X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=CAN-binder%2Flow-can-binding%2Fbinding%2Flow-can-cb.cpp;h=eed0d761da64586edf590a4215e9e688bb1a9d5c;hb=07cf0fca41024a41ba035f6e817a9590b686a992;hp=4fa375bf41d3ce2e6d1631d1b4e0ffd7919edc0c;hpb=829e92779abd4ea0e79d558242523d9757436332;p=apps%2Fagl-service-can-low-level.git diff --git a/CAN-binder/low-can-binding/binding/low-can-cb.cpp b/CAN-binder/low-can-binding/binding/low-can-cb.cpp index 4fa375bf..eed0d761 100644 --- a/CAN-binder/low-can-binding/binding/low-can-cb.cpp +++ b/CAN-binder/low-can-binding/binding/low-can-cb.cpp @@ -19,6 +19,7 @@ #include "low-can-hat.hpp" #include +#include #include #include #include @@ -50,13 +51,7 @@ extern "C" low_can_subscription_t::low_can_subscription_t() : index_{-1}, - sig_name_{}, - bus_name_{""}, - can_id_{0}, - bit_position_{0}, - bit_size_{0}, - factor_{-1.0}, - offset_{-1}, + event_filter_{event_filter_t()}, socket_{} {} @@ -64,15 +59,12 @@ low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filte : event_filter_{event_filter} {} +low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter, std::shared_ptr diagnostic_message) + : event_filter_{event_filter}, diagnostic_message_{diagnostic_message} +{} + low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s) : index_{s.index_}, - sig_name_{s.sig_name_}, - bus_name_{s.bus_name_}, - can_id_{s.can_id_}, - bit_position_{s.bit_position_}, - bit_size_{s.bit_size_}, - factor_{s.factor_}, - offset_{s.offset_}, event_filter_{s.event_filter_}, socket_{std::move(s.socket_)} {} @@ -93,9 +85,14 @@ int low_can_subscription_t::get_index() const return index_; } +const std::shared_ptr low_can_subscription_t::get_can_signal() const +{ + return can_signal_; +} + const std::string low_can_subscription_t::get_sig_name() const { - return sig_name_; + return can_signal_->get_name(); } float low_can_subscription_t::get_frequency() const @@ -136,53 +133,10 @@ void low_can_subscription_t::set_max(float max) /// @brief Create a RX_SETUP receive job used by the BCM socket. /// /// @return 0 if ok else -1 -int low_can_subscription_t::create_rx_filter(const std::string& bus_name, const std::string& sig_name, uint32_t can_id, uint8_t bit_position, uint8_t bit_size, float factor, float offset) +int low_can_subscription_t::create_rx_filter(std::shared_ptr sig) { - // Make sure that socket has been opened. - if(! socket_) - { - socket_.open(bus_name); - index_ = (int)socket_.socket(); - } - - sig_name_ = sig_name; - bus_name_ = bus_name; - can_id_ = can_id; - bit_position_ = bit_position; - bit_size_ = bit_size; - factor_ = factor; - offset_ = offset; - - struct utils::simple_bcm_msg bcm_msg; - struct can_frame cfd; - - memset(&cfd, 0, sizeof(cfd)); - memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head)); - float val = (float)(1 << bit_size_) - 1; - - struct timeval freq; - frequency_clock_t f(event_filter_.frequency); - freq = f.get_timeval_from_period(); - - bcm_msg.msg_head.opcode = RX_SETUP; - bcm_msg.msg_head.can_id = can_id_; - bcm_msg.msg_head.flags = SETTIMER|RX_NO_AUTOTIMER; - bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec ; - bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec; - bcm_msg.msg_head.nframes = 1; - bitfield_encode_float(val, - bit_position_, - bit_size_, - factor_, - offset_, - cfd.data, - CAN_MAX_DLEN); - - bcm_msg.frames = cfd; - - if(socket_ << bcm_msg) - return 0; - return -1; + can_signal_= sig; + return create_rx_filter(); } /// @brief Create a RX_SETUP receive job used by the BCM socket. @@ -190,10 +144,13 @@ int low_can_subscription_t::create_rx_filter(const std::string& bus_name, const /// @return 0 if ok else -1 int low_can_subscription_t::create_rx_filter() { + if (can_signal_ == nullptr) + {return -1;} + // Make sure that socket has been opened. if(! socket_) { - socket_.open(bus_name_); + socket_.open(can_signal_->get_message()->get_bus_device_name()); index_ = (int)socket_.socket(); } @@ -202,25 +159,25 @@ int low_can_subscription_t::create_rx_filter() memset(&cfd, 0, sizeof(cfd)); memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head)); - float val = (float)(1 << bit_size_) - 1; + float val = (float)(1 << can_signal_->get_bit_size()) - 1; struct timeval freq; - frequency_clock_t f(event_filter_.frequency); + frequency_clock_t f = std::isnan(event_filter_.frequency) ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency); freq = f.get_timeval_from_period(); bcm_msg.msg_head.opcode = RX_SETUP; - bcm_msg.msg_head.can_id = can_id_; + bcm_msg.msg_head.can_id = can_signal_->get_message()->get_id(); bcm_msg.msg_head.flags = SETTIMER|RX_NO_AUTOTIMER; bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec ; bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec; bcm_msg.msg_head.nframes = 1; bitfield_encode_float(val, - bit_position_, - bit_size_, - factor_, - offset_, - cfd.data, - CAN_MAX_DLEN); + can_signal_->get_bit_position(), + can_signal_->get_bit_size(), + can_signal_->get_factor(), + can_signal_->get_offset(), + cfd.data, + CAN_MAX_DLEN); bcm_msg.frames = cfd; @@ -367,27 +324,15 @@ static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, return make_subscription_unsubscription(request, can_subscription, s, subscribe); } -/// -/// @brief subscribe to all signals in the vector signals -/// -/// @param[in] afb_req request : contain original request use to subscribe or unsubscribe -/// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription -/// @param[in] signals - struct containing vectors with can_signal_t and diagnostic_messages to subscribe -/// -/// @return Number of correctly subscribed