X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fbinding%2Flow-can-subscription.cpp;h=8e4429f5830e830fe0d5e8e624d92eead6cb8d2f;hb=0ccfb70f9122ea73ff198f3000cf11be12bcc9d2;hp=09e9b8077434ef7e759426de8d53b64355f8b101;hpb=9f0d5da859bfe7778394f35baf48fbe77f1ed7d9;p=apps%2Fagl-service-can-low-level.git diff --git a/low-can-binding/binding/low-can-subscription.cpp b/low-can-binding/binding/low-can-subscription.cpp index 09e9b807..8e4429f5 100644 --- a/low-can-binding/binding/low-can-subscription.cpp +++ b/low-can-binding/binding/low-can-subscription.cpp @@ -19,6 +19,11 @@ #include "low-can-subscription.hpp" #include "application.hpp" #include "canutil/write.h" +#include "../utils/socketcan-bcm.hpp" + +#ifdef USE_FEATURE_J1939 + #include "../utils/socketcan-j1939.hpp" +#endif low_can_subscription_t::low_can_subscription_t() : index_{-1}, @@ -54,7 +59,7 @@ low_can_subscription_t::~low_can_subscription_t() low_can_subscription_t::operator bool() const { - return ((can_signal_ != nullptr || ! diagnostic_message_.empty()) && ! socket_); + return ((signal_ != nullptr || ! diagnostic_message_.empty()) && ! socket_); } afb_event_t low_can_subscription_t::get_event() { @@ -113,14 +118,14 @@ int low_can_subscription_t::get_index() const return index_; } -const std::shared_ptr low_can_subscription_t::get_can_signal() const +const std::shared_ptr low_can_subscription_t::get_signal() const { - return can_signal_; + return signal_; } -bool low_can_subscription_t::is_signal_subscription_corresponding(const std::shared_ptr can_signal, const struct event_filter_t& event_filter) const +bool low_can_subscription_t::is_signal_subscription_corresponding(const std::shared_ptr signal, const struct event_filter_t& event_filter) const { - return can_signal_ == can_signal && event_filter_ == event_filter; + return signal_ == signal && event_filter_ == event_filter; } const std::vector > low_can_subscription_t::get_diagnostic_message() const @@ -164,8 +169,8 @@ const std::shared_ptr low_can_subscription_t::get_diagnost /// or no CAN signal subscribed const std::string low_can_subscription_t::get_name() const { - if (can_signal_ != nullptr) - return can_signal_->get_name(); + if (signal_ != nullptr) + return signal_->get_name(); else if (!diagnostic_message_.empty()) return "diagnostic_messages"; @@ -228,8 +233,8 @@ 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());} + if( signal_ != nullptr) + {ret = socket_->open(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()) @@ -243,9 +248,9 @@ int low_can_subscription_t::open_socket(const std::string& bus_name) /// /// @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 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; + struct bcm_msg bcm_msg; ::memset(&bcm_msg, 0, sizeof(bcm_msg)); bcm_msg.msg_head.opcode = opcode; @@ -262,7 +267,7 @@ struct utils::bcm_msg low_can_subscription_t::make_bcm_head(uint32_t opcode, uin /// @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 +void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg) const { struct can_frame cf; @@ -278,17 +283,31 @@ void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct u bcm_msg.msg_head.nframes++; } +#ifdef USE_FEATURE_J1939 +int low_can_subscription_t::create_rx_filter_j1939(low_can_subscription_t &subscription, std::shared_ptr sig) +{ + subscription.signal_= sig; + + // Make sure that socket is opened. + if(subscription.open_socket() < 0) + { + return -1; + } + return 0; +} +#endif + /// @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 sig) +int low_can_subscription_t::create_rx_filter_can(low_can_subscription_t &subscription, std::shared_ptr sig) { uint32_t flags; float val; struct timeval freq, timeout = {0, 0}; struct canfd_frame cfd; - can_signal_= sig; + subscription.signal_= sig; if (sig->get_message()->is_fd()) { @@ -300,45 +319,83 @@ int low_can_subscription_t::create_rx_filter(std::shared_ptr sig) flags = SETTIMER|RX_NO_AUTOTIMER; cfd.len = CAN_MAX_DLEN; } - val = (float)(1 << can_signal_->get_bit_size()) - 1; + val = (float)(1 << subscription.signal_->get_bit_size()) - 1; if(! bitfield_encode_float(val, - can_signal_->get_bit_position(), - can_signal_->get_bit_size(), + subscription.signal_->get_bit_position(), + subscription.signal_->get_bit_size(), 1, - can_signal_->get_offset(), + subscription.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); + frequency_clock_t f = subscription.event_filter_.frequency == 0 ? subscription.signal_->get_frequency() : frequency_clock_t(subscription.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); + struct bcm_msg bcm_msg = subscription.make_bcm_head(RX_SETUP, subscription.signal_->get_message()->get_id(), flags, timeout, freq); + subscription.add_one_bcm_frame(cfd, bcm_msg); + + return create_rx_filter_bcm(subscription, bcm_msg); +} - return create_rx_filter(bcm_msg); +int low_can_subscription_t::create_rx_filter(std::shared_ptr sig) +{ + #ifdef USE_FEATURE_J1939 + if(sig->get_message()->is_j1939()) + { + return low_can_subscription_t::create_rx_filter_j1939(*this, sig); + } + else + { + #endif + return low_can_subscription_t::create_rx_filter_can(*this, sig); + #ifdef USE_FEATURE_J1939 + } + #endif +} + + +/// @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 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}; + + struct 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(*this, 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. +/// two previous method with 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) +int low_can_subscription_t::create_rx_filter_bcm(low_can_subscription_t &subscription, struct bcm_msg& bcm_msg) { // Make sure that socket is opened. - if(open_socket() < 0) + if(subscription.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. + + std::shared_ptr msg = std::make_shared(); + + msg->set_bcm_msg(bcm_msg); + if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID) { - socket_->write_message(bcm_msg); - if(! socket_) + subscription.socket_->write_message(msg); + if(! subscription.socket_) return -1; } else @@ -346,46 +403,34 @@ int low_can_subscription_t::create_rx_filter(utils::bcm_msg& bcm_msg) for(uint8_t i = 0; i < 8; i++) { bcm_msg.msg_head.can_id = OBD2_FUNCTIONAL_RESPONSE_START + i; - - socket_->write_message(bcm_msg); - if(! socket_) + msg->set_bcm_msg(bcm_msg); + subscription.socket_->write_message(msg); + if(! subscription.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 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) +int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, 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); + struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cfd.can_id); + subscription.add_one_bcm_frame(cfd, bcm_msg); - if(open_socket(bus_name) < 0) + if(subscription.open_socket(bus_name) < 0) {return -1;} - socket_->write_message(bcm_msg); - if(! socket_) + + std::shared_ptr msg = std::make_shared(); + + msg->set_bcm_msg(bcm_msg); + + subscription.socket_->write_message(msg); + if(! subscription.socket_.get()) return -1; return 0;