#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()
low_can_subscription_t::~low_can_subscription_t()
{
- socket_->close();
+ if(socket_)
+ socket_->close();
}
low_can_subscription_t::operator bool() const
*/
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(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;
- if(! socket_)
+ int ret = -1;
+ if(! subscription.socket_)
{
- if( signal_ != nullptr)
- {ret = socket_->open(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());}
- else if ( ! bus_name.empty())
- { ret = socket_->open(bus_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 Builds a BCM message head but doesn't set can_frame.
///
/// @returns a bcm_msg with the msg_head parts set and can_frame
/// zeroed.
-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) 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 bcm_msg bcm_msg;
::memset(&bcm_msg, 0, sizeof(bcm_msg));
bcm_msg.msg_head.ival2.tv_sec = frequency_thinning.tv_sec ;
bcm_msg.msg_head.ival2.tv_usec = frequency_thinning.tv_usec;
+
return bcm_msg;
}
/// @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_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg) const
+void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg)
{
struct can_frame cf;
bcm_msg.msg_head.nframes++;
}
+/// @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::remove_last_bcm_frame(struct bcm_msg& bcm_msg)
+{
+ struct canfd_frame 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
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(subscription.open_socket() < 0)
+ if(open_socket(subscription,"",socket_type::J1939) < 0)
{
return -1;
}
struct timeval freq, timeout = {0, 0};
struct canfd_frame cfd;
subscription.signal_= sig;
+ bool is_fd = sig->get_message()->is_fd();
+
+ std::vector<uint8_t> data;
+ uint32_t length_msg = sig->get_message()->get_length();
+
+ if(length_msg == 0)
+ {
+ 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;
- if (sig->get_message()->is_fd())
+ 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);
}
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);
}
- 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();
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);
+
+ std::vector<canfd_frame> cfd_vect = cm.convert_to_canfd_frame_vector();
+
+ if(cfd_vect.size() > 1) //multi
+ {
+ AFB_ERROR("Not implemented yet");
+ return -1;
+ }
+ 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);
+ }
+ else
+ {
+ AFB_ERROR("No data available");
+ return -1;
+ }
return create_rx_filter_bcm(subscription, 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() < 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<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(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;
+ }
- std::shared_ptr<message_t> msg = std::make_shared<can_message_t>();
+ cm->set_bcm_msg(bcm_msg);
+ subscription.socket_->write_message(*cm);
+ if(! subscription.socket_.get())
+ {
+ return -1;
+ }
- msg->set_bcm_msg(bcm_msg);
+ return 0;
+}
- subscription.socket_->write_message(msg);
- if(! subscription.socket_.get())
+#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;
}
+#endif
\ No newline at end of file
Code Review / apps / agl-service-can-low-level.git / blobdiff