#include "application.hpp"
#include "canutil/write.h"
#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
int low_can_subscription_t::subscribe(afb_req_t request)
{
if(! afb_event_is_valid(event_))
- {
if(set_event() < 0)
- {
return -1;
- }
- }
+
return afb_req_subscribe(request, event_);
}
return afb_req_unsubscribe(request, event_);
}
+/**
+ * @brief Getter of index of subscription
+ *
+ * @return int Index
+ */
int low_can_subscription_t::get_index() const
{
return index_;
}
+/**
+ * @brief Getter of signal of subscription
+ *
+ * @return const std::shared_ptr<signal_t> A shared pointer of the signal
+ */
const std::shared_ptr<signal_t> low_can_subscription_t::get_signal() const
{
return signal_;
}
+/**
+ * @brief Check if the signal and event are the same that the subscription
+ *
+ * @param signal the signal compared
+ * @param event_filter the event_filter compared
+ * @return true if they are equal
+ * @return false if they are not equal
+ */
bool low_can_subscription_t::is_signal_subscription_corresponding(const std::shared_ptr<signal_t> signal, const struct event_filter_t& event_filter) const
{
return signal_ == signal && event_filter_ == event_filter;
}
-const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_subscription_t::get_diagnostic_message() const
+/**
+ * @brief Getter for diagnostic messages of subscription
+ *
+ * @return const vector_ptr_diag_msg_t Vector of pointer of diagnostic message
+ */
+const vect_ptr_diag_msg_t low_can_subscription_t::get_diagnostic_message() const
{
return diagnostic_message_;
}
const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(uint32_t pid) const
{
for(const auto& diag: diagnostic_message_)
- {
if(diag->get_pid() == pid)
- {
return diag;
- }
- }
+
return nullptr;
}
const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(const std::string& name) const
{
for(const auto& diag: diagnostic_message_)
- {
if(diag->get_name() == name)
- {
return diag;
- }
- }
+
return nullptr;
}
return "";
}
+/**
+ * @brief Getter of the frequency of the event_filter
+ *
+ * @return float The frequency
+ */
float low_can_subscription_t::get_frequency() const
{
return event_filter_.frequency;
}
+/**
+ * @brief Getter of the min of the event_filter
+ *
+ * @return float The min value filtered
+ */
float low_can_subscription_t::get_min() const
{
return event_filter_.min;
}
+/**
+ * @brief Getter of the max of the event_filter
+ *
+ * @return float The max value filtered
+ */
float low_can_subscription_t::get_max() const
{
return event_filter_.max;
}
+bool low_can_subscription_t::get_promisc() const
+{
+ return event_filter_.promisc;
+}
+
+/**
+ * @brief Getter of the rx_id of the event_filter
+ *
+ * @return canid_t The rx_id value
+ */
+canid_t low_can_subscription_t::get_rx_id() const
+{
+ return event_filter_.rx_id;
+}
+
+/**
+ * @brief Getter of the tx_id of the event_filter
+ *
+ * @return canid_t The tx_id value
+ */
+canid_t low_can_subscription_t::get_tx_id() const
+{
+ return event_filter_.tx_id;
+}
+
+/**
+ * @brief Getter of the socket of the subscription
+ *
+ * @return std::shared_ptr<utils::socketcan_t> Pointer of the socket object
+ */
std::shared_ptr<utils::socketcan_t> low_can_subscription_t::get_socket()
{
return socket_;
}
+std::shared_ptr<message_definition_t> low_can_subscription_t::get_message_definition()
+{
+ return message_;
+}
+
+/**
+ * @brief Setter for the frequency of the event_filter
+ *
+ * @param freq The new frequency
+ */
void low_can_subscription_t::set_frequency(float freq)
{
event_filter_.frequency = freq;
}
+/**
