-///******************************************************************************
-///
-/// low_can_subscription_t object
-///
-///*******************************************************************************/
-
-low_can_subscription_t::low_can_subscription_t()
- : index_{-1},
- event_filter_{event_filter_t()},
- socket_{}
-{}
-
-low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter)
- : event_filter_{event_filter}
-{}
-
-low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
- : index_{s.index_},
- event_filter_{s.event_filter_},
- socket_{std::move(s.socket_)}
-{}
-
- low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s)
-{
- socket_ = std::move(s.socket_);
- return *this;
-}
-
-low_can_subscription_t::operator bool() const
-{
- return socket_.socket() != INVALID_SOCKET;
-}
-
-int low_can_subscription_t::get_index() const
-{
- return index_;
-}
-
-const std::shared_ptr<can_signal_t> low_can_subscription_t::get_can_signal() const
-{
- return can_signal_;
-}
-
-const std::string low_can_subscription_t::get_sig_name() const
-{
- return can_signal_->get_name();
-}
-
-float low_can_subscription_t::get_frequency() const
-{
- return event_filter_.frequency;
-}
-
-float low_can_subscription_t::get_min() const
-{
- return event_filter_.min;
-}
-
-float low_can_subscription_t::get_max() const
-{
- return event_filter_.max;
-}
-
-utils::socketcan_bcm_t& low_can_subscription_t::get_socket()
-{
- return socket_;
-}
-
-void low_can_subscription_t::set_frequency(float freq)
-{
- event_filter_.frequency = freq;
-}
-
-void low_can_subscription_t::set_min(float min)
-{
- event_filter_.min = min;
-}
-
-void low_can_subscription_t::set_max(float max)
-{
- event_filter_.max = max;
-}
-
-/// @brief Create a RX_SETUP receive job used by the BCM socket.
-///
-/// @return 0 if ok else -1
-int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
-{
- can_signal_= sig;
- return create_rx_filter();
-}
-
-/// @brief Create a RX_SETUP receive job used by the BCM socket.
-///
-/// @return 0 if ok else -1
-int low_can_subscription_t::create_rx_filter()
-{
- // Make sure that socket has been opened.
- if(! socket_)
- {
- socket_.open(can_signal_->get_message()->get_bus_device_name());
- index_ = (int)socket_.socket();
- }
-
- struct utils::simple_bcm_msg bcm_msg;
- struct can_frame cfd;
-
- memset(&cfd, 0, sizeof(cfd));
- memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
- float val = (float)(1 << can_signal_->get_bit_size()) - 1;
-
- struct timeval freq;
- frequency_clock_t f(event_filter_.frequency);
- freq = f.get_timeval_from_period();
-
- bcm_msg.msg_head.opcode = RX_SETUP;
- bcm_msg.msg_head.can_id = can_signal_->get_message()->get_id();
- bcm_msg.msg_head.flags = SETTIMER|RX_NO_AUTOTIMER;
- bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec ;
- bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
- bcm_msg.msg_head.nframes = 1;
- bitfield_encode_float(val,
- can_signal_->get_bit_position(),
- can_signal_->get_bit_size(),
- can_signal_->get_factor(),
- can_signal_->get_offset(),
- cfd.data,
- CAN_MAX_DLEN);
-
- bcm_msg.frames = cfd;
-
- if(socket_ << bcm_msg)
- return 0;
- return -1;
-}