Add feature ISO TP (multi frames and peer to peer)

[apps/agl-service-can-low-level.git] / low-can-binding / binding / low-can-subscription.cpp

diff --git a/low-can-binding/binding/low-can-subscription.cpp b/low-can-binding/binding/low-can-subscription.cpp
index 0f4bf0c..6d02b10 100644 (file)
--- a/low-can-binding/binding/low-can-subscription.cpp
+++ b/low-can-binding/binding/low-can-subscription.cpp
@@ -22,6 +22,10 @@
 #include "../utils/socketcan-bcm.hpp"
 #include "../can/can-encoder.hpp"
 
+#ifdef USE_FEATURE_ISOTP
+#include "../utils/socketcan-isotp.hpp"
+#endif
+
 #ifdef USE_FEATURE_J1939
 #include "../utils/socketcan-j1939/socketcan-j1939-data.hpp"
 #endif
@@ -212,6 +216,16 @@ float low_can_subscription_t::get_max() const
        return event_filter_.max;
 }
 
+canid_t low_can_subscription_t::get_rx_id() const
+{
+       return event_filter_.rx_id;
+}
+
+canid_t low_can_subscription_t::get_tx_id() const
+{
+       return event_filter_.tx_id;
+}
+
 std::shared_ptr<utils::socketcan_t> low_can_subscription_t::get_socket()
 {
        return socket_;
@@ -232,11 +246,27 @@ void low_can_subscription_t::set_max(float max)
        event_filter_.max = max;
 }
 
+void low_can_subscription_t::set_rx_id(canid_t rx_id)
+{
+       event_filter_.rx_id = rx_id;
+}
+
+void low_can_subscription_t::set_tx_id(canid_t tx_id)
+{
+       event_filter_.tx_id = tx_id;
+}
+
 void low_can_subscription_t::set_index(int index)
 {
        index_ = index;
 }
 
+void low_can_subscription_t::set_signal(std::shared_ptr<signal_t> signal)
+{
+       signal_ = signal;
+}
+
+
 /// @brief Based upon which object is a subscribed CAN signal or diagnostic message
 /// it will open the socket with the required CAN bus device name.
 ///
@@ -265,6 +295,36 @@ int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, co
                        }
                        subscription.index_ = (int)subscription.socket_->socket();
                }
+#ifdef USE_FEATURE_ISOTP
+               else if(flags&ISOTP_PROTOCOL)
+               {
+                       if(subscription.signal_ != nullptr)
+                       {
+                               canid_t rx = NO_CAN_ID;
+                               canid_t tx = NO_CAN_ID;
+                               if(flags&ISOTP_SEND)
+                               {
+                                       rx = subscription.get_rx_id();
+                                       tx = subscription.signal_->get_message()->get_id();
+                               }
+                               else if(flags&ISOTP_RECEIVE)
+                               {
+                                       rx = subscription.signal_->get_message()->get_id();
+                                       tx = subscription.get_tx_id();
+                               }
+                               std::shared_ptr<utils::socketcan_isotp_t> socket = std::make_shared<utils::socketcan_isotp_t>();
+                               ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(),rx,tx);
+                               subscription.socket_ = socket;
+                       }
+                       else if(!bus_name.empty())
+                       {
+                               std::shared_ptr<utils::socketcan_isotp_t> socket = std::make_shared<utils::socketcan_isotp_t>();
+                               ret = socket->open(bus_name, subscription.get_rx_id(),subscription.get_tx_id());
+                               subscription.socket_ = socket;
+                       }
+                       subscription.index_ = (int)subscription.socket_->socket();
+               }
+#endif
 #ifdef USE_FEATURE_J1939
                else if(flags&J1939_ADDR_CLAIM_PROTOCOL)
                {
@@ -374,6 +434,18 @@ int low_can_subscription_t::create_rx_filter_j1939(low_can_subscription_t &subsc
 }
 #endif
 
+int low_can_subscription_t::create_rx_filter_isotp(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig)
+{
+       subscription.signal_= sig;
+
+       // Make sure that socket is opened.
+       if(open_socket(subscription,"",ISOTP_PROTOCOL|ISOTP_RECEIVE) < 0)
+       {
+                       return -1;
+       }
+       return 0;
+}
+
 /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a CAN signal
 /// subscription
 ///
@@ -462,18 +534,27 @@ int low_can_subscription_t::create_rx_filter_can(low_can_subscription_t &subscri
 
 int low_can_subscription_t::create_rx_filter(std::shared_ptr<signal_t> sig)
 {
-       #ifdef USE_FEATURE_J1939
-       if(sig->get_message()->is_j1939())
+       if(!sig->get_message()->is_isotp() && !sig->get_message()->is_j1939())
+       {
+               return low_can_subscription_t::create_rx_filter_can(*this, sig);
+       }
+#ifdef USE_FEATURE_ISOTP
+       else if(sig->get_message()->is_isotp())
+       {
+               return low_can_subscription_t::create_rx_filter_isotp(*this,sig);
+       }
+#endif
+#ifdef USE_FEATURE_J1939
+       else if(sig->get_message()->is_j1939())
        {
                return low_can_subscription_t::create_rx_filter_j1939(*this, sig);
        }
+#endif
        else
        {
-       #endif
-               return low_can_subscription_t::create_rx_filter_can(*this, sig);
-       #ifdef USE_FEATURE_J1939
+               AFB_ERROR("Signal can't be j1939 and isotp");
+               return -1;
        }
-       #endif
 }
 
 
@@ -607,3 +688,24 @@ int low_can_subscription_t::j1939_send(low_can_subscription_t &subscription, mes
        return 0;
 }
 #endif
+
+
+int low_can_subscription_t::isotp_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name)
+{
+       //struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cfd.can_id);
+       //subscription.add_one_bcm_frame(cfd, bcm_msg);
+
+       if(subscription.open_socket(subscription, bus_name, ISOTP_PROTOCOL|ISOTP_SEND) < 0)
+       {
+               return -1;
+       }
+
+       can_message_t *cm = static_cast<can_message_t*>(message);
+       if(subscription.socket_->write_message(*cm) < 0)
+       {
+               AFB_ERROR("Error write iso tp message");
+               return -1;
+       }
+
+       return 0;
+}
\ No newline at end of file