#include "can-signals.hpp"
-#include "../configuration.hpp"
+#include "../binding/configuration.hpp"
#include "../utils/signals.hpp"
#include "can-decoder.hpp"
+#include "can-message.hpp"
+#include "can-bus.hpp"
#include "../diagnostic/diagnostic-message.hpp"
+#include "canutil/write.h"
std::string can_signal_t::prefix_ = "messages";
-can_signal_t::can_signal_t(std::uint8_t message_set_id,
- std::uint8_t message_id,
+can_signal_t::can_signal_t(
std::string generic_name,
uint8_t bit_position,
uint8_t bit_size,
SignalDecoder decoder,
SignalEncoder encoder,
bool received)
- : message_set_id_{ message_set_id }
- , message_id_{ message_id }
- , generic_name_{ generic_name }
+ : parent_{nullptr},
+ generic_name_{ generic_name }
, bit_position_{ bit_position }
, bit_size_{ bit_size }
, factor_{ factor }
, last_value_{.0f}
{}
+/*can_signal_t::can_signal_t(const can_signal_t& b)
+ : parent_{b.parent_},
+ generic_name_{ b.generic_name_}
+ , bit_position_{ b.bit_position_}
+ , bit_size_{ b.bit_size_}
+ , factor_{ b.factor_ }
+ , offset_{ b.offset_}
+ , min_value_{b.min_value_}
+ , max_value_{b.max_value_}
+ , frequency_{b.frequency_}
+ , send_same_{b.send_same_}
+ , force_send_changed_{b.force_send_changed_}
+ , states_{b.states_}
+ , writable_{b.writable_}
+ , decoder_{b.decoder_}
+ , encoder_{b.encoder_}
+ , received_{b.received_}
+ , last_value_{b.last_value_}
+{}*/
-const can_message_definition_t& can_signal_t::get_message() const
+utils::socketcan_bcm_t can_signal_t::get_socket() const
{
- return configuration_t::instance().get_can_message_definition(message_set_id_, message_id_);
+ return socket_;
+}
+
+can_message_definition_t* can_signal_t::get_message() const
+{
+ return parent_;
}
const std::string& can_signal_t::get_generic_name() const
return last_value_;
}
+void can_signal_t::set_parent(can_message_definition_t* parent)
+{
+ parent_ = parent;
+}
+
void can_signal_t::set_prefix(std::string val)
{
prefix_ = val;
{
last_value_ = val;
}
+
+/// @brief Create a RX_SETUP receive job using the BCM socket.
+///
+/// @return 0 if ok else -1
+int can_signal_t::create_rx_filter()
+{
+ // Make sure that socket has been opened.
+ if(! socket_)
+ socket_.open(
+ get_message()->get_bus_name());
+
+ uint32_t can_id = 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));
+ float val = (float)(1 << bit_size_)-1;
+ struct timeval freq = frequency_.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;
+}
+
+void can_signal_t::read_socket()
+{
+ can_message_t msg;
+ can_bus_t& cbm = configuration_t::instance().get_can_bus_manager();
+ socket_ >> msg;
+ std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
+ { cbm.push_new_can_message(msg); }
+ cbm.get_new_can_message_cv().notify_one();
+}
\ No newline at end of file