#include "low-can-hat.hpp"
#include <map>
+#include <memory>
#include <queue>
#include <mutex>
#include <vector>
low_can_subscription_t::low_can_subscription_t()
: index_{-1},
- sig_name_{},
- bus_name_{""},
- can_id_{0},
- bit_position_{0},
- bit_size_{0},
- factor_{-1.0},
- offset_{-1},
+ event_filter_{event_filter_t()},
socket_{}
{}
: event_filter_{event_filter}
{}
+low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter, std::shared_ptr<diagnostic_message_t> diagnostic_message)
+ : event_filter_{event_filter}, diagnostic_message_{diagnostic_message}
+{}
+
low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
: index_{s.index_},
- sig_name_{s.sig_name_},
- bus_name_{s.bus_name_},
- can_id_{s.can_id_},
- bit_position_{s.bit_position_},
- bit_size_{s.bit_size_},
- factor_{s.factor_},
- offset_{s.offset_},
event_filter_{s.event_filter_},
socket_{std::move(s.socket_)}
{}
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 sig_name_;
+ return can_signal_->get_name();
}
float low_can_subscription_t::get_frequency() const
/// @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(const std::string& bus_name, const std::string& sig_name, uint32_t can_id, uint8_t bit_position, uint8_t bit_size, float factor, float offset)
+int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
{
- // Make sure that socket has been opened.
- if(! socket_)
- {
- socket_.open(bus_name);
- index_ = (int)socket_.socket();
- }
-
- sig_name_ = sig_name;
- bus_name_ = bus_name;
- can_id_ = can_id;
- bit_position_ = bit_position;
- bit_size_ = bit_size;
- factor_ = factor;
- offset_ = offset;
-
- 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 << 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_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,
- bit_position_,
- bit_size_,
- factor_,
- offset_,
- cfd.data,
- CAN_MAX_DLEN);
-
- bcm_msg.frames = cfd;
-
- if(socket_ << bcm_msg)
- return 0;
- return -1;
+ 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()
{
+ if (can_signal_ == nullptr)
+ {return -1;}
+
// Make sure that socket has been opened.
if(! socket_)
{
- socket_.open(bus_name_);
+ socket_.open(can_signal_->get_message()->get_bus_device_name());
index_ = (int)socket_.socket();
}
memset(&cfd, 0, sizeof(cfd));
memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
- float val = (float)(1 << bit_size_) - 1;
+ float val = (float)(1 << can_signal_->get_bit_size()) - 1;
struct timeval freq;
- frequency_clock_t f(event_filter_.frequency);
+ 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();
bcm_msg.msg_head.opcode = RX_SETUP;
- bcm_msg.msg_head.can_id = can_id_;
+ 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,
- bit_position_,
- bit_size_,
- factor_,
- offset_,
- cfd.data,
- CAN_MAX_DLEN);
+ 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;
return make_subscription_unsubscription(request, can_subscription, s, subscribe);
}
-///
-/// @brief subscribe to all signals in the vector signals
-///
-/// @param[in] afb_req request : contain original request use to subscribe or unsubscribe
-/// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription
-/// @param[in] signals - struct containing vectors with can_signal_t and diagnostic_messages to subscribe
-///
-/// @return Number of correctly subscribed signal
-///
-static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals, struct event_filter_t& event_filter)
+int subscribe_unsubscribe_diagnostic_messages(struct afb_req request, bool subscribe, std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages, struct event_filter_t& event_filter)
{
int rets = 0;
-
- //TODO: Implement way to dynamically call the right function no matter
- // how much signals types we have.
