* limitations under the License.
*/
- #pragma once
+#pragma once
#include <string>
#include <cmath>
#include <utility>
-#include "low-can-socket.hpp"
-#include "../can/can-signals.hpp"
+#include "../can/signals.hpp"
#include "../diagnostic/diagnostic-message.hpp"
-#include "../utils/socketcan-bcm.hpp"
+#include "../utils/socketcan.hpp"
-/// @brief The subscription class has a context that can handle all needed values to describe a subscription
-/// to the low-can binding. It can hold a CAN signal or a diagnostic message. A diagnostic message for OBD2 is
-/// special because there is only 1 listener to retrieve OBD2 requests. It is required that all diagnostic message
-/// subscriptions are in 1 object.
-class low_can_subscription_t : public low_can_socket_t
+
+#define OBDII_MAX_SIMULTANEOUS_RESPONSES 8
+
+/// @brief Filtering values. Theses values have to be tested in
+/// can_bus_t::apply_filter method.
+struct event_filter_t
+{
+ float frequency; ///< frequency - Maximum frequency which will be received and pushed to a subscribed event.
+ float min; ///< min - Minimum value that the signal doesn't have to go below to be pushed.
+ float max; ///< max - Maximum value that the signal doesn't have to go above to be pushed.
+ bool promisc; //<promisc - Active mode promisc on socket that permit this feature (j1939)
+ canid_t rx_id; ///< rx_id - RX_ID for ISO_TP protocol
+ canid_t tx_id; ///< tx_id - TX_ID for ISO_TP protocol
+
+ event_filter_t() : frequency{0}, min{-__FLT_MAX__}, max{__FLT_MAX__}, promisc{false}, rx_id{NO_CAN_ID}, tx_id{NO_CAN_ID} {};
+ bool operator==(const event_filter_t& ext) const {
+ return frequency == ext.frequency && min == ext.min && max == ext.max && promisc == ext.promisc && rx_id == ext.rx_id && tx_id == ext.tx_id;
+ }
+};
+
+
+/// @brief The object stores socket to CAN to be used to write on it.
+/// This is a simple access to a CAN bus device without any subscriptions attached
+class low_can_subscription_t
{
private:
- struct afb_event event_; ///< event_ - application framework event used to push on client
+ int index_; ///< index_ - index number is the socket (int) casted
+ struct event_filter_t event_filter_;
+ afb_event_t event_; ///< event_ - application framework event used to push on client
+
+ /// Signal part
+ std::shared_ptr<message_definition_t> message_;
+ std::shared_ptr<signal_t> signal_; ///< signal_ - the CAN signal subscribed
+ vect_ptr_diag_msg_t diagnostic_message_; ///< diagnostic_message_ - diagnostic messages meant to receive OBD2
+ /// responses. Normal diagnostic request and response are not tested for now.
+ std::shared_ptr<utils::socketcan_t> socket_; ///< socket_ - socket_ that receives CAN messages.
+
+ int set_event();
public:
- using low_can_socket_t::low_can_socket_t;
+ low_can_subscription_t();
+ low_can_subscription_t(struct event_filter_t event_filter);
+ low_can_subscription_t(const low_can_subscription_t& s) = delete;
+ low_can_subscription_t(low_can_subscription_t&& s);
+ ~low_can_subscription_t();
+
+ low_can_subscription_t& operator=(const low_can_subscription_t& s);
+ explicit operator bool() const;
+
+ afb_event_t get_event();
+ int subscribe(afb_req_t request);
+ int unsubscribe(afb_req_t request);
+
+ int get_index() const;
+ const std::shared_ptr<signal_t> get_signal() const;
+ bool is_signal_subscription_corresponding(const std::shared_ptr<signal_t>, const struct event_filter_t& event_filter) const;
+ const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(uint32_t pid) const;
+ const vect_ptr_diag_msg_t get_diagnostic_message() const;
+ const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(const std::string& name) const;
+ const std::string get_name() const;
+ const std::string get_name(uint32_t pid) const;
+ float get_frequency() const;
+ float get_min() const;
+ float get_max() const;
+ bool get_promisc() const;
+ canid_t get_rx_id() const;
+ canid_t get_tx_id() const;
+ std::shared_ptr<utils::socketcan_t> get_socket();
+ std::shared_ptr<message_definition_t> get_message_definition();
+
+ void set_frequency(float freq);
+ void set_min(float min);
+ void set_max(float max);
+ void set_index(int index);
+ void set_promisc(bool promisc);
+ void set_rx_id(canid_t rx_id);
+ void set_tx_id(canid_t tx_id);
+ void set_signal(std::shared_ptr<signal_t> signal);
+ void set_message_definition(std::shared_ptr<message_definition_t> message);
+
+ static struct bcm_msg make_bcm_head(uint32_t opcode, uint32_t can_id = 0, uint32_t flags = 0, const struct timeval& timeout = {0, 0}, const struct timeval& frequency_thinning = {0, 0});
+ static void add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg);
+ static void remove_last_bcm_frame(struct bcm_msg& bcm_msg);
+
+ static int open_socket(low_can_subscription_t &subscription, const std::string& bus_name = "", uint32_t flags = INVALID_FLAG);
+
+ int create_rx_filter(std::shared_ptr<signal_t> sig);
+ int create_rx_filter(std::shared_ptr<message_definition_t> msg);
+ int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig);
+ static int create_rx_filter_can(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig);
+ static int create_rx_filter_j1939(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig);
+ static int create_rx_filter_isotp(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig);
+ static int create_rx_filter_bcm(low_can_subscription_t &subscription, bcm_msg& bcm_msg);
- struct afb_event& get_event();
- void set_event(struct afb_event event);
+ static int tx_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name);
+ static int j1939_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name);
+ static int isotp_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name);
};
Code Review / apps / agl-service-can-low-level.git / blobdiff