Make and use a single function to read incoming CAN messages

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

diff --git a/CAN-binder/low-can-binding/can/can-signals.cpp b/CAN-binder/low-can-binding/can/can-signals.cpp
index 82c6285..d196c07 100644 (file)
--- a/CAN-binder/low-can-binding/can/can-signals.cpp
+++ b/CAN-binder/low-can-binding/can/can-signals.cpp
@@ -22,12 +22,14 @@
 #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,
@@ -43,9 +45,8 @@ can_signal_t::can_signal_t(std::uint8_t message_set_id,
        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 }
@@ -63,10 +64,34 @@ can_signal_t::can_signal_t(std::uint8_t message_set_id,
        , 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
@@ -170,6 +195,11 @@ float can_signal_t::get_last_value() 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;
@@ -184,3 +214,44 @@ void can_signal_t::set_last_value(float 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;
+}