+ * @brief Setter for the min of the event_filter
+ *
+ * @param min The new min
+ */
void low_can_subscription_t::set_min(float min)
{
event_filter_.min = min;
}
+/**
+ * @brief Setter for the max of the event_filter
+ *
+ * @param max The new max
+ */
void low_can_subscription_t::set_max(float max)
{
event_filter_.max = max;
}
+void low_can_subscription_t::set_promisc(bool promisc)
+{
+ event_filter_.promisc = promisc;
+}
+
+/**
+ * @brief Setter for the rx_id of the event_filter
+ *
+ * @param rx_id The new rx_id
+ */
+void low_can_subscription_t::set_rx_id(canid_t rx_id)
+{
+ event_filter_.rx_id = rx_id;
+}
+
+/**
+ * @brief Setter for the tx_id of the event_filter
+ *
+ * @param tx_id The new tx_id
+ */
+void low_can_subscription_t::set_tx_id(canid_t tx_id)
+{
+ event_filter_.tx_id = tx_id;
+}
+
+/**
+ * @brief Setter for the index of the subscription
+ *
+ * @param index The new index
+ */
void low_can_subscription_t::set_index(int index)
{
index_ = index;
}
+/**
+ * @brief Setter for the signal of the subscription
+ *
+ * @param signal The new signal
+ */
+void low_can_subscription_t::set_signal(std::shared_ptr<signal_t> signal)
+{
+ signal_ = signal;
+}
+
+void low_can_subscription_t::set_message_definition(std::shared_ptr<message_definition_t> message)
+{
+ message_ = message;
+}
+
/// @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.
///
/// @return INVALID_SOCKET on failure, else positive integer
-int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, const std::string& bus_name, socket_type type)
+int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, const std::string& bus_name, uint32_t flags)
{
int ret = -1;
if(! subscription.socket_)
{
- switch (type)
+ if(flags & CAN_PROTOCOL)
{
- case socket_type::BCM:
+ subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
+ if( subscription.signal_ )
+ ret = subscription.socket_->open(subscription.signal_->get_message()->get_bus_device_name());
+ else if(! subscription.diagnostic_message_.empty())
+ ret = subscription.socket_->open(application_t::instance().get_diagnostic_manager().get_bus_device_name());
+ else if(! bus_name.empty())
+ ret = subscription.socket_->open(bus_name);
+
+ subscription.index_ = (int)subscription.socket_->socket();
+ }
+#ifdef USE_FEATURE_ISOTP
+ else if(flags & ISOTP_PROTOCOL)
{
- if( subscription.signal_ != nullptr)
+ std::shared_ptr<utils::socketcan_isotp_t> socket = std::make_shared<utils::socketcan_isotp_t>();
+ if(subscription.signal_ )
{
- subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
- ret = subscription.socket_->open(subscription.signal_->get_message()->get_bus_device_name());
- }
- else if (! subscription.diagnostic_message_ .empty())
- {
- subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
- ret = subscription.socket_->open(application_t::instance().get_diagnostic_manager().get_bus_device_name());
+ 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();
+ }
+ ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(), rx, tx);
+ subscription.socket_ = socket;
}
- else if ( !bus_name.empty())
+ else if(! bus_name.empty())
{
- subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
- ret = subscription.socket_->open(bus_name);
+ ret = socket->open(bus_name, subscription.get_rx_id(), subscription.get_tx_id());
+ subscription.socket_ = socket;
}
subscription.index_ = (int)subscription.socket_->socket();
- break;
}
+#endif
#ifdef USE_FEATURE_J1939
- case socket_type::J1939_ADDR_CLAIM:
+ else if(flags & J1939_ADDR_CLAIM_PROTOCOL)
{
pgn_t pgn = J1939_NO_PGN;
