Update function rx_filter_can for multi frame prevision.

[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 bb48888..d4ada3f 100644 (file)
--- a/low-can-binding/binding/low-can-subscription.cpp
+++ b/low-can-binding/binding/low-can-subscription.cpp
@@ -95,8 +95,13 @@ int low_can_subscription_t::set_event()
  */
 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_);
 }
 
@@ -326,6 +331,7 @@ struct bcm_msg low_can_subscription_t::make_bcm_head(uint32_t opcode, uint32_t c
        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;
 }
 
@@ -348,6 +354,17 @@ void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct b
        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)
 {
@@ -373,32 +390,65 @@ int low_can_subscription_t::create_rx_filter_can(low_can_subscription_t &subscri
        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;
+       }
 
-       if (sig->get_message()->is_fd())
+       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 (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);
 }
@@ -485,9 +535,12 @@ int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, messag
 {
        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());
-       canfd_frame cfd = cm->convert_to_canfd_frame();
-       subscription.add_one_bcm_frame(cfd, bcm_msg);
+       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)
        {