#include "application.hpp"
#include "canutil/write.h"
+low_can_subscription_t::low_can_subscription_t()
+ : index_{-1},
+ event_filter_{},
+ event_{},
+ socket_{}
+{}
+
+low_can_subscription_t::low_can_subscription_t(struct event_filter_t 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::operator=(const low_can_subscription_t& s)
+{
+ socket_ = std::move(s.socket_);
+ return *this;
+}
+
+low_can_subscription_t::~low_can_subscription_t()
+{
+ socket_.close();
+}
+
+low_can_subscription_t::operator bool() const
+{
+ return ((can_signal_ != nullptr || ! diagnostic_message_.empty()) && ! socket_);
+}
afb_event_t low_can_subscription_t::get_event()
{
return event_;
}
-void low_can_subscription_t::set_event(afb_event_t 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(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
+{
+ return can_signal_;
+}
+
+bool low_can_subscription_t::is_signal_subscription_corresponding(const std::shared_ptr<can_signal_t> can_signal, const struct event_filter_t& event_filter) const
+{
+ return can_signal_ == can_signal && event_filter_ == event_filter;
+}
+
+const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_subscription_t::get_diagnostic_message() const
+{
+ return diagnostic_message_;
+}
+
+/// @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
+const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(uint32_t pid) const
+{
+ for(const auto& diag: diagnostic_message_)
+ {
+ if(diag->get_pid() == pid)
+ {
+ return diag;
+ }
+ }
+ return nullptr;
+}
+
+/// @brief Retrieve a diagnostic message search from its name
+///
+/// @return shared_ptr diagnostic_message_ if found and nullptr if not found
+const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(const std::string& name) const
+{
+ for(const auto& diag: diagnostic_message_)
+ {
+ if(diag->get_name() == name)
+ {
+ return diag;
+ }
+ }
+ return nullptr;
+}
+
+/// @brief Return the CAN signal name and empty string 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();
+ 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 "";
+}
+
+/// @brief Return name from a diagnostic message from a PID
+///
+/// @param[in] pid - Diagnostic message PID
+const std::string low_can_subscription_t::get_name(uint32_t pid) const
+{
+ 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 "";
+}
+
+float low_can_subscription_t::get_frequency() const
+{
+ return event_filter_.frequency;
+}
+
+float low_can_subscription_t::get_min() const
+{
+ return event_filter_.min;
+}
+
+float low_can_subscription_t::get_max() const
+{
+ return event_filter_.max;
+}
+
+utils::socketcan_bcm_t& low_can_subscription_t::get_socket()
+{
+ return socket_;
+}
+
+void low_can_subscription_t::set_frequency(float freq)
+{
+ event_filter_.frequency = freq;
+}
+
+void low_can_subscription_t::set_min(float min)
+{
+ event_filter_.min = min;
+}
+
+void low_can_subscription_t::set_max(float max)
+{
+ event_filter_.max = max;
+}
+/// @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 ret = 0;
+ if(! 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());}
+ else if ( ! bus_name.empty())
+ { ret = socket_.open(bus_name);}
+ index_ = (int)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 utils::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 utils::bcm_msg bcm_msg;
+ ::memset(&bcm_msg, 0, sizeof(bcm_msg));
+
+ 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 ;
+ bcm_msg.msg_head.ival1.tv_usec = timeout.tv_usec;
+ 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 utils::bcm_msg& bcm_msg) const
+{
+ struct can_frame cf;
+
+ if (bcm_msg.msg_head.flags & CAN_FD_FRAME)
+ bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cfd;
+ else
+ {
+ 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 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)
+{
+ uint32_t flags;
+ float val;
+ struct timeval freq, timeout = {0, 0};
+ struct canfd_frame cfd;
+ can_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 << can_signal_->get_bit_size()) - 1;
+ if(! bitfield_encode_float(val,
+ can_signal_->get_bit_position(),
+ can_signal_->get_bit_size(),
+ 1,
+ can_signal_->get_offset(),
+ cfd.data,
+ cfd.len))
+ return -1;
+
+ frequency_clock_t f = event_filter_.frequency == 0 ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency);
+ freq = f.get_timeval_from_period();
+
+ utils::bcm_msg bcm_msg = make_bcm_head(RX_SETUP, can_signal_->get_message()->get_id(), flags, timeout, freq);
+ add_one_bcm_frame(cfd, bcm_msg);
+
+ return create_rx_filter(bcm_msg);
+}
+
+/// @brief Create a RX_SETUP receive job used by the BCM socket directly from
+/// a bcm_msg. The method should not be used directly but rather through the
+/// two previous method with can_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::bcm_msg& bcm_msg)
{
- event_ = event;
+ // Make sure that socket is opened.
+ if(open_socket() < 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.
+ if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
+ {
+ socket_ << bcm_msg;
+ if(! 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_)
+ return -1;
+ }
+ }
+
+ return 0;
+}
+
+/// @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
+int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig)
+{
+ diagnostic_message_.push_back(sig);
+
+ 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};
+
+ utils::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_msg);
+}
+
+/// @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(struct canfd_frame& cfd, const std::string& bus_name)
+{
+ struct utils::bcm_msg bcm_msg = make_bcm_head(TX_SEND, cfd.can_id);
+ add_one_bcm_frame(cfd, bcm_msg);
+
+ if(open_socket(bus_name) < 0)
+ {return -1;}
+
+ socket_ << bcm_msg;
+ if(! socket_)
+ return -1;
+
+ return 0;
}
Code Review / apps / agl-service-can-low-level.git / blobdiff