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.
38 bool promisc; //<promisc - Active mode promisc on socket that permit this feature (j1939)
39 canid_t rx_id; ///< rx_id - RX_ID for ISO_TP protocol
40 canid_t tx_id; ///< tx_id - TX_ID for ISO_TP protocol
42 event_filter_t() : frequency{0}, min{-__FLT_MAX__}, max{__FLT_MAX__}, promisc{false}, rx_id{NO_CAN_ID}, tx_id{NO_CAN_ID} {};
43 bool operator==(const event_filter_t& ext) const {
44 return frequency == ext.frequency && min == ext.min && max == ext.max && promisc == ext.promisc && rx_id == ext.rx_id && tx_id == ext.tx_id;
49 /// @brief The object stores socket to CAN to be used to write on it.
50 /// This is a simple access to a CAN bus device without any subscriptions attached
51 class low_can_subscription_t
54 int index_; ///< index_ - index number is the socket (int) casted
55 struct event_filter_t event_filter_;
56 afb_event_t event_; ///< event_ - application framework event used to push on client
59 std::shared_ptr<message_definition_t> message_;
60 std::shared_ptr<signal_t> signal_; ///< signal_ - the CAN signal subscribed
61 vect_ptr_diag_msg_t diagnostic_message_; ///< diagnostic_message_ - diagnostic messages meant to receive OBD2
62 /// responses. Normal diagnostic request and response are not tested for now.
63 std::shared_ptr<utils::socketcan_t> socket_; ///< socket_ - socket_ that receives CAN messages.
68 low_can_subscription_t();
69 low_can_subscription_t(struct event_filter_t event_filter);
70 low_can_subscription_t(const low_can_subscription_t& s) = delete;
71 low_can_subscription_t(low_can_subscription_t&& s);
72 ~low_can_subscription_t();
74 low_can_subscription_t& operator=(const low_can_subscription_t& s);
75 explicit operator bool() const;
77 afb_event_t get_event();
78 int subscribe(afb_req_t request);
79 int unsubscribe(afb_req_t request);
81 int get_index() const;
82 const std::shared_ptr<signal_t> get_signal() const;
83 bool is_signal_subscription_corresponding(const std::shared_ptr<signal_t>, const struct event_filter_t& event_filter) const;
84 const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(uint32_t pid) const;
85 const vect_ptr_diag_msg_t get_diagnostic_message() const;
86 const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(const std::string& name) const;
87 const std::string get_name() const;
88 const std::string get_name(uint32_t pid) const;
89 float get_frequency() const;
90 float get_min() const;
91 float get_max() const;
92 bool get_promisc() const;
93 canid_t get_rx_id() const;
94 canid_t get_tx_id() const;
95 std::shared_ptr<utils::socketcan_t> get_socket();
96 std::shared_ptr<message_definition_t> get_message_definition();
98 void set_frequency(float freq);
99 void set_min(float min);
100 void set_max(float max);
101 void set_index(int index);
102 void set_promisc(bool promisc);
103 void set_rx_id(canid_t rx_id);
104 void set_tx_id(canid_t tx_id);
105 void set_signal(std::shared_ptr<signal_t> signal);
106 void set_message_definition(std::shared_ptr<message_definition_t> message);
108 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});
109 static void add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg);
110 static void remove_last_bcm_frame(struct bcm_msg& bcm_msg);
112 static int open_socket(low_can_subscription_t &subscription, const std::string& bus_name = "", uint32_t flags = INVALID_FLAG);
114 int create_rx_filter(std::shared_ptr<signal_t> sig);
115 int create_rx_filter(std::shared_ptr<message_definition_t> msg);
116 int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig);
117 static int create_rx_filter_can(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig);
118 static int create_rx_filter_j1939(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig);
119 static int create_rx_filter_isotp(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig);
120 static int create_rx_filter_bcm(low_can_subscription_t &subscription, bcm_msg& bcm_msg);
122 static int tx_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name);
123 static int j1939_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name);
124 static int isotp_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name);