#include "../can/can-bus.hpp"
#include "../can/can-signals.hpp"
#include "../can/can-message.hpp"
-#include "../utils/timer.hpp"
#include "../utils/signals.hpp"
#include "../diagnostic/diagnostic-message.hpp"
#include "../utils/openxc-utils.hpp"
-#include "canutil/write.h"
extern "C"
{
#include <afb/afb-service-itf.h>
};
-///******************************************************************************
-///
-/// 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::~low_can_subscription_t()
-{
- socket_.close();
-}
-
-low_can_subscription_t::operator bool() const
-{
- return ((can_signal_ != nullptr || ! diagnostic_message_.empty()) && afb_event_is_valid(event_));
-}
-
-struct afb_event& low_can_subscription_t::get_event()
-{
- return event_;
-}
-
-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::vector<std::shared_ptr<diagnostic_message_t> > low_can_subscription_t::get_diagnostic_message() const
-{
- return diagnostic_message_;
-}
-
-const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(uint32_t pid) const
-{
- for(const auto& diag: diagnostic_message_)
- {
- if(diag->get_pid() == pid)
- {
- return diag;
- }
- }
- return nullptr;
-}
-
-const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(const std::string& name) const
-{
- for(const auto& diag: diagnostic_message_)
- {
- if(diag->get_name() == name)
- {
- return diag;
- }
- }
- return nullptr;
-}
-
-const std::string low_can_subscription_t::get_name() const
-{
- if (can_signal_ != nullptr)
- return can_signal_->get_name();
-
- return "";
-}
-
-const std::string low_can_subscription_t::get_name(uint32_t pid) const
-{
- if (!diagnostic_message_.empty())
- return get_diagnostic_message(pid)->get_name() ;
-
- return "";
-}
-
-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_event(struct afb_event event)
-{
- event_ = event;
-}
-
-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;
-}
-
-int low_can_subscription_t::open_socket()
-{
- int ret = 0;
- if(! socket_)
- {
- if( can_signal_ != nullptr)
- {ret = socket_.open(can_signal_->get_message()->get_bus_device_name());}
- else if (! diagnostic_message_ .empty())
- {ret = socket_.open(application_t::instance().get_diagnostic_manager().get_bus_device_name());}
- index_ = (int)socket_.socket();
- }
- return ret;
-}
-
-struct utils::simple_bcm_msg low_can_subscription_t::make_bcm_head(uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const
-{
- struct utils::simple_bcm_msg bcm_msg;
-
- memset(&bcm_msg, 0, sizeof(bcm_msg));
-
- bcm_msg.msg_head.opcode = RX_SETUP;
- bcm_msg.msg_head.can_id = can_id;
- bcm_msg.msg_head.flags = flags;
- bcm_msg.msg_head.ival1.tv_sec = timeout.tv_sec ;
- bcm_msg.msg_head.ival1.tv_usec = timeout.tv_usec;
- bcm_msg.msg_head.ival2.tv_sec = frequency_thinning.tv_sec ;
- bcm_msg.msg_head.ival2.tv_usec = frequency_thinning.tv_usec;
-
- return bcm_msg;
-}
-
-void low_can_subscription_t::add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const
-{
- for(int i=0; i < CAN_MAX_DLEN; i++)
- {
- if(cfd.data[i] != 0)
- {
- bcm_msg.msg_head.nframes = 1;
- bcm_msg.frames = cfd;
- return;
- }
- }
-}
-
-/// @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()
-{
- int ret = -1;
- if ( can_signal_ != nullptr)
- {ret = create_rx_filter(can_signal_);}
- else if (! diagnostic_message_ .empty())
- {ret = create_rx_filter(diagnostic_message_.front());}
-
- return ret;
-}
-
-/// @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;
-
- struct can_frame cfd;
- memset(&cfd, 0, sizeof(cfd));
-
- float val = (float)(1 << can_signal_->get_bit_size()) - 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);
-
- struct timeval freq, timeout = {0, 0};
- frequency_clock_t f = std::isnan(event_filter_.frequency) ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency);
- freq = f.get_timeval_from_period();
-
- utils::simple_bcm_msg bcm_msg = make_bcm_head(can_signal_->get_message()->get_id(), SETTIMER|RX_NO_AUTOTIMER, timeout, freq);
- add_bcm_frame(cfd, bcm_msg);
-
- return create_rx_filter(bcm_msg);
-}
-
-/// @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<diagnostic_message_t> sig)
-{
- diagnostic_message_.push_back(sig);
-
- struct timeval freq = frequency_clock_t(event_filter_.frequency).get_timeval_from_period();
- //struct timeval timeout = frequency_clock_t(10).get_timeval_from_period();
- struct timeval timeout = {0,0};
-
- utils::simple_bcm_msg bcm_msg = make_bcm_head(OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
- return create_rx_filter(bcm_msg);
-}
-
-/// @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(utils::simple_bcm_msg& bcm_msg)
-{
- // Make sure that socket has been opened.
- if(open_socket() < 0)
- {return -1;}
-
- // If it isn't an OBD2 CAN ID then just add a simple RX_SETUP job
- // else monitor all standard 8 CAN OBD2 ID response.
- if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
- {
- socket_ << bcm_msg;
- if(! socket_)
- return -1;
- }
- else
- {
- for(uint8_t i = 0; i < 8; i++)
- {
- bcm_msg.msg_head.can_id = OBD2_FUNCTIONAL_RESPONSE_START + i;
-
- socket_ << bcm_msg;
- if(! socket_)
- return -1;
- }
- }
-
- return 0;
-}
///******************************************************************************
///
Code Review / apps / agl-service-can-low-level.git / blobdiff