* limitations under the License.
*/
-#include "low-can-hat.hpp"
-
#include "low-can-subscription.hpp"
#include "application.hpp"
#include "canutil/write.h"
+#include "../utils/socketcan-bcm.hpp"
+#ifdef USE_FEATURE_J1939
+#include "../utils/socketcan-j1939/socketcan-j1939-data.hpp"
+#endif
low_can_subscription_t::low_can_subscription_t()
: index_{-1},
- event_filter_{event_filter_t()},
+ event_filter_{},
+ event_{},
socket_{}
{}
low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter)
- : event_filter_{event_filter}
-{}
+ : index_{-1},
+ event_filter_{event_filter},
+ event_{},
+ socket_{}
+ {}
low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
: index_{s.index_},
event_filter_{s.event_filter_},
+ event_{},
socket_{std::move(s.socket_)}
{}
low_can_subscription_t::~low_can_subscription_t()
{
- socket_.close();
+ if(socket_)
+ socket_->close();
}
low_can_subscription_t::operator bool() const
{
- return ((can_signal_ != nullptr || ! diagnostic_message_.empty()) && afb_event_is_valid(event_));
+ return ((signal_ != nullptr || ! diagnostic_message_.empty()) && ! socket_);
}
-
-struct afb_event& low_can_subscription_t::get_event()
+afb_event_t low_can_subscription_t::get_event()
{
return event_;
}
+/**
+ * @brief Set the event calling the afb_daemon_make_event function to
+ * create it and the checks its validity.
+ *
+ * @return int - 0 if OK, -1 if not
+ */
+int low_can_subscription_t::set_event()
+{
+ std::string event_name = get_name();
+ event_ = afb_daemon_make_event(event_name.c_str());
+ if (! afb_event_is_valid(event_))
+ {
+ AFB_ERROR("Can't create an event for %s, something goes wrong.", event_name.c_str());
+ return -1;
+ }
+
+ return 0;
+}
+
+/**
+ * @brief Subscribe to the event member of the object
+ *
+ * @param request the subscribe AFB client request which want to
+ * subscribe
+ *
+ * @return int - 0 if OK, -1 if not
+ */
+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_);
+}
+
+/**
+ * @brief Unsubscribe to the event member of the object
+ *
+ * @param request the unsubscribe AFB client request which want to
+ * unsubscribe
+ *
+ * @return int - 0 if OK, -1 if not
+ */
+int low_can_subscription_t::unsubscribe(afb_req_t request)
+{
+ return afb_req_unsubscribe(request, event_);
+}
+
int low_can_subscription_t::get_index() const
{
return index_;
}
-const std::shared_ptr<can_signal_t> low_can_subscription_t::get_can_signal() const
+const std::shared_ptr<signal_t> low_can_subscription_t::get_signal() const
+{
+ return signal_;
+}
+
+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 can_signal_;
+ 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 Retrieve a diagnostic_message subscribed from a pid
-///
+///
/// @param[in] pid - Diagnostic messages PID to search for
///
/// @return shared_ptr diagnostic_message_ if found and nullptr if not found
/// or no CAN signal subscribed
const std::string low_can_subscription_t::get_name() const
{
- if (can_signal_ != nullptr)
- return can_signal_->get_name();
+ if (signal_ != nullptr)
+ return signal_->get_name();
+ else if (!diagnostic_message_.empty())
+ return "diagnostic_messages";
+ AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported.");
return "";
}
if (!diagnostic_message_.empty())
return get_diagnostic_message(pid)->get_name() ;
+ AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported.");
return "";
}
return event_filter_.max;
}
-utils::socketcan_bcm_t& low_can_subscription_t::get_socket()
+std::shared_ptr<utils::socketcan_t> low_can_subscription_t::get_socket()
{
return socket_;
}
-void low_can_subscription_t::set_event(struct afb_event event)
-{
- event_ = event;
-}
-
void low_can_subscription_t::set_frequency(float freq)
{
event_filter_.frequency = freq;
event_filter_.max = max;
}
-/// @brief Based upon which object is subscribed CAN signal or diagnostic message
-/// this will open the socket with the required CAN bus device name.
