#include "application.hpp"
#include "canutil/write.h"
#include "../utils/socketcan-bcm.hpp"
-
#ifdef USE_FEATURE_J1939
- #include "../utils/socketcan-j1939.hpp"
+#include "../utils/socketcan-j1939/socketcan-j1939-data.hpp"
#endif
low_can_subscription_t::low_can_subscription_t()
*/
int low_can_subscription_t::subscribe(afb_req_t request)
{
- if(set_event() < 0)
- return -1;
+ if(! afb_event_is_valid(event_))
+ {
+ if(set_event() < 0)
+ {
+ return -1;
+ }
+ }
return afb_req_subscribe(request, event_);
}
event_filter_.max = max;
}
+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(low_can_subscription_t &subscription, const std::string& bus_name)
+int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, const std::string& bus_name, socket_type type)
{
- int ret = 0;
+ int ret = -1;
if(! subscription.socket_)
{
-
- #ifdef USE_FEATURE_J1939
- if((subscription.signal_ != nullptr || !bus_name.empty()) && subscription.signal_->get_message()->is_j1939())
+ switch (type)
{
- name_t name = J1939_NO_NAME;
- pgn_t pgn = J1939_NO_PGN;
- uint8_t addr = J1939_NO_ADDR;
- pgn = subscription.signal_->get_message()->get_id();
- if( subscription.signal_ != nullptr)
- {
- std::shared_ptr<utils::socketcan_j1939_t> socket = std::make_shared<utils::socketcan_j1939_t>();
- ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(), name, pgn, addr);
- subscription.socket_ = socket;
- }
- else if ( !bus_name.empty())
- {
- std::shared_ptr<utils::socketcan_j1939_t> socket = std::make_shared<utils::socketcan_j1939_t>();
- ret = socket->open(bus_name, name, pgn, addr);
- subscription.socket_ = socket;
- }
- subscription.index_ = (int)subscription.socket_->socket();
- }
- else
+ case socket_type::BCM:
{
- #endif
if( subscription.signal_ != nullptr)
{
subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
ret = subscription.socket_->open(bus_name);
}
subscription.index_ = (int)subscription.socket_->socket();
- #ifdef USE_FEATURE_J1939
+ 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;
}
- #endif
+ }
+ }
+ else{
+ ret = subscription.socket_->socket();
}
return ret;
}
+
/// @brief Builds a BCM message head but doesn't set can_frame.
///
/// @returns a bcm_msg with the msg_head parts set and can_frame
subscription.signal_= sig;
// Make sure that socket is opened.
- if(open_socket(subscription) < 0)
+ if(open_socket(subscription,"",socket_type::J1939) < 0)
{
return -1;
}
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) < 0)
+ 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.
- std::shared_ptr<can_message_t> msg = std::make_shared<can_message_t>();
+ can_message_t msg = can_message_t();
- msg->set_bcm_msg(bcm_msg);
+ msg.set_bcm_msg(bcm_msg);
if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
{
for(uint8_t i = 0; i < 8; i++)
{
bcm_msg.msg_head.can_id = OBD2_FUNCTIONAL_RESPONSE_START + i;
- msg->set_bcm_msg(bcm_msg);
+ msg.set_bcm_msg(bcm_msg);
subscription.socket_->write_message(msg);
if(! subscription.socket_)
return -1;
/// send a message
///
/// @return 0 if ok else -1
-int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, struct canfd_frame& cfd, const std::string& bus_name)
+int low_can_subscription_t::tx_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);
+ can_message_t *cm = static_cast<can_message_t*>(message);
- if(subscription.open_socket(subscription, bus_name) < 0)
- {return -1;}
+ 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;
+}
- std::shared_ptr<can_message_t> msg = std::make_shared<can_message_t>();
+#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);
- msg->set_bcm_msg(bcm_msg);
+ if(subscription.open_socket(subscription, bus_name, socket_type::J1939) < 0)
+ {
+ return -1;
+ }
- subscription.socket_->write_message(msg);
- if(! subscription.socket_.get())
+ 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;
}
+#endif
\ No newline at end of file
Code Review / apps / agl-service-can-low-level.git / blobdiff