X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fbinding%2Flow-can-subscription.cpp;h=99f209beeacdde75159b90f4a895f3ad8acb59be;hb=HEAD;hp=1df49e90df4badcd952b48b9081562ea9816b650;hpb=9402835e04795622496c8d8d228bd6d1df87a570;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 1df49e90..99f209be 100644
--- a/low-can-binding/binding/low-can-subscription.cpp
+++ b/low-can-binding/binding/low-can-subscription.cpp
@@ -102,12 +102,9 @@ int low_can_subscription_t::set_event()
 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_);
 }
 
@@ -175,12 +172,9 @@ const vect_ptr_diag_msg_t low_can_subscription_t::get_diagnostic_message() const
 const std::shared_ptr<diagnostic_message_t> 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;
 }
 
@@ -190,12 +184,9 @@ const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnost
 const std::shared_ptr<diagnostic_message_t> 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;
 }
 
@@ -254,6 +245,11 @@ float low_can_subscription_t::get_max() const
 	return event_filter_.max;
 }
 
+bool low_can_subscription_t::get_promisc() const
+{
+	return event_filter_.promisc;
+}
+
 /**
  * @brief Getter of the rx_id of the event_filter
  *
@@ -284,6 +280,11 @@ std::shared_ptr<utils::socketcan_t> low_can_subscription_t::get_socket()
 	return socket_;
 }
 
+std::shared_ptr<message_definition_t> low_can_subscription_t::get_message_definition()
+{
+	return message_;
+}
+
 /**
  * @brief Setter for the frequency of the event_filter
  *
@@ -314,6 +315,11 @@ void low_can_subscription_t::set_max(float max)
 	event_filter_.max = max;
 }
 
+void low_can_subscription_t::set_promisc(bool promisc)
+{
+	event_filter_.promisc = promisc;
+}
+
 /**
  * @brief Setter for the rx_id of the event_filter
  *
@@ -354,6 +360,10 @@ void low_can_subscription_t::set_signal(std::shared_ptr<signal_t> signal)
 	signal_ = signal;
 }
 
+void low_can_subscription_t::set_message_definition(std::shared_ptr<message_definition_t> 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.
@@ -364,83 +374,75 @@ int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, co
 	int ret = -1;
 	if(! subscription.socket_)
 	{
-		if(flags&BCM_PROTOCOL)
+		if(flags & CAN_PROTOCOL)
 		{
-			if( subscription.signal_ != nullptr)
-			{
-					subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
-					ret = subscription.socket_->open(subscription.signal_->get_message()->get_bus_device_name());
-			}
-			else if (! subscription.diagnostic_message_ .empty())
-			{
-					subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
-					ret = subscription.socket_->open(application_t::instance().get_diagnostic_manager().get_bus_device_name());
-			}
-			else if ( !bus_name.empty())
-			{
-					subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
-					ret = subscription.socket_->open(bus_name);
-			}
+			subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
+			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)
+		else if(flags & ISOTP_PROTOCOL)
 		{
-			if(subscription.signal_ != nullptr)
+			std::shared_ptr<utils::socketcan_isotp_t> socket = std::make_shared<utils::socketcan_isotp_t>();
+			if(subscription.signal_ )
 			{
 				canid_t rx = NO_CAN_ID;
 				canid_t tx = NO_CAN_ID;
-				if(flags&ISOTP_SEND)
+				if(flags & ISOTP_SEND)
 				{
 					rx = subscription.get_rx_id();
 					tx = subscription.signal_->get_message()->get_id();
 				}
-				else if(flags&ISOTP_RECEIVE)
+				else if(flags & ISOTP_RECEIVE)
 				{
 					rx = subscription.signal_->get_message()->get_id();
 					tx = subscription.get_tx_id();
 				}
-				std::shared_ptr<utils::socketcan_isotp_t> socket = std::make_shared<utils::socketcan_isotp_t>();
-				ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(),rx,tx);
+				ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(), rx, tx);
 				subscription.socket_ = socket;
 			}
-			else if(!bus_name.empty())
+			else if(! bus_name.empty())
 			{
-				std::shared_ptr<utils::socketcan_isotp_t> socket = std::make_shared<utils::socketcan_isotp_t>();
-				ret = socket->open(bus_name, subscription.get_rx_id(),subscription.get_tx_id());
+				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)
+		else if(flags & J1939_ADDR_CLAIM_PROTOCOL)
 		{
 			pgn_t pgn = J1939_NO_PGN;
+			std::shared_ptr<utils::socketcan_j1939_addressclaiming_t> socket = std::make_shared<utils::socketcan_j1939_addressclaiming_t>();
 			if(!bus_name.empty())
-			{
-				std::shared_ptr<utils::socketcan_j1939_addressclaiming_t> socket = std::make_shared<utils::socketcan_j1939_addressclaiming_t>();
 				ret = socket->open(bus_name, pgn);
-				subscription.socket_ = socket;
-			}
+			subscription.socket_ = socket;
 			subscription.index_ = (int)subscription.socket_->socket();
 		}
-		else if(flags&J1939_PROTOCOL)
+		else if(flags & J1939_PROTOCOL)
 		{
 			pgn_t pgn = J1939_NO_PGN;
-			if(subscription.signal_ != nullptr)
+			std::shared_ptr<utils::socketcan_j1939_data_t> socket = std::make_shared<utils::socketcan_j1939_data_t>();
+			if(subscription.signal_)
 			{
 				pgn = subscription.signal_->get_message()->get_id();
-				std::shared_ptr<utils::socketcan_j1939_data_t> socket = std::make_shared<utils::socketcan_j1939_data_t>();
 				ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(), pgn);
-				subscription.socket_ = socket;
 			}
 			else if(!bus_name.empty())
 			{
-				std::shared_ptr<utils::socketcan_j1939_data_t> socket = std::make_shared<utils::socketcan_j1939_data_t>();
 				ret = socket->open(bus_name, pgn);
-				subscription.socket_ = socket;
 			}
+
+			if(ret)
+				socket->define_opt(!j1939_pgn_is_pdu1(pgn),subscription.event_filter_.promisc);
+
+			subscription.socket_ = socket;
 			subscription.index_ = (int)subscription.socket_->socket();
 		}
 #endif
@@ -503,7 +505,7 @@ void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct b
 void low_can_subscription_t::remove_last_bcm_frame(struct bcm_msg& bcm_msg)
 {
 	struct canfd_frame cf;
-	memset(&cf,0,sizeof(cf));
+	memset(&cf, 0, sizeof(cf));
 	bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cf;
 	bcm_msg.msg_head.nframes--;
 }
@@ -521,10 +523,9 @@ int low_can_subscription_t::create_rx_filter_j1939(low_can_subscription_t &subsc
 	subscription.signal_= sig;
 
