* limitations under the License.
*/
- #pragma once
+#pragma once
#include <string>
#include <cmath>
#include <utility>
-#include "../can/can-signals.hpp"
+#include "../can/signals.hpp"
#include "../diagnostic/diagnostic-message.hpp"
-#include "../utils/socketcan-bcm.hpp"
+#include "../utils/socketcan.hpp"
+
#define OBDII_MAX_SIMULTANEOUS_RESPONSES 8
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.
+ 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__} {};
+ event_filter_t() : frequency{0}, min{-__FLT_MAX__}, max{__FLT_MAX__}, 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;
+ return frequency == ext.frequency && min == ext.min && max == ext.max && 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
afb_event_t event_; ///< event_ - application framework event used to push on client
/// Signal part
- std::shared_ptr<can_signal_t> can_signal_; ///< can_signal_ - the CAN signal subscribed
- std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_message_; ///< diagnostic_message_ - diagnostic messages meant to receive OBD2
+ 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_bcm_t> socket_; ///< socket_ - socket_ that receives CAN messages.
+ std::shared_ptr<utils::socketcan_t> socket_; ///< socket_ - socket_ that receives CAN messages.
int set_event();
int unsubscribe(afb_req_t request);
int get_index() const;
- const std::shared_ptr<can_signal_t> get_can_signal() const;
- bool is_signal_subscription_corresponding(const std::shared_ptr<can_signal_t>, const struct event_filter_t& event_filter) 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 std::vector<std::shared_ptr<diagnostic_message_t> > get_diagnostic_message() 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;
+ canid_t get_rx_id() const;
+ canid_t get_tx_id() const;
std::shared_ptr<utils::socketcan_t> get_socket();
void set_frequency(float freq);
void set_min(float min);
void set_max(float max);
+ void set_index(int index);
+ 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);
- struct utils::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}) const;
- void add_one_bcm_frame(struct canfd_frame& cfd, struct utils::bcm_msg& bcm_msg) const;
+ 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);
- int open_socket(const std::string& bus_name = "");
+ 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<can_signal_t> sig);
+ int create_rx_filter(std::shared_ptr<signal_t> sig);
int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig);
- int create_rx_filter(utils::bcm_msg& bcm_msg);
-
- int tx_send(struct canfd_frame& cfd, const std::string& bus_name);
+ 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);
+
+ 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);
};