application_t& conf = application_t::instance();
+ diagnostic_manager_t& diag_m = conf.get_diagnostic_manager();
- for(const auto& sig : signals.diagnostic_messages)
+ for(const auto& sig : diagnostic_messages)
{
- int ret = 0;
- diagnostic_manager_t& diag_m = conf.get_diagnostic_manager();
+ active_diagnostic_request_t* adr;
DiagnosticRequest* diag_req = conf.get_request_from_diagnostic_message(sig->get_name());
// If the requested diagnostic message isn't supported by the car then unsubcribe it
{
float frequency = std::isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency;
- diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), frequency);
+ adr = diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), frequency);
//TODO: Adding callback requesting ignition status: diag_req, sig.c_str(), false, diagnostic_message_t::decode_obd2_response, diagnostic_message_t::check_ignition_status, frequency);
}
else
return -1;
}
- std::shared_ptr<low_can_subscription_t> can_subscription(new low_can_subscription_t(event_filter));
- ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription);
+ std::shared_ptr<low_can_subscription_t> can_subscription(new low_can_subscription_t(event_filter, std::shared_ptr<active_diagnostic_request_t>(adr)));
+ int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription);
if(ret < 0)
return ret;
rets++;
DEBUG(binder_interface, "%s: Signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
}
- for(const auto& sig: signals.can_signals)
+ return rets;
+}
+
+int subscribe_unsubscribe_can_signals(struct afb_req request, bool subscribe, std::vector<std::shared_ptr<can_signal_t> > can_signals, struct event_filter_t& event_filter)
+{
+ int rets = 0;
+ for(const auto& sig: can_signals)
{
std::shared_ptr<low_can_subscription_t> can_subscription(new low_can_subscription_t(event_filter));
- if(can_subscription->create_rx_filter(sig->get_message()->get_bus_device_name(),
- sig->get_name(),
- sig->get_message()->get_id(),
- sig->get_bit_position(),
- sig->get_bit_size(),
- sig->get_factor(),
- sig->get_offset()) < 0)
+ if(can_subscription->create_rx_filter(sig) < 0)
{return -1;}
else if(subscribe_unsubscribe_signal(request, subscribe, can_subscription) < 0)
{return -1;}
struct sd_event_source* e_source;
- sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &e_source, can_subscription->get_socket().socket(), EPOLLIN, read_message, sig.get());
+ sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &e_source, can_subscription->get_socket().socket(), EPOLLIN, read_message, can_subscription.get());
rets++;
DEBUG(binder_interface, "%s: signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
}
return rets;
}
-static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const char *tag, struct json_object *event)
+///
+/// @brief subscribe to all signals in the vector signals
+///
+/// @param[in] afb_req request : contain original request use to subscribe or unsubscribe
+/// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription
+/// @param[in] signals - struct containing vectors with can_signal_t and diagnostic_messages to subscribe
+///
+/// @return Number of correctly subscribed signal
+///
+static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals, struct event_filter_t& event_filter)
+{
+ int rets = 0;
+
+ rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter);
+ rets += subscribe_unsubscribe_can_signals(request, subscribe, signals.can_signals, event_filter);
+
+ return rets;
+}
+
+static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const std::string& tag, json_object* args)
{
int ret = 0;
struct event_filter_t event_filter;
struct utils::signals_found sf;
// computes the filter
- if (json_object_object_get_ex(event, "filter", &filter))
+ if (json_object_object_get_ex(args, "filter", &filter))
{
if (json_object_object_get_ex(filter, "frequency", &obj)
&& (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe)
{
- int rc, rc2;
+ int i, n, rc, rc2;
struct json_object *args, *event, *x;
args = afb_req_json(request);
if (args == NULL || !json_object_object_get_ex(args, "event", &event))
{
- rc = one_subscribe_unsubscribe(request, subscribe, "*", NULL);
+ rc = one_subscribe_unsubscribe(request, subscribe, "*", args);
}
else if (json_object_get_type(event) != json_type_array)
{
- rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), event);
+ rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), args);
}
else
{
for (i = 0 ; i < n ; i++)
{
x = json_object_array_get_idx(event, i);
- rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), x);
+ rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), args);
if (rc >= 0)
rc = rc2 >= 0 ? rc + rc2 : rc2;
}
Code Review / apps / agl-service-can-low-level.git / blobdiff