X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fbinding%2Flow-can-socket.cpp;h=db9b164bfa31de103de25929e80f7c133b9ecc5f;hb=37379a61a19689c00e4e11ded644467c10b720ef;hp=716b75b918ccb4c9da63db258a1d5f3a1c179a8d;hpb=38f9b3de40b1d1d8e9ed5db0fee40bdaa763d577;p=apps%2Fagl-service-can-low-level.git diff --git a/low-can-binding/binding/low-can-socket.cpp b/low-can-binding/binding/low-can-socket.cpp index 716b75b9..db9b164b 100644 --- a/low-can-binding/binding/low-can-socket.cpp +++ b/low-can-binding/binding/low-can-socket.cpp @@ -16,8 +16,6 @@ * limitations under the License. */ -#include "low-can-hat.hpp" - #include "low-can-subscription.hpp" #include "application.hpp" #include "canutil/write.h" @@ -64,6 +62,11 @@ const std::shared_ptr low_can_socket_t::get_can_signal() const return can_signal_; } +bool low_can_socket_t::is_signal_subscription_corresponding(const std::shared_ptr can_signal, const struct event_filter_t& event_filter) const +{ + return can_signal_ == can_signal && event_filter_ == event_filter; +} + const std::vector > low_can_socket_t::get_diagnostic_message() const { return diagnostic_message_; @@ -107,7 +110,10 @@ const std::string low_can_socket_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 ""; } @@ -119,6 +125,7 @@ const std::string low_can_socket_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 ""; } @@ -156,11 +163,11 @@ void low_can_socket_t::set_max(float max) { event_filter_.max = max; } -/// @brief Based upon which object is subscribed CAN signal or diagnostic message -/// this will open the socket with the required CAN bus device name. +/// @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_socket_t::open_socket() +/// @return INVALID_SOCKET on failure, else positive integer +int low_can_socket_t::open_socket(const std::string& bus_name) { int ret = 0; if(! socket_) @@ -169,18 +176,21 @@ int low_can_socket_t::open_socket() {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 Build a BCM message head but don't set can_frame. +/// @brief Builds a BCM message head but doesn't set can_frame. /// -/// @return a simple_bcm_msg with the msg_head parts set and can_frame +/// @returns a simple_bcm_msg with the msg_head parts set and can_frame /// zeroed. struct utils::simple_bcm_msg low_can_socket_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::simple_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; @@ -193,23 +203,16 @@ struct utils::simple_bcm_msg low_can_socket_t::make_bcm_head(uint32_t opcode, ui return bcm_msg; } -/// @brief Take an existing simple_bcm_msg struct and add a can_frame to it. -/// Only possible for now to add 1 uniq can_frame, it isn't possible to build +/// @brief Take an existing simple_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_socket_t::add_bcm_frame(const struct can_frame& cf, struct utils::simple_bcm_msg& bcm_msg) const { - for(int i=0; i < CAN_MAX_DLEN; i++) - { - if(cf.data[i] != 0) - { - bcm_msg.msg_head.nframes = 1; - bcm_msg.frames = cf; - return; - } - } + bcm_msg.msg_head.nframes++; + bcm_msg.frames = cf; } -/// @brief Create a RX_SETUP receive job used by the BCM socket for a CAN signal +/// @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 @@ -230,7 +233,7 @@ int low_can_socket_t::create_rx_filter(std::shared_ptr sig) CAN_MAX_DLEN); struct timeval freq, timeout = {0, 0}; - frequency_clock_t f = std::isnan(event_filter_.frequency) ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency); + 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::simple_bcm_msg bcm_msg = make_bcm_head(RX_SETUP, can_signal_->get_message()->get_id(), SETTIMER|RX_NO_AUTOTIMER, timeout, freq); @@ -239,7 +242,7 @@ int low_can_socket_t::create_rx_filter(std::shared_ptr sig) return create_rx_filter(bcm_msg); } -/// @brief Create a RX_SETUP receive job used by the BCM socket for a +/// @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 @@ -256,7 +259,7 @@ int low_can_socket_t::create_rx_filter(std::shared_ptr sig } /// @brief Create a RX_SETUP receive job used by the BCM socket directly from -/// a simple_bcm_msg. You will not use this method directly but rather use the +/// a simple_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 @@ -265,11 +268,11 @@ int low_can_socket_t::create_rx_filter(std::shared_ptr sig /// @return 0 if ok else -1 int low_can_socket_t::create_rx_filter(utils::simple_bcm_msg& bcm_msg) { - // Make sure that socket has been opened. + // Make sure that socket is opened. if(open_socket() < 0) {return -1;} - // If it isn't an OBD2 CAN ID then just add a simple RX_SETUP job + // 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) { @@ -292,18 +295,18 @@ int low_can_socket_t::create_rx_filter(utils::simple_bcm_msg& bcm_msg) return 0; } -/// @brief Create a TX_SEND job used by the BCM socket to -/// simply send message +/// @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_socket_t::tx_send(const struct can_frame& cf, std::shared_ptr sig) +int low_can_socket_t::tx_send(const struct can_frame& cf, const std::string& bus_name) { - can_signal_ = sig; + can_signal_ = nullptr; utils::simple_bcm_msg bcm_msg = make_bcm_head(TX_SEND); add_bcm_frame(cf, bcm_msg); - if(open_socket() < 0) + if(open_socket(bus_name) < 0) {return -1;} socket_ << bcm_msg;