X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fbinding%2Flow-can-subscription.cpp;h=99f209beeacdde75159b90f4a895f3ad8acb59be;hb=8c1df02d734676f79807e3a4682fb96ea88c5cb5;hp=5488cc536dd0124d557c648100fcd8791d5ea6f1;hpb=32e25cbca210a359b09768537b6f443fe90a3070;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 5488cc53..99f209be 100644 --- a/low-can-binding/binding/low-can-subscription.cpp +++ b/low-can-binding/binding/low-can-subscription.cpp @@ -16,25 +16,38 @@ * limitations under the License. */ -#include "low-can-hat.hpp" - #include "low-can-subscription.hpp" #include "application.hpp" #include "canutil/write.h" +#include "../utils/socketcan-bcm.hpp" +#include "../can/can-encoder.hpp" + +#ifdef USE_FEATURE_ISOTP +#include "../utils/socketcan-isotp.hpp" +#endif + +#ifdef USE_FEATURE_J1939 +#include "../utils/socketcan-j1939/socketcan-j1939-data.hpp" +#endif low_can_subscription_t::low_can_subscription_t() : index_{-1}, - event_filter_{event_filter_t()}, + event_filter_{}, + event_{}, socket_{} {} low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter) - : event_filter_{event_filter} -{} + : index_{-1}, + event_filter_{event_filter}, + event_{}, + socket_{} + {} low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s) : index_{s.index_}, event_filter_{s.event_filter_}, + event_{}, socket_{std::move(s.socket_)} {} @@ -46,48 +59,122 @@ low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscrip low_can_subscription_t::~low_can_subscription_t() { - socket_.close(); + if(socket_) + socket_->close(); } low_can_subscription_t::operator bool() const { - return ((can_signal_ != nullptr || ! diagnostic_message_.empty()) && afb_event_is_valid(event_)); + return ((signal_ != nullptr || ! diagnostic_message_.empty()) && ! socket_); } - -struct afb_event& low_can_subscription_t::get_event() +afb_event_t low_can_subscription_t::get_event() { return event_; } +/** + * @brief Set the event calling the afb_daemon_make_event function to + * create it and the checks its validity. + * + * @return int - 0 if OK, -1 if not + */ +int low_can_subscription_t::set_event() +{ + std::string event_name = get_name(); + event_ = afb_daemon_make_event(event_name.c_str()); + if (! afb_event_is_valid(event_)) + { + AFB_ERROR("Can't create an event for %s, something goes wrong.", event_name.c_str()); + return -1; + } + + return 0; +} + +/** + * @brief Subscribe to the event member of the object + * + * @param request the subscribe AFB client request which want to + * subscribe + * + * @return int - 0 if OK, -1 if not + */ +int low_can_subscription_t::subscribe(afb_req_t request) +{ + if(! afb_event_is_valid(event_)) + if(set_event() < 0) + return -1; + + return afb_req_subscribe(request, event_); +} + +/** + * @brief Unsubscribe to the event member of the object + * + * @param request the unsubscribe AFB client request which want to + * unsubscribe + * + * @return int - 0 if OK, -1 if not + */ +int low_can_subscription_t::unsubscribe(afb_req_t request) +{ + return afb_req_unsubscribe(request, event_); +} + +/** + * @brief Getter of index of subscription + * + * @return int Index + */ int low_can_subscription_t::get_index() const { return index_; } -const std::shared_ptr low_can_subscription_t::get_can_signal() const +/** + * @brief Getter of signal of subscription + * + * @return const std::shared_ptr A shared pointer of the signal + */ +const std::shared_ptr low_can_subscription_t::get_signal() const +{ + return signal_; +} + +/** + * @brief Check if the signal and event are the same that the subscription + * + * @param signal the signal compared + * @param event_filter the event_filter compared + * @return true if they are equal + * @return false if they are not equal + */ +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_; + return signal_ == signal && event_filter_ == event_filter; } -const std::vector > low_can_subscription_t::get_diagnostic_message() const +/** + * @brief Getter for diagnostic messages of