+void low_can_subscription_t::set_index(int index)
+{
+ index_ = index;
+}
+
+/// @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()
+/// @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 ret = 0;
- if(! socket_)
+ int ret = -1;
+ if(! subscription.socket_)
{
- if( can_signal_ != nullptr)
- {ret = socket_.open(can_signal_->get_message()->get_bus_device_name());}
- else if (! diagnostic_message_ .empty())
- {ret = socket_.open(application_t::instance().get_diagnostic_manager().get_bus_device_name());}
- index_ = (int)socket_.socket();
+ switch (type)
+ {
+ case socket_type::BCM:
+ {
+ if( subscription.signal_ != nullptr)
+ {
+ 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());
+ }
+ else if ( !bus_name.empty())
+ {
+ subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
+ ret = subscription.socket_->open(bus_name);
+ }
+ subscription.index_ = (int)subscription.socket_->socket();
+ break;
+ }
+#ifdef USE_FEATURE_J1939
+ case socket_type::J1939_ADDR_CLAIM:
+ {
+ pgn_t pgn = J1939_NO_PGN;
+ 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.index_ = (int)subscription.socket_->socket();
+ break;
+ }
+ case socket_type::J1939:
+ {
+ pgn_t pgn = J1939_NO_PGN;
+ if(subscription.signal_ != nullptr)
+ {
+ 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;
+ }
+ subscription.index_ = (int)subscription.socket_->socket();
+ break;
+ }
+#endif
+ default:
+ {
+ AFB_ERROR("Socket format not supported");
+ return INVALID_SOCKET;
+ break;
+ }
+ }
+ }
+ else{
+ ret = subscription.socket_->socket();
}
return ret;
}
-/// @brief Build a BCM message head but don't set can_frame.
+
+/// @brief Builds a BCM message head but doesn't set can_frame.
///
-/// @return a simple_bcm_msg with the msg_head parts set and can_frame
+/// @returns a bcm_msg with the msg_head parts set and can_frame
/// zeroed.
-struct utils::simple_bcm_msg low_can_subscription_t::make_bcm_head(uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const
+struct bcm_msg low_can_subscription_t::make_bcm_head(uint32_t opcode, uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning)
{
- struct utils::simple_bcm_msg bcm_msg;
+ struct bcm_msg bcm_msg;
+ ::memset(&bcm_msg, 0, sizeof(bcm_msg));
- memset(&bcm_msg, 0, sizeof(bcm_msg));
-
- bcm_msg.msg_head.opcode = RX_SETUP;
+ bcm_msg.msg_head.opcode = opcode;
bcm_msg.msg_head.can_id = can_id;
bcm_msg.msg_head.flags = flags;
bcm_msg.msg_head.ival1.tv_sec = timeout.tv_sec ;
return bcm_msg;
}
-/// @brief Take an existing simple_bcm_msg struct and add a can_frame to it.
-/// Only possible for now to add 1 uniq can_frame, it isn't possible to build
+/// @brief Take an existing bcm_msg struct and add a can_frame.
+/// Currently only 1 uniq can_frame can be added, it's not possible to build
/// a multiplexed message with several can_frame.
-void low_can_subscription_t::add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const
+void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg)
{
- for(int i=0; i < CAN_MAX_DLEN; i++)
+ struct can_frame cf;
+
+ if (bcm_msg.msg_head.flags & CAN_FD_FRAME)
+ bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cfd;
+ else
{
- if(cfd.data[i] != 0)
- {
- bcm_msg.msg_head.nframes = 1;
- bcm_msg.frames = cfd;
- return;
- }
+ cf.can_id = cfd.can_id;
+ cf.can_dlc = cfd.len;
+ ::memcpy(&cf.data, cfd.data, cfd.len);
+ bcm_msg.frames[bcm_msg.msg_head.nframes] = cf;
}
+ bcm_msg.msg_head.nframes++;
}
-/// @brief Create a RX_SETUP receive job used by the BCM socket for a CAN signal
+#ifdef USE_FEATURE_J1939
+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)
+ {
+ return -1;
+ }
+ return 0;
+}
+#endif
+
+/// @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(std::shared_ptr<can_signal_t> sig)
+int low_can_subscription_t::create_rx_filter_can(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig)
{
- can_signal_= sig;
-
- struct can_frame cfd;
- memset(&cfd, 0, sizeof(cfd));
-
- float val = (float)(1 << can_signal_->get_bit_size()) - 1;
- bitfield_encode_float(val,
- can_signal_->get_bit_position(),
- can_signal_->get_bit_size(),
- can_signal_->get_factor(),
- can_signal_->get_offset(),
- cfd.data,
- CAN_MAX_DLEN);
-
+ uint32_t flags;
+ float val;
struct timeval freq, timeout = {0, 0};