 	// Make sure that socket is opened.
-	if(open_socket(subscription,"",J1939_PROTOCOL) < 0)
-	{
+	if(open_socket(subscription, "", J1939_PROTOCOL) < 0)
 			return -1;
-	}
+
 	return 0;
 }
 #endif
@@ -541,10 +542,9 @@ int low_can_subscription_t::create_rx_filter_isotp(low_can_subscription_t &subsc
 	subscription.signal_= sig;
 
 	// Make sure that socket is opened.
-	if(open_socket(subscription,"",ISOTP_PROTOCOL|ISOTP_RECEIVE) < 0)
-	{
+	if(open_socket(subscription, "", ISOTP_PROTOCOL|ISOTP_RECEIVE) < 0)
 			return -1;
-	}
+
 	return 0;
 }
 
@@ -556,53 +556,41 @@ int low_can_subscription_t::create_rx_filter_can(low_can_subscription_t &subscri
 {
 	uint32_t flags_bcm;
 	struct timeval freq, timeout = {0, 0};
-	struct canfd_frame cfd;
 	subscription.signal_= sig;
 	bool is_fd = sig->get_message()->is_fd();
+	uint32_t max_dlen = 0;
 
-	std::vector<uint8_t> data;
 	uint32_t length_msg = sig->get_message()->get_length();
+	std::vector<uint8_t> data(length_msg);
+	can_message_t cm;
 
-	if(length_msg == 0)
+	if(! length_msg)
 	{
-		AFB_ERROR("Error in the length of message with id %d",sig->get_message()->get_id());
+		AFB_ERROR("Error in the length of message with id %d", sig->get_message()->get_id());
 		return -1;
 	}
 