subscription + * + * @return const vector_ptr_diag_msg_t Vector of pointer of diagnostic message + */ +const vect_ptr_diag_msg_t low_can_subscription_t::get_diagnostic_message() const { return diagnostic_message_; } /// @brief Retrieve a diagnostic_message subscribed from a pid -/// +/// /// @param[in] pid - Diagnostic messages PID to search for /// /// @return shared_ptr diagnostic_message_ if found and nullptr if not found const std::shared_ptr low_can_subscription_t::get_diagnostic_message(uint32_t pid) const { for(const auto& diag: diagnostic_message_) - { if(diag->get_pid() == pid) - { return diag; - } - } + return nullptr; } @@ -97,12 +184,9 @@ const std::shared_ptr low_can_subscription_t::get_diagnost const std::shared_ptr low_can_subscription_t::get_diagnostic_message(const std::string& name) const { for(const auto& diag: diagnostic_message_) - { if(diag->get_name() == name) - { return diag; - } - } + return nullptr; } @@ -110,9 +194,12 @@ 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"; + AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported."); return ""; } @@ -124,78 +211,264 @@ const std::string low_can_subscription_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 ""; } +/** + * @brief Getter of the frequency of the event_filter + * + * @return float The frequency + */ float low_can_subscription_t::get_frequency() const { return event_filter_.frequency; } +/** + * @brief Getter of the min of the event_filter + * + * @return float The min value filtered + */ float low_can_subscription_t::get_min() const { return event_filter_.min; } +/** + * @brief Getter of the max of the event_filter + * + * @return float The max value filtered + */ float low_can_subscription_t::get_max() const { return event_filter_.max; } -utils::socketcan_bcm_t& low_can_subscription_t::get_socket() +bool low_can_subscription_t::get_promisc() const +{ + return event_filter_.promisc; +} + +/** + * @brief Getter of the rx_id of the event_filter + * + * @return canid_t The rx_id value + */ +canid_t low_can_subscription_t::get_rx_id() const +{ + return event_filter_.rx_id; +} + +/** + * @brief Getter of the tx_id of the event_filter + * + * @return canid_t The tx_id value + */ +canid_t low_can_subscription_t::get_tx_id() const +{ + return event_filter_.tx_id; +} + +/** + * @brief Getter of the socket of the subscription + * + * @return std::shared_ptr Pointer of the socket object + */ +std::shared_ptr low_can_subscription_t::get_socket() { return socket_; } -void low_can_subscription_t::set_event(struct afb_event event) +std::shared_ptr low_can_subscription_t::get_message_definition() { - event_ = event; + return message_; } +/** + * @brief Setter for the frequency of the event_filter + * + * @param freq The new frequency + */ void low_can_subscription_t::set_frequency(float freq) { event_filter_.frequency = freq; } +/** + * @brief Setter for the min of the event_filter + * + * @param min The new min + */ void low_can_subscription_t::set_min(float min) { event_filter_.min = min; } +/** + * @brief Setter for the max of the event_filter + * + * @param max The new max + */ void low_can_subscription_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. +void low_can_subscription_t::set_promisc(bool promisc) +{ + event_filter_.promisc = promisc; +} + +/** + * @brief Setter for the rx_id of the event_filter + * + * @param rx_id The new rx_id + */ +void low_can_subscription_t::set_rx_id(canid_t rx_id) +{ + event_filter_.rx_id = rx_id; +} + +/** + * @brief Setter for the tx_id of the event_filter + * + * @param tx_id The new tx_id + */ +void low_can_subscription_t::set_tx_id(canid_t tx_id) +{ + event_filter_.tx_id = tx_id; +} + +/** + * @brief Setter for the index of the subscription + * + * @param index The new index + */ +void low_can_subscription_t::set_index(int index) +{ + index_ = index; +} + +/** + * @brief Setter for the signal of the subscription + * + * @param signal The new signal + */ +void