- frequency_clock_t f = std::isnan(event_filter_.frequency) ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency);
+ struct canfd_frame cfd;
+ subscription.signal_= sig;
+
+ if (sig->get_message()->is_fd())
+ {
+ flags = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME;
+ cfd.len = CANFD_MAX_DLEN;
+ }
+ else
+ {
+ flags = SETTIMER|RX_NO_AUTOTIMER;
+ cfd.len = CAN_MAX_DLEN;
+ }
+ val = (float)(1 << subscription.signal_->get_bit_size()) - 1;
+ if(! bitfield_encode_float(val,
+ subscription.signal_->get_bit_position(),
+ subscription.signal_->get_bit_size(),
+ 1,
+ subscription.signal_->get_offset(),
+ cfd.data,
+ cfd.len))
+ return -1;
+
+ 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();
- utils::simple_bcm_msg bcm_msg = make_bcm_head(can_signal_->get_message()->get_id(), SETTIMER|RX_NO_AUTOTIMER, timeout, freq);
- add_bcm_frame(cfd, bcm_msg);
+ struct bcm_msg bcm_msg = subscription.make_bcm_head(RX_SETUP, subscription.signal_->get_message()->get_id(), flags, timeout, freq);
+ subscription.add_one_bcm_frame(cfd, bcm_msg);
+
+ return create_rx_filter_bcm(subscription, bcm_msg);
+}
- return create_rx_filter(bcm_msg);
+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
+ return low_can_subscription_t::create_rx_filter_can(*this, sig);
+ #ifdef USE_FEATURE_J1939
+ }
+ #endif
}
-/// @brief Create a RX_SETUP receive job used by the BCM socket for a
+
+/// @brief Create a RX_SETUP receive job to be used by the BCM socket for a
/// diagnostic message subscription.
///
/// @return 0 if ok else -1
//struct timeval timeout = frequency_clock_t(10).get_timeval_from_period();
struct timeval timeout = {0,0};
- utils::simple_bcm_msg bcm_msg = make_bcm_head(OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
- return create_rx_filter(bcm_msg);
+ 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);
}
/// @brief Create a RX_SETUP receive job used by the BCM socket directly from
-/// a simple_bcm_msg. You will not use this method directly but rather use the
-/// two previous method with can_signal_t or diagnostic_message_t object.
+/// a bcm_msg. The method should not be used directly but rather through the
+/// two previous method with signal_t or diagnostic_message_t object.
///
/// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed
/// to the 8 classics OBD2 functional response ID
///
/// @return 0 if ok else -1
-int low_can_subscription_t::create_rx_filter(utils::simple_bcm_msg& 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 has been opened.
- if(open_socket() < 0)
+ // Make sure that socket is opened.
+ if(subscription.open_socket(subscription,"",socket_type::BCM) < 0)
{return -1;}
- // If it isn't an OBD2 CAN ID then just add a simple RX_SETUP job
+ // 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)
+
+ can_message_t msg = can_message_t();
+
+ msg.set_bcm_msg(bcm_msg);
+
+ if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
{
- socket_ << bcm_msg;
- if(! socket_)
+ subscription.socket_->write_message(msg);
+ 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;
-
- socket_ << bcm_msg;
- if(! socket_)
+ msg.set_bcm_msg(bcm_msg);
+ subscription.socket_->write_message(msg);
+ if(! subscription.socket_)
return -1;
}
}
+ return 0;
+}
+
+/// @brief Creates a TX_SEND job that is used by the BCM socket to
+/// send a message
+///
+/// @return 0 if ok else -1
+int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name)
+{
+ 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
+ std::vector<canfd_frame> cfd_vect = cm->convert_to_canfd_frame_vector();
+ for(auto cfd: cfd_vect)
+ {
+ subscription.add_one_bcm_frame(cfd, bcm_msg);
+ }
+
+ if(subscription.open_socket(subscription, bus_name,socket_type::BCM) < 0)
+ {
+ return -1;
+ }
+
+ cm->set_bcm_msg(bcm_msg);
+ subscription.socket_->write_message(*cm);
+ if(! subscription.socket_.get())
+ {
+ return -1;
+ }
+
+ return 0;
+}
+
+#ifdef USE_FEATURE_J1939
+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)
+ {
+ return -1;
+ }
+
+ j1939_message_t *jm = static_cast<j1939_message_t*>(message);
+ 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 -1;
+ }
return 0;
-}
\ No newline at end of file
+}
+#endif
\ No newline at end of file
Code Review / apps / agl-service-can-low-level.git / blobdiff