-	for(int i = 0; i<length_msg;i++)
-	{
-		data.push_back(0);
-	}
-
-	encoder_t::encode_data(subscription.signal_,data,true,false,true);
-
-	can_message_t cm;
+	encoder_t::encode_data(subscription.signal_, data, true, false, true);
 
 	if (is_fd)
 	{
 		flags_bcm = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME;
-		cfd.len = CANFD_MAX_DLEN;
-		cm = can_message_t( CANFD_MAX_DLEN,
-							sig->get_message()->get_id(),
-							length_msg,
-							false,
-							sig->get_message()->get_flags(),
-							data,
-							0);
+		max_dlen = CANFD_MAX_DLEN;
 	}
 	else
 	{
 		flags_bcm = SETTIMER|RX_NO_AUTOTIMER;
-		cfd.len = CAN_MAX_DLEN;
-		cm = can_message_t( CAN_MAX_DLEN,
-							sig->get_message()->get_id(),
-							length_msg,
-							false,
-							sig->get_message()->get_flags(),
-							data,
-							0);
+		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();
 
@@ -617,12 +605,7 @@ int low_can_subscription_t::create_rx_filter_can(low_can_subscription_t &subscri
 	}
 	else if(cfd_vect.size() == 1)
 	{
-		canfd_frame cf = cfd_vect[0];
-		for(int i=0;i<cfd.len;i++)
-		{
-			cfd.data[i] = cf.data[i];
-		}
-		subscription.add_one_bcm_frame(cfd, bcm_msg);
+		subscription.add_one_bcm_frame(cfd_vect[0], bcm_msg);
 	}
 	else
 	{
@@ -633,6 +616,35 @@ int low_can_subscription_t::create_rx_filter_can(low_can_subscription_t &subscri
 	return create_rx_filter_bcm(subscription, bcm_msg);
 }
 
+
+int low_can_subscription_t::create_rx_filter(std::shared_ptr<message_definition_t> msg)
+{
+	std::shared_ptr<signal_t> signal_message =
+		std::make_shared<signal_t>(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<bool, int>(false, 0),
+						    static_cast<sign_t>(0),
+						    -1,
+						    ""});
+
+	signal_message->set_parent(msg);
+	return create_rx_filter(signal_message);
+}
+
+
 /**
  * @brief Create the good socket to read message
  * depending on the signal
@@ -643,26 +655,17 @@ int low_can_subscription_t::create_rx_filter_can(low_can_subscription_t &subscri
 int low_can_subscription_t::create_rx_filter(std::shared_ptr<signal_t> 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);
-	}
+		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
-	else
-	{
-		AFB_ERROR("Signal can't be j1939 and isotp");
-		return -1;
-	}
+	AFB_ERROR("Signal can't be created (check config)");
+	return -1;
 }
 
 
@@ -675,10 +678,9 @@ int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_
 	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 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);
+	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);
 }
 
@@ -693,27 +695,25 @@ int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_
 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(subscription.open_socket(subscription,"",BCM_PROTOCOL) < 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.
+	if(subscription.open_socket(subscription, "", CAN_PROTOCOL) < 0)
+		return -1;
 
 	can_message_t msg = can_message_t();
-
 	msg.set_bcm_msg(bcm_msg);
 
+	// 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)
 	{
 		subscription.socket_->write_message(msg);
-			if(! subscription.socket_)
-				return -1;
+		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;
+			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_)
@@ -731,20 +731,16 @@ int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, messag
 {
 	can_message_t *cm = static_cast<can_message_t*>(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
+	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<canfd_frame> cfd_vect = cm->convert_to_canfd_frame_vector();
 
-	if(subscription.open_socket(subscription, bus_name, BCM_PROTOCOL) < 0)
-	{
-			return -1;
-	}
+	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");
@@ -756,7 +752,7 @@ int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, messag
 
 		if(subscription.socket_->write_message(*cm) < 0)
 		{
-			AFB_ERROR("Error write message id : %d",cfd_vect[0].can_id);
+			AFB_ERROR("Error write message id : %d", cfd_vect[0].can_id);
 			return -1;
 		}
 	}
@@ -767,9 +763,7 @@ int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, messag
 	}
 
 	if(! subscription.socket_.get())
-	{
-			return -1;
-	}
+		return -1;
 
 	return 0;
 }
@@ -789,12 +783,10 @@ int low_can_subscription_t::j1939_send(low_can_subscription_t &subscription, mes
 	//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<j1939_message_t*>(message);
-	jm->set_sockname(jm->get_pgn(),J1939_NO_NAME,J1939_NO_ADDR);
+	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");
@@ -820,9 +812,7 @@ int low_can_subscription_t::isotp_send(low_can_subscription_t &subscription, mes
 	//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<can_message_t*>(message);
 	if(subscription.socket_->write_message(*cm) < 0)