Using new CMake architecture (again...)

[apps/low-level-can-service.git] / CAN-binder / low-can-binding / can / can-bus-dev.cpp

diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.cpp b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
index d097dc6..07f921f 100644 (file)
--- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
@@ -20,19 +20,20 @@
 #include <mutex>
 #include <unistd.h>
 #include <linux/can/raw.h>
-
-#include "can-bus-dev.hpp"
+#include <linux/can/bcm.h>
 
 #include "can-bus.hpp"
 #include "can-message.hpp"
 #include "../low-can-binding.hpp"
+#include "canutil/write.h"
+#include "bitfield/bitfield.h"
 
 /// @brief Class constructor
 ///
 /// @param[in] dev_name - String representing the device name into the linux /dev tree
-/// @param[in] address - integer identifier of the bus, set using init_can_dev from can_bus_t.
-can_bus_dev_t::can_bus_dev_t(const std::string& dev_name, int32_t address)
-       : device_name_{dev_name}, address_{address}
+/// @param[in] index - integer identifier of the bus, set using init_can_dev from can_bus_t.
+can_bus_dev_t::can_bus_dev_t(const std::string& dev_name, int index)
+       : device_name_{dev_name}, index_{index}
 {}
 
 std::string can_bus_dev_t::get_device_name() const
@@ -40,9 +41,13 @@ std::string can_bus_dev_t::get_device_name() const
        return device_name_;
 }
 
-uint32_t can_bus_dev_t::get_address() const
+int can_bus_dev_t::get_index() const
+{
+       return index_;
+}
+utils::socketcan_t& can_bus_dev_t::get_socket()
 {
-       return address_;
+       return can_socket_;
 }
 
 /// @brief Open the can socket and returning it
@@ -110,7 +115,41 @@ can_message_t can_bus_dev_t::read()
 
        DEBUG(binder_interface, "%s: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", __FUNCTION__, cfd.can_id, cfd.len,
                                                        cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]);
-       return can_message_t::convert_from_canfd_frame(cfd, nbytes);
+       return can_message_t::convert_from_frame(cfd, nbytes);
+}
+
+/// @brief Create a RX_SETUP receive job using the BCM socket.
+///
+/// @return 0 if ok else -1
+int can_bus_dev_t::create_rx_filter(const can_signal_t& s)
+{
+       uint32_t can_id  = s.get_message().get_id();
+
+       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));
+       uint8_t bit_size = s.get_bit_size();
+       float val = (float)(1 << bit_size)-1;
+
+       bcm_msg.msg_head.opcode  = RX_SETUP;
+       bcm_msg.msg_head.can_id  = can_id;
+       bcm_msg.msg_head.flags = 0;
+       bcm_msg.msg_head.nframes = 1;
+       bitfield_encode_float(val,
+                                                                               s.get_bit_position(),
+                                                                               bit_size,
+                                                                               s.get_factor(),
+                                                                               s.get_offset(),
+                                                                               cfd.data,
+                                                                               CAN_MAX_DLEN);
+
+       bcm_msg.frames = cfd;
+
+       if(can_socket_ << bcm_msg)
+               return 0;
+       return -1;
 }
 
 /// @brief start reading threads and set flag is_running_
@@ -151,24 +190,21 @@ void can_bus_dev_t::can_reader(can_bus_t& can_bus)
 /// @return 0 if message snet, -1 if something wrong.
 int can_bus_dev_t::send(can_message_t& can_msg)
 {
-       ssize_t nbytes;
        canfd_frame f;
-
        f = can_msg.convert_to_canfd_frame();
 
        if(can_socket_)
        {
-               nbytes = can_socket_.send(f);
-               if (nbytes == -1)
+               can_socket_ << f;
+               if(!can_socket_)
                {
-                       ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
+                       ERROR(binder_interface, "%s: Sending CAN frame failed.", __FUNCTION__);
                        return -1;
                }
-               return (int)nbytes;
        }
        else
        {
-               ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
+               ERROR(binder_interface, "%s: socket not initialized. Attempt to reopen can device socket.", __FUNCTION__);
                open();
                return -1;
        }
@@ -187,7 +223,6 @@ int can_bus_dev_t::send(can_message_t& can_msg)
 /// @return True if message sent, false if not.
 bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
 {
-       ssize_t nbytes;
        canfd_frame f;
 
        f.can_id = arbitration_id;
@@ -196,18 +231,18 @@ bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* dat
 
        if(can_socket_)
        {
-               nbytes = can_socket_.send(f);
-               if (nbytes == -1)
+               can_socket_ << f;
+               if (!can_socket_)
                {
                        ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
                        return false;
                }
-               return true;
        }
        else
        {
                ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
                open();
+               return false;
        }
-       return false;
+       return true;
 }