+ std::shared_ptr<utils::socketcan_j1939_addressclaiming_t> socket = std::make_shared<utils::socketcan_j1939_addressclaiming_t>();
if(!bus_name.empty())
- {
- std::shared_ptr<utils::socketcan_j1939_addressclaiming_t> socket = std::make_shared<utils::socketcan_j1939_addressclaiming_t>();
ret = socket->open(bus_name, pgn);
- subscription.socket_ = socket;
- }
+ subscription.socket_ = socket;
subscription.index_ = (int)subscription.socket_->socket();
- break;
}
- case socket_type::J1939:
+ else if(flags & J1939_PROTOCOL)
{
pgn_t pgn = J1939_NO_PGN;
- if(subscription.signal_ != nullptr)
+ std::shared_ptr<utils::socketcan_j1939_data_t> socket = std::make_shared<utils::socketcan_j1939_data_t>();
+ if(subscription.signal_)
{
pgn = subscription.signal_->get_message()->get_id();
- std::shared_ptr<utils::socketcan_j1939_data_t> socket = std::make_shared<utils::socketcan_j1939_data_t>();
ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(), pgn);
- subscription.socket_ = socket;
}
else if(!bus_name.empty())
{
- std::shared_ptr<utils::socketcan_j1939_data_t> socket = std::make_shared<utils::socketcan_j1939_data_t>();
ret = socket->open(bus_name, pgn);
- subscription.socket_ = socket;
}
+
+ if(ret)
+ socket->define_opt(!j1939_pgn_is_pdu1(pgn),subscription.event_filter_.promisc);
+
+ subscription.socket_ = socket;
subscription.index_ = (int)subscription.socket_->socket();
- break;
}
#endif
- default:
+ else
{
AFB_ERROR("Socket format not supported");
return INVALID_SOCKET;
- break;
- }
}
}
else{
void low_can_subscription_t::remove_last_bcm_frame(struct bcm_msg& bcm_msg)
{
struct canfd_frame cf;
- memset(&cf,0,sizeof(cf));
+ memset(&cf, 0, sizeof(cf));
bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cf;
bcm_msg.msg_head.nframes--;
}
#ifdef USE_FEATURE_J1939
+/**
+ * @brief Create a j1939 socket to read message
+ *
+ * @param subscription The subscription
+ * @param sig The signal subscribed
+ * @return int 0 if ok else -1
+ */
int low_can_subscription_t::create_rx_filter_j1939(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig)
{
subscription.signal_= sig;
// Make sure that socket is opened.
- if(open_socket(subscription,"",socket_type::J1939) < 0)
- {
+ if(open_socket(subscription, "", J1939_PROTOCOL) < 0)
return -1;
- }
+
return 0;
}
#endif
+/**
+ * @brief Create an iso tp socket to read message
+ *
+ * @param subscription The subscription
+ * @param sig The signal subscribed
+ * @return int 0 if ok else -1
+ */
+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
///
/// @return 0 if ok else -1
int low_can_subscription_t::create_rx_filter_can(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig)
{
- uint32_t flags;
- float val;
+ uint32_t flags_bcm;
struct timeval freq, timeout = {0, 0};
- struct canfd_frame cfd;
subscription.signal_= sig;
bool is_fd = sig->get_message()->is_fd();
+ uint32_t max_dlen = 0;
- std::vector<uint8_t> data;
uint32_t length_msg = sig->get_message()->get_length();
+ std::vector<uint8_t> data(length_msg);
+ can_message_t cm;
- if(length_msg == 0)
+ if(! length_msg)
{
- AFB_ERROR("Error in the length of message with id %d",sig->get_message()->get_id());
+ AFB_ERROR("Error in the length of message with id %d", sig->get_message()->get_id());
return -1;
}
- for(int i = 0; i<length_msg;i++)
- {
- data.push_back(0);
- }
-
- encoder_t::encode_data(subscription.signal_,data,true,false,true);
-
- can_message_t cm;
+ encoder_t::encode_data(subscription.signal_, data, true, false, true);
if (is_fd)
{
- flags = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME;