low_can_subscription_t::set_signal(std::shared_ptr signal) +{ + signal_ = signal; +} + +void low_can_subscription_t::set_message_definition(std::shared_ptr message) +{ + message_ = message; +} + +/// @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_subscription_t::open_socket() +/// @return INVALID_SOCKET on failure, else positive integer +int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, const std::string& bus_name, uint32_t flags) { - int ret = 0; - if(! socket_) + int ret = -1; + if(! subscription.socket_) { - if( can_signal_ != nullptr) - {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());} - index_ = (int)socket_.socket(); + if(flags & CAN_PROTOCOL) + { + subscription.socket_ = std::make_shared(); + if( subscription.signal_ ) + ret = subscription.socket_->open(subscription.signal_->get_message()->get_bus_device_name()); + else if(! subscription.diagnostic_message_.empty()) + ret = subscription.socket_->open(application_t::instance().get_diagnostic_manager().get_bus_device_name()); + else if(! bus_name.empty()) + ret = subscription.socket_->open(bus_name); + + subscription.index_ = (int)subscription.socket_->socket(); + } +#ifdef USE_FEATURE_ISOTP + else if(flags & ISOTP_PROTOCOL) + { + std::shared_ptr socket = std::make_shared(); + if(subscription.signal_ ) + { + canid_t rx = NO_CAN_ID; + canid_t tx = NO_CAN_ID; + if(flags & ISOTP_SEND) + { + rx = subscription.get_rx_id(); + tx = subscription.signal_->get_message()->get_id(); + } + else if(flags & ISOTP_RECEIVE) + { + rx = subscription.signal_->get_message()->get_id(); + tx = subscription.get_tx_id(); + } + ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(), rx, tx); + subscription.socket_ = socket; + } + else if(! bus_name.empty()) + { + ret = socket->open(bus_name, subscription.get_rx_id(), subscription.get_tx_id()); + subscription.socket_ = socket; + } + subscription.index_ = (int)subscription.socket_->socket(); + } +#endif +#ifdef USE_FEATURE_J1939 + else if(flags & J1939_ADDR_CLAIM_PROTOCOL) + { + pgn_t pgn = J1939_NO_PGN; + std::shared_ptr socket = std::make_shared(); + if(!bus_name.empty()) + ret = socket->open(bus_name, pgn); + subscription.socket_ = socket; + subscription.index_ = (int)subscription.socket_->socket(); + } + else if(flags & J1939_PROTOCOL) + { + pgn_t pgn = J1939_NO_PGN; + std::shared_ptr socket = std::make_shared(); + if(subscription.signal_) + { + pgn = subscription.signal_->get_message()->get_id(); + ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(), pgn); + } + else if(!bus_name.empty()) + { + ret = socket->open(bus_name, pgn); + } + + if(ret) + socket->define_opt(!j1939_pgn_is_pdu1(pgn),subscription.event_filter_.promisc); + + subscription.socket_ = socket; + subscription.index_ = (int)subscription.socket_->socket(); + } +#endif + else + { + AFB_ERROR("Socket format not supported"); + return INVALID_SOCKET; + } + } + else{ + ret = subscription.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 bcm_msg with the msg_head parts set and can_frame /// zeroed. -struct utils::simple_bcm_msg low_can_subscription_t::make_bcm_head(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) { - struct utils::simple_bcm_msg bcm_msg; + struct bcm_msg bcm_msg; + ::memset(&bcm_msg, 0, sizeof(bcm_msg)); - memset(&bcm_msg, 0, sizeof(bcm_msg)); - - bcm_msg.msg_head.opcode = RX_SETUP; + bcm_msg.msg_head.opcode = opcode; bcm_msg.msg_head.can_id = can_id; bcm_msg.msg_head.flags = flags; bcm_msg.msg_head.ival1.tv_sec = timeout.tv_sec ; @@ -203,56 +476,200 @@ struct utils::simple_bcm_msg low_can_subscription_t::make_bcm_head(uint32_t can_ bcm_msg.msg_head.ival2.tv_sec = frequency_thinning.tv_sec ; bcm_msg.msg_head.ival2.tv_usec = frequency_thinning.tv_usec; + 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 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_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const +void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg) { - for(int i=0; i < CAN_MAX_DLEN; i++) + struct