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/can-signals.hpp"
  25 #include "../diagnostic/diagnostic-message.hpp"
  26 #include "../utils/socketcan-bcm.hpp"
  27
  28 #define OBDII_MAX_SIMULTANEOUS_RESPONSES 8
  29
  30 /// @brief Filtering values. Theses values have to be tested in
  31 /// can_bus_t::apply_filter method.
  32 struct event_filter_t
  33 {
  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.
  37
  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;
  41         }
  42 };
  43
  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
  47 {
  48 private:
  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
  52
  53         /// Signal part
  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.
  58
  59         int set_event();
  60
  61 public:
  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();
  67
  68         low_can_subscription_t& operator=(const low_can_subscription_t& s);
  69         explicit operator bool() const;
  70
  71         afb_event_t get_event();
  72         int subscribe(afb_req_t request);
  73         int unsubscribe(afb_req_t request);
  74
  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();
  87
  88         void set_frequency(float freq);
  89         void set_min(float min);
  90         void set_max(float max);
  91
  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;
  94
  95         int open_socket(const std::string& bus_name = "");
  96
  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);
 102
 103         static int tx_send(low_can_subscription_t &subscription, struct canfd_frame& cfd, const std::string& bus_name);
 104 };