X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fbinding%2Flow-can-subscription.cpp;h=9cc5fcbba87bce1287f5c28353dd1b20ebd6dbb9;hb=6d6b880b2769add860cb0f135e0f784f8aaf5e00;hp=27f4ebba65c5c0b848098ed1c8cd3ff1b8c1bdcc;hpb=d2d2620bbb8f0aad0181e67e9f6affc3d6cb4a51;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 27f4ebba..9cc5fcbb 100644 --- a/low-can-binding/binding/low-can-subscription.cpp +++ b/low-can-binding/binding/low-can-subscription.cpp @@ -20,9 +20,14 @@ #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.hpp" +#include "../utils/socketcan-j1939/socketcan-j1939-data.hpp" #endif low_can_subscription_t::low_can_subscription_t() @@ -54,12 +59,13 @@ 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()) && ! socket_); + return ((signal_ != nullptr || ! diagnostic_message_.empty()) && ! socket_); } afb_event_t low_can_subscription_t::get_event() { @@ -95,8 +101,13 @@ int low_can_subscription_t::set_event() */ int low_can_subscription_t::subscribe(afb_req_t request) { - if(set_event() < 0) - return -1; + if(! afb_event_is_valid(event_)) + { + if(set_event() < 0) + { + return -1; + } + } return afb_req_subscribe(request, event_); } @@ -118,17 +129,17 @@ 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 +const vect_ptr_diag_msg_t low_can_subscription_t::get_diagnostic_message() const { return diagnostic_message_; } @@ -169,8 +180,8 @@ 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"; @@ -205,6 +216,16 @@ float low_can_subscription_t::get_max() const return event_filter_.max; } +canid_t low_can_subscription_t::get_rx_id() const +{ + return event_filter_.rx_id; +} + +canid_t low_can_subscription_t::get_tx_id() const +{ + return event_filter_.tx_id; +} + std::shared_ptr low_can_subscription_t::get_socket() { return socket_; @@ -224,31 +245,135 @@ void low_can_subscription_t::set_max(float max) { event_filter_.max = max; } + +void low_can_subscription_t::set_rx_id(canid_t rx_id) +{ + event_filter_.rx_id = rx_id; +} + +void low_can_subscription_t::set_tx_id(canid_t tx_id) +{ + event_filter_.tx_id = tx_id; +} + +void low_can_subscription_t::set_index(int index) +{ + index_ = index; +} + +void low_can_subscription_t::set_signal(std::shared_ptr signal) +{ + signal_ = signal; +} + + /// @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(const std::string& bus_name) +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());} - else if ( ! bus_name.empty()) - { ret = socket_->open(bus_name);} - index_ = (int)socket_->socket(); + if(flags&BCM_PROTOCOL) + { + if( subscription.signal_ != nullptr) + { + subscription.socket_ = std::make_shared(); + ret = subscription.socket_->open(subscription.signal_->get_message()->get_bus_device_name()); + } + else if (! subscription.diagnostic_message_ .empty()) + { + subscription.socket_ = std::make_shared(); + ret = subscription.socket_->open(application_t::instance().get_diagnostic_manager().get_bus_device_name()); + } + else if ( !bus_name.empty()) + { + subscription.socket_ = std::make_shared(); + ret = subscription.socket_->open(bus_name); + } + subscription.index_ = (int)subscription.socket_->socket(); + } +#ifdef USE_FEATURE_ISOTP + else if(flags&ISOTP_PROTOCOL) + { + if(subscription.signal_ != nullptr) + { + 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(); + } + std::shared_ptr socket = std::make_shared(); + ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(),rx,tx); + subscription.socket_ = socket; + } + else if(!bus_name.empty()) + { + std::shared_ptr socket = std::make_shared(); + 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; + if(!bus_name.empty()) + { + std::shared_ptr socket = std::make_shared(); + 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; + if(subscription.signal_ != nullptr) + { + pgn = subscription.signal_->get_message()->get_id(); + std::shared_ptr socket = std::make_shared(); + ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(), pgn); + subscription.socket_ = socket; + } + else if(!bus_name.empty()) + { + std::shared_ptr socket = std::make_shared(); + ret = socket->open(bus_name, pgn); + 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 Builds a BCM message head but doesn't set can_frame. /// /// @returns a bcm_msg with the msg_head parts set and can_frame /// zeroed. -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 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 bcm_msg bcm_msg; ::memset(&bcm_msg, 0, sizeof(bcm_msg)); @@ -261,13 +386,14 @@ struct bcm_msg low_can_subscription_t::make_bcm_head(uint32_t