can_frame cf; + + if (bcm_msg.msg_head.flags & CAN_FD_FRAME) + bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cfd; + else { - if(cfd.data[i] != 0) - { - bcm_msg.msg_head.nframes = 1; - bcm_msg.frames = cfd; - return; - } + cf.can_id = cfd.can_id; + cf.can_dlc = cfd.len; + ::memcpy(&cf.data, cfd.data, cfd.len); + bcm_msg.frames[bcm_msg.msg_head.nframes] = cf; } + bcm_msg.msg_head.nframes++; +} + +/// @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::remove_last_bcm_frame(struct bcm_msg& bcm_msg) +{ + struct canfd_frame cf; + memset(&cf, 0, sizeof(cf)); + bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cf; + bcm_msg.msg_head.nframes--; } -/// @brief Create a RX_SETUP receive job used by the BCM socket for a CAN signal +#ifdef USE_FEATURE_J1939 +/** + * @brief Create a j1939 socket to read message + * + * @param subscription The subscription + * @param sig The signal subscribed + * @return int 0 if ok else -1 + */ +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(open_socket(subscription, "", J1939_PROTOCOL) < 0) + return -1; + + return 0; +} +#endif + +/** + * @brief Create an iso tp socket to read message + * + * @param subscription The subscription + * @param sig The signal subscribed + * @return int 0 if ok else -1 + */ +int low_can_subscription_t::create_rx_filter_isotp(low_can_subscription_t &subscription, std::shared_ptr sig) +{ + subscription.signal_= sig; + + // Make sure that socket is opened. + if(open_socket(subscription, "", ISOTP_PROTOCOL|ISOTP_RECEIVE) < 0) + return -1; + + return 0; +} + +/// @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) { - can_signal_= sig; + uint32_t flags_bcm; + struct timeval freq, timeout = {0, 0}; + subscription.signal_= sig; + bool is_fd = sig->get_message()->is_fd(); + uint32_t max_dlen = 0; - struct can_frame cfd; - memset(&cfd, 0, sizeof(cfd)); + uint32_t length_msg = sig->get_message()->get_length(); + std::vector data(length_msg); + can_message_t cm; - float val = (float)(1 << can_signal_->get_bit_size()) - 1; - bitfield_encode_float(val, - can_signal_->get_bit_position(), - can_signal_->get_bit_size(), - can_signal_->get_factor(), - can_signal_->get_offset(), - cfd.data, - CAN_MAX_DLEN); + if(! length_msg) + { + AFB_ERROR("Error in the length of message with id %d", sig->get_message()->get_id()); + return -1; + } - 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); + encoder_t::encode_data(subscription.signal_, data, true, false, true); + + if (is_fd) + { + flags_bcm = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME; + max_dlen = CANFD_MAX_DLEN; + } + else + { + flags_bcm = SETTIMER|RX_NO_AUTOTIMER; + max_dlen = CAN_MAX_DLEN; + } + + cm = can_message_t( max_dlen, + sig->get_message()->get_id(), + length_msg, + false, + sig->get_message()->get_flags(), + data, + 0); + + 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::simple_bcm_msg bcm_msg = make_bcm_head(can_signal_->get_message()->get_id(), SETTIMER|RX_NO_AUTOTIMER, timeout, freq); - add_bcm_frame(cfd, bcm_msg); + struct bcm_msg bcm_msg = subscription.make_bcm_head(RX_SETUP, subscription.signal_->get_message()->get_id(), flags_bcm, timeout, freq); + + std::vector cfd_vect = cm.convert_to_canfd_frame_vector(); + + if(cfd_vect.size() > 1) //multi + { + AFB_ERROR("Not implemented yet"); + return -1; + } + else if(cfd_vect.size() == 1) + { + subscription.add_one_bcm_frame(cfd_vect[0], bcm_msg); + } + else + { + AFB_ERROR("No data available"); + return -1; + } + + return create_rx_filter_bcm(subscription, bcm_msg); +} + + +int low_can_subscription_t::create_rx_filter(std::shared_ptr msg) +{ + std::shared_ptr signal_message = + std::make_shared(signal_t{msg->get_name(), + 0, + msg->get_length() * 8, + 1.00000f, + 0.00000f, + 0, + 0, + frequency_clock_t(0.00000f), + true, + false, + {}, + true, + nullptr, + nullptr, + false, + std::make_pair(false, 0), + static_cast(0), + -1, + ""}); + + signal_message->set_parent(msg); + return create_rx_filter(signal_message); +} - return