signal -/// -static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals, struct event_filter_t& event_filter) +int subscribe_unsubscribe_diagnostic_messages(struct afb_req request, bool subscribe, std::vector > diagnostic_messages, struct event_filter_t& event_filter) { int rets = 0; - - //TODO: Implement way to dynamically call the right function no matter - // how much signals types we have. application_t& conf = application_t::instance(); + diagnostic_manager_t& diag_m = conf.get_diagnostic_manager(); - for(const auto& sig : signals.diagnostic_messages) + for(const auto& sig : diagnostic_messages) { - int ret = 0; - diagnostic_manager_t& diag_m = conf.get_diagnostic_manager(); + active_diagnostic_request_t* adr; DiagnosticRequest* diag_req = conf.get_request_from_diagnostic_message(sig->get_name()); // If the requested diagnostic message isn't supported by the car then unsubcribe it @@ -395,9 +340,9 @@ static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, // poll a PID for nothing. if(sig->get_supported() && subscribe) { - float frequency = isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency; + float frequency = std::isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency; - diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), frequency); + adr = diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), frequency); //TODO: Adding callback requesting ignition status: diag_req, sig.c_str(), false, diagnostic_message_t::decode_obd2_response, diagnostic_message_t::check_ignition_status, frequency); } else @@ -410,37 +355,56 @@ static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, return -1; } - std::shared_ptr can_subscription(new low_can_subscription_t(event_filter)); - ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription); + std::shared_ptr can_subscription(new low_can_subscription_t(event_filter, std::shared_ptr(adr))); + int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription); if(ret < 0) return ret; rets++; DEBUG(binder_interface, "%s: Signal: %s subscribed", __FUNCTION__, sig->get_name().c_str()); } - for(const auto& sig: signals.can_signals) + return rets; +} + +int subscribe_unsubscribe_can_signals(struct afb_req request, bool subscribe, std::vector > can_signals, struct event_filter_t& event_filter) +{ + int rets = 0; + for(const auto& sig: can_signals) { std::shared_ptr can_subscription(new low_can_subscription_t(event_filter)); - if(can_subscription->create_rx_filter(sig->get_message()->get_bus_device_name(), - sig->get_name(), - sig->get_message()->get_id(), - sig->get_bit_position(), - sig->get_bit_size(), - sig->get_factor(), - sig->get_offset()) < 0) + if(can_subscription->create_rx_filter(sig) < 0) {return -1;} else if(subscribe_unsubscribe_signal(request, subscribe, can_subscription) < 0) {return -1;} struct sd_event_source* e_source; - sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &e_source, can_subscription->get_socket().socket(), EPOLLIN, read_message, sig.get()); + sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &e_source, can_subscription->get_socket().socket(), EPOLLIN, read_message, can_subscription.get()); rets++; DEBUG(binder_interface, "%s: signal: %s subscribed", __FUNCTION__, sig->get_name().c_str()); } return rets; } -static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const char *tag, struct json_object *event) +/// +/// @brief subscribe to all signals in the vector signals +/// +/// @param[in] afb_req request : contain original request use to subscribe or unsubscribe +/// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription +/// @param[in] signals - struct containing vectors with can_signal_t and diagnostic_messages to subscribe +/// +/// @return Number of correctly subscribed signal +/// +static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals, struct event_filter_t& event_filter) +{ + int rets = 0; + + rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter); + rets += subscribe_unsubscribe_can_signals(request, subscribe, signals.can_signals, event_filter); + + return rets; +} + +static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const std::string& tag, json_object* args) { int ret = 0; struct event_filter_t event_filter; @@ -448,7 +412,7 @@ static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, con struct utils::signals_found sf; // computes the filter - if (json_object_object_get_ex(event, "filter", &filter)) + if (json_object_object_get_ex(args, "filter", &filter)) { if (json_object_object_get_ex(filter, "frequency", &obj) && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int))) @@ -483,17 +447,17 @@ static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, con static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe) { - int rc, rc2; + int i, n, rc, rc2; struct json_object *args, *event, *x; args = afb_req_json(request); if (args == NULL || !json_object_object_get_ex(args, "event", &event)) { - rc = one_subscribe_unsubscribe(request, subscribe, "*", NULL); + rc = one_subscribe_unsubscribe(request, subscribe, "*", args); } else if (json_object_get_type(event) != json_type_array) { - rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), event); + rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), args); } else { @@ -502,7 +466,7 @@ static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe) for (i = 0 ; i < n ; i++) { x = json_object_array_get_idx(event, i); - rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), x); + rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), args); if (rc >= 0) rc = rc2 >= 0 ? rc + rc2 : rc2; }