opcode, uint32_t c 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 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 bcm_msg& bcm_msg) const +void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg) { struct can_frame cf; @@ -283,13 +409,24 @@ void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct b 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--; +} + #ifdef USE_FEATURE_J1939 -int low_can_subscription_t::create_rx_filter_j1939(low_can_subscription_t &subscription, std::shared_ptr sig) +int low_can_subscription_t::create_rx_filter_j1939(low_can_subscription_t &subscription, std::shared_ptr sig) { - subscription.can_signal_= sig; + subscription.signal_= sig; // Make sure that socket is opened. - if(subscription.open_socket() < 0) + if(open_socket(subscription,"",J1939_PROTOCOL) < 0) { return -1; } @@ -297,61 +434,127 @@ int low_can_subscription_t::create_rx_filter_j1939(low_can_subscription_t &subsc } #endif +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_can(low_can_subscription_t &subscription, 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; + uint32_t flags_bcm; float val; struct timeval freq, timeout = {0, 0}; struct canfd_frame cfd; - subscription.can_signal_= sig; + subscription.signal_= sig; + bool is_fd = sig->get_message()->is_fd(); - if (sig->get_message()->is_fd()) + std::vector data; + uint32_t length_msg = sig->get_message()->get_length(); + + if(length_msg == 0) { - flags = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME; + AFB_ERROR("Error in the length of message with id %d",sig->get_message()->get_id()); + return -1; + } + + for(int i = 0; iget_message()->get_id(), + length_msg, + false, + sig->get_message()->get_flags(), + data, + 0); } else { - flags = SETTIMER|RX_NO_AUTOTIMER; + 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); } - val = (float)(1 << subscription.can_signal_->get_bit_size()) - 1; - if(! bitfield_encode_float(val, - subscription.can_signal_->get_bit_position(), - subscription.can_signal_->get_bit_size(), - 1, - subscription.can_signal_->get_offset(), - cfd.data, - cfd.len)) - return -1; - frequency_clock_t f = subscription.event_filter_.frequency == 0 ? subscription.can_signal_->get_frequency() : frequency_clock_t(subscription.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(); - struct bcm_msg bcm_msg = subscription.make_bcm_head(RX_SETUP, subscription.can_signal_->get_message()->get_id(), flags, timeout, freq); - subscription.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_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) + { + canfd_frame cf = cfd_vect[0]; + for(int i=0;i sig) +int low_can_subscription_t::create_rx_filter(std::shared_ptr sig) { - #ifdef USE_FEATURE_J1939 - if(sig->get_message()->is_j1939()) + 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 else { - #endif - return low_can_subscription_t::create_rx_filter_can(*this, sig); - #ifdef USE_FEATURE_J1939 + AFB_ERROR("Signal can't be j1939 and isotp"); + return -1; } - #endif } @@ -382,15 +585,15 @@ int low_can_subscription_t::create_rx_filter(std::shared_ptr msg = std::make_shared(); + can_message_t msg = can_message_t(); - msg->set_bcm_msg(bcm_msg); + msg.set_bcm_msg(bcm_msg); if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID) { @@ -403,7 +606,7 @@ int low_can_subscription_t::create_rx_filter_bcm(low_can_subscription_t &subscri for(uint8_t i = 0; i < 8; i++) { bcm_msg.msg_head.can_id = OBD2_FUNCTIONAL_RESPONSE_START + i; - msg->set_bcm_msg(bcm_msg); + msg.set_bcm_msg(bcm_msg); subscription.socket_->write_message(msg); if(! subscription.socket_) return -1; @@ -416,22 +619,93 @@ int low_can_subscription_t::create_rx_filter_bcm(low_can_subscription_t &subscri /// send a message /// /// @return 0 if ok else -1 -int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, struct canfd_frame& cfd, const std::string& bus_name) +int low_can_subscription_t::tx_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); + can_message_t *cm = static_cast(message); - if(subscription.open_socket(bus_name) < 0) - {return -1;} + 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, BCM_PROTOCOL) < 0) + { + return -1; + } + struct bcm_msg &bcm_cm = cm->get_bcm_msg(); - std::shared_ptr msg = std::make_shared(); - msg->set_bcm_msg(bcm_msg); - subscription.socket_->write_message(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 +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; } +#endif + + +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; +} \ No newline at end of file