create_rx_filter(bcm_msg); + +/** + * @brief Create the good socket to read message + * depending on the signal + * + * @param sig The signal subscribed + * @return 0 if ok else -1 + */ +int low_can_subscription_t::create_rx_filter(std::shared_ptr sig) +{ + if(!sig->get_message()->is_isotp() && !sig->get_message()->is_j1939()) + return low_can_subscription_t::create_rx_filter_can(*this, sig); +#ifdef USE_FEATURE_ISOTP + else if(sig->get_message()->is_isotp()) + return low_can_subscription_t::create_rx_filter_isotp(*this, sig); +#endif +#ifdef USE_FEATURE_J1939 + else if(sig->get_message()->is_j1939()) + return low_can_subscription_t::create_rx_filter_j1939(*this, sig); +#endif + AFB_ERROR("Signal can't be created (check config)"); + return -1; } -/// @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 @@ -261,46 +678,148 @@ int low_can_subscription_t::create_rx_filter(std::shared_ptrwrite_message(msg); + if(! subscription.socket_) + return -1; } else { for(uint8_t i = 0; i < 8; i++) { - bcm_msg.msg_head.can_id = OBD2_FUNCTIONAL_RESPONSE_START + i; - - socket_ << bcm_msg; - if(! socket_) + bcm_msg.msg_head.can_id = OBD2_FUNCTIONAL_RESPONSE_START + i; + msg.set_bcm_msg(bcm_msg); + subscription.socket_->write_message(msg); + if(! subscription.socket_) return -1; } } + return 0; +} + +/// @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(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name) +{ + can_message_t *cm = static_cast(message); + + struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cm->get_id(), cm->get_flags()|TX_CP_CAN_ID); // TX_CP_CAN_ID -> copy in cfd the id of bcm + cm->set_bcm_msg(bcm_msg); + + std::vector cfd_vect = cm->convert_to_canfd_frame_vector(); + + if(subscription.open_socket(subscription, bus_name, CAN_PROTOCOL) < 0) + return -1; + + struct bcm_msg &bcm_cm = cm->get_bcm_msg(); + + if(cfd_vect.size() > 1) + { + AFB_ERROR("Multi frame BCM not implemented"); + return -1; + } + else if(cfd_vect.size() == 1) // raw or fd + { + subscription.add_one_bcm_frame(cfd_vect[0], bcm_cm); + + if(subscription.socket_->write_message(*cm) < 0) + { + AFB_ERROR("Error write message id : %d", cfd_vect[0].can_id); + return -1; + } + } + else // error + { + AFB_ERROR("Error no data available"); + return -1; + } + + if(! subscription.socket_.get()) + return -1; + + return 0; +} + +#ifdef USE_FEATURE_J1939 +/** + * @brief Allows to open socket j1939 and send j1939 messsage + * + * @param subscription The subscription + * @param message The j1939 message to send + * @param bus_name The bus name where to send message + * @return int 0 if ok else -1 + */ +int low_can_subscription_t::j1939_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name) +{ + //struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cfd.can_id); + //subscription.add_one_bcm_frame(cfd, bcm_msg); + + if(subscription.open_socket(subscription, bus_name, J1939_PROTOCOL) < 0) + return -1; + + j1939_message_t *jm = static_cast(message); + jm->set_sockname(jm->get_pgn(), J1939_NO_NAME, J1939_NO_ADDR); + if(subscription.socket_->write_message(*jm) < 0) + { + AFB_ERROR("Error write j1939 message"); + return -1; + } return 0; -} \ No newline at end of file +} +#endif + + +/** + * @brief Allows to open socket isotp and send can messsage + * + * @param subscription The subscription + * @param message The can message to send + * @param bus_name The bus name where to send message + * @return int 0 if ok else -1 + */ +int low_can_subscription_t::isotp_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name) +{ + //struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cfd.can_id); + //subscription.add_one_bcm_frame(cfd, bcm_msg); + + if(subscription.open_socket(subscription, bus_name, ISOTP_PROTOCOL|ISOTP_SEND) < 0) + return -1; + + can_message_t *cm = static_cast(message); + if(subscription.socket_->write_message(*cm) < 0) + { + AFB_ERROR("Error write iso tp message"); + return -1; + } + + return 0; +}