- cfd.len = CANFD_MAX_DLEN;
- cm = can_message_t(CANFD_MAX_DLEN,sig->get_message()->get_id(),length_msg,sig->get_message()->get_format(),false,CAN_FD_FRAME,data,0);
+ flags_bcm = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME;
+ max_dlen = CANFD_MAX_DLEN;
}
else
{
- flags = SETTIMER|RX_NO_AUTOTIMER;
- cfd.len = CAN_MAX_DLEN;
- cm = can_message_t(CAN_MAX_DLEN,sig->get_message()->get_id(),length_msg,sig->get_message()->get_format(),false,0,data,0);
+ flags_bcm = SETTIMER|RX_NO_AUTOTIMER;
+ max_dlen = CAN_MAX_DLEN;
}
+ cm = can_message_t( max_dlen,
+ sig->get_message()->get_id(),
+ length_msg,
+ false,
+ sig->get_message()->get_flags(),
+ data,
+ 0);
+
frequency_clock_t f = subscription.event_filter_.frequency == 0 ? subscription.signal_->get_frequency() : frequency_clock_t(subscription.event_filter_.frequency);
freq = f.get_timeval_from_period();
- struct bcm_msg bcm_msg = subscription.make_bcm_head(RX_SETUP, subscription.signal_->get_message()->get_id(), flags, timeout, freq);
+ struct bcm_msg bcm_msg = subscription.make_bcm_head(RX_SETUP, subscription.signal_->get_message()->get_id(), flags_bcm, timeout, freq);
std::vector<canfd_frame> cfd_vect = cm.convert_to_canfd_frame_vector();
}
else if(cfd_vect.size() == 1)
{
- canfd_frame cf = cfd_vect[0];
- for(int i=0;i<cfd.len;i++)
- {
- cfd.data[i] = cf.data[i];
- }
- subscription.add_one_bcm_frame(cfd, bcm_msg);
+ subscription.add_one_bcm_frame(cfd_vect[0], bcm_msg);
}
else
{
return create_rx_filter_bcm(subscription, bcm_msg);
}
+
+int low_can_subscription_t::create_rx_filter(std::shared_ptr<message_definition_t> msg)
+{
+ std::shared_ptr<signal_t> signal_message =
+ std::make_shared<signal_t>(signal_t{msg->get_name(),
+ 0,
+ msg->get_length() * 8,
+ 1.00000f,
+ 0.00000f,
+ 0,
+ 0,
+ frequency_clock_t(0.00000f),
+ true,
+ false,
+ {},
+ true,
+ nullptr,
+ nullptr,
+ false,
+ std::make_pair<bool, int>(false, 0),
+ static_cast<sign_t>(0),
+ -1,
+ ""});
+
+ signal_message->set_parent(msg);
+ return create_rx_filter(signal_message);
+}
+
+
+/**
+ * @brief Create the good socket to read message
+ * depending on the signal
+ *
+ * @param sig The signal subscribed
+ * @return 0 if ok else -1
+ */
int low_can_subscription_t::create_rx_filter(std::shared_ptr<signal_t> sig)
{
- #ifdef USE_FEATURE_J1939
- if(sig->get_message()->is_j1939())
- {
- return low_can_subscription_t::create_rx_filter_j1939(*this, sig);
- }
- else
- {
- #endif
+ 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_J1939
- }
- #endif
+#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
+ AFB_ERROR("Signal can't be created (check config)");
+ return -1;
}
diagnostic_message_.push_back(sig);
struct timeval freq = frequency_clock_t(event_filter_.frequency).get_timeval_from_period();
- //struct timeval timeout = frequency_clock_t(10).get_timeval_from_period();
- struct timeval timeout = {0,0};
+ struct timeval timeout = {0, 0};
- struct bcm_msg bcm_msg = make_bcm_head(RX_SETUP, OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
+ struct bcm_msg bcm_msg = make_bcm_head(RX_SETUP, OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER | RX_NO_AUTOTIMER | RX_FILTER_ID, timeout, freq);
return create_rx_filter_bcm(*this, bcm_msg);
}
int low_can_subscription_t::create_rx_filter_bcm(low_can_subscription_t &subscription, struct bcm_msg& bcm_msg)
{
// Make sure that socket is opened.
- if(subscription.open_socket(subscription,"",socket_type::BCM) < 0)
- {return -1;}
-
- // If it's not an OBD2 CAN ID then just add a simple RX_SETUP job
- // else monitor all standard 8 CAN OBD2 ID response.
