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;
}
+/**
+ * @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_;
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;
}
+/**
+ * @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_;
}
+/**
+ * @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;
}
+/**
+ * @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;
int ret = -1;
if(! subscription.socket_)
{
- if(flags&BCM_PROTOCOL)
+ if(flags & BCM_PROTOCOL)
{
if( subscription.signal_ != nullptr)
{
subscription.index_ = (int)subscription.socket_->socket();
}
#ifdef USE_FEATURE_ISOTP
- else if(flags&ISOTP_PROTOCOL)
+ else if(flags & ISOTP_PROTOCOL)
{
if(subscription.signal_ != nullptr)
{
canid_t rx = NO_CAN_ID;
canid_t tx = NO_CAN_ID;
- if(flags&ISOTP_SEND)
+ if(flags & ISOTP_SEND)
{
rx = subscription.get_rx_id();
tx = subscription.signal_->get_message()->get_id();
}
- else if(flags&ISOTP_RECEIVE)
+ else if(flags & ISOTP_RECEIVE)
{
rx = subscription.signal_->get_message()->get_id();
tx = subscription.get_tx_id();
}
#endif
#ifdef USE_FEATURE_J1939
- else if(flags&J1939_ADDR_CLAIM_PROTOCOL)
+ else if(flags & J1939_ADDR_CLAIM_PROTOCOL)
{
pgn_t pgn = J1939_NO_PGN;
if(!bus_name.empty())
}
subscription.index_ = (int)subscription.socket_->socket();
}
- else if(flags&J1939_PROTOCOL)
+ else if(flags & J1939_PROTOCOL)
{
pgn_t pgn = J1939_NO_PGN;
if(subscription.signal_ != nullptr)
}
#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,"",J1939_PROTOCOL) < 0)
+ if(open_socket(subscription, "", J1939_PROTOCOL) < 0)
{
return -1;
}
}
#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)
+ if(open_socket(subscription, "", ISOTP_PROTOCOL|ISOTP_RECEIVE) < 0)
{
return -1;
}
int low_can_subscription_t::create_rx_filter_can(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig)
{
uint32_t flags_bcm;
- float val;
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_bcm = 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,
- false,
- sig->get_message()->get_flags(),
- data,
- 0);
+ max_dlen = CANFD_MAX_DLEN;
}
else
{
flags_bcm = SETTIMER|RX_NO_AUTOTIMER;
- cfd.len = CAN_MAX_DLEN;
- cm = can_message_t( CAN_MAX_DLEN,
- sig->get_message()->get_id(),
- length_msg,
- false,
- sig->get_message()->get_flags(),
- data,
- 0);
+ 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();
}
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);
}
+/**
+ * @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)
{
if(!sig->get_message()->is_isotp() && !sig->get_message()->is_j1939())
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,"",BCM_PROTOCOL) < 0)
+ if(subscription.open_socket(subscription, "", BCM_PROTOCOL) < 0)
{return -1;}
// If it's not an OBD2 CAN ID then just add a simple RX_SETUP job
{
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_)
if(subscription.socket_->write_message(*cm) < 0)
{
- AFB_ERROR("Error write message id : %d",cfd_vect[0].can_id);
+ AFB_ERROR("Error write message id : %d", cfd_vect[0].can_id);
return -1;
}
}
}
#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);
}
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");
#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);
}
return 0;
-}
\ No newline at end of file
+}
Code Review / apps / agl-service-can-low-level.git / blobdiff