_socket();
88 void set_frequency(float freq);
89 void set_min(float min);
90 void set_max(float max);
92 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}) const;
93 void add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg) const;
95 int open_socket(const std::string& bus_name = "");
97 int create_rx_filter(std::shared_ptr<can_signal_t> sig);
98 int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig);
99 static int create_rx_filter_can(low_can_subscription_t &subscription, std::shared_ptr<can_signal_t> sig);
100 static int create_rx_filter_j1939(low_can_subscription_t &subscription, std::shared_ptr<can_signal_t> sig);
101 static int create_rx_filter_bcm(low_can_subscription_t &subscription, struct bcm_msg& bcm_msg);
103 static int tx_send(low_can_subscription_t &subscription, struct canfd_frame& cfd, const std::string& bus_name);