+ if(subscription.open_socket(subscription, "", CAN_PROTOCOL) < 0)
+ return -1;
can_message_t msg = can_message_t();
-
msg.set_bcm_msg(bcm_msg);
+ // If it's not an OBD2 CAN ID then just add a simple RX_SETUP job
+ // else monitor all standard 8 CAN OBD2 ID response.
if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
{
subscription.socket_->write_message(msg);
- if(! subscription.socket_)
- return -1;
+ if(! subscription.socket_)
+ return -1;
}
else
{
for(uint8_t i = 0; i < 8; i++)
{
- bcm_msg.msg_head.can_id = OBD2_FUNCTIONAL_RESPONSE_START + i;
+ bcm_msg.msg_head.can_id = OBD2_FUNCTIONAL_RESPONSE_START + i;
msg.set_bcm_msg(bcm_msg);
subscription.socket_->write_message(msg);
if(! subscription.socket_)
{
can_message_t *cm = static_cast<can_message_t*>(message);
- struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cm->get_id(),cm->get_flags() | TX_CP_CAN_ID); // TX_CP_CAN_ID -> copy in cfd the id of bcm
+ struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cm->get_id(), cm->get_flags()|TX_CP_CAN_ID); // TX_CP_CAN_ID -> copy in cfd the id of bcm
+ cm->set_bcm_msg(bcm_msg);
+
std::vector<canfd_frame> cfd_vect = cm->convert_to_canfd_frame_vector();
- for(auto cfd: cfd_vect)
+
+ if(subscription.open_socket(subscription, bus_name, CAN_PROTOCOL) < 0)
+ return -1;
+
+ struct bcm_msg &bcm_cm = cm->get_bcm_msg();
+
+ if(cfd_vect.size() > 1)
{
- subscription.add_one_bcm_frame(cfd, bcm_msg);
+ AFB_ERROR("Multi frame BCM not implemented");
+ return -1;
}
-
- if(subscription.open_socket(subscription, bus_name,socket_type::BCM) < 0)
+ else if(cfd_vect.size() == 1) // raw or fd
{
+ subscription.add_one_bcm_frame(cfd_vect[0], bcm_cm);
+
+ if(subscription.socket_->write_message(*cm) < 0)
+ {
+ AFB_ERROR("Error write message id : %d", cfd_vect[0].can_id);
return -1;
+ }
}
-
- cm->set_bcm_msg(bcm_msg);
- subscription.socket_->write_message(*cm);
- if(! subscription.socket_.get())
+ else // error
{
- return -1;
+ AFB_ERROR("Error no data available");
+ return -1;
}
+ if(! subscription.socket_.get())
+ return -1;
+
return 0;
}
#ifdef USE_FEATURE_J1939
+/**
+ * @brief Allows to open socket j1939 and send j1939 messsage
+ *
+ * @param subscription The subscription
+ * @param message The j1939 message to send
+ * @param bus_name The bus name where to send message
+ * @return int 0 if ok else -1
+ */
int low_can_subscription_t::j1939_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, socket_type::J1939) < 0)
- {
+ if(subscription.open_socket(subscription, bus_name, J1939_PROTOCOL) < 0)
return -1;
- }
j1939_message_t *jm = static_cast<j1939_message_t*>(message);
- jm->set_sockname(jm->get_pgn(),J1939_NO_NAME,J1939_NO_ADDR);
+ jm->set_sockname(jm->get_pgn(), J1939_NO_NAME, J1939_NO_ADDR);
if(subscription.socket_->write_message(*jm) < 0)
{
AFB_ERROR("Error write j1939 message");
return 0;
}
-#endif
\ No newline at end of file
+#endif
+
+
+/**
+ * @brief Allows to open socket isotp and send can messsage
+ *
+ * @param subscription The subscription
+ * @param message The can message to send
+ * @param bus_name The bus name where to send message
+ * @return int 0 if ok else -1
+ */
+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;
+}
Code Review / apps / agl-service-can-low-level.git / blobdiff