X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fbinding%2Flow-can-subscription.cpp;h=bb488887def5c3b055eebea8326d58eda3bb9b49;hb=451598fa9ce4e57a00c9312c04839e0b3dcdf320;hp=8e4429f5830e830fe0d5e8e624d92eead6cb8d2f;hpb=2f60d294b3fa4e243fa67a738f9b82a0b428a7fc;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 8e4429f5..bb488887 100644 --- a/low-can-binding/binding/low-can-subscription.cpp +++ b/low-can-binding/binding/low-can-subscription.cpp @@ -20,9 +20,8 @@ #include "application.hpp" #include "canutil/write.h" #include "../utils/socketcan-bcm.hpp" - #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() @@ -54,7 +53,8 @@ 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 @@ -224,31 +224,96 @@ void low_can_subscription_t::set_max(float max) { event_filter_.max = max; } + +void low_can_subscription_t::set_index(int index) +{ + index_ = index; +} + /// @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, socket_type type) { - int ret = 0; - if(! socket_) + int ret = -1; + if(! subscription.socket_) { - 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()) - { ret = socket_->open(bus_name);} - index_ = (int)socket_->socket(); + switch (type) + { + case socket_type::BCM: + { + 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(); + break; + } +#ifdef USE_FEATURE_J1939 + case socket_type::J1939_ADDR_CLAIM: + { + 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(); + break; + } + case socket_type::J1939: + { + 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(); + break; + } +#endif + default: + { + AFB_ERROR("Socket format not supported"); + return INVALID_SOCKET; + break; + } + } + } + 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)); @@ -267,7 +332,7 @@ struct bcm_msg low_can_subscription_t::make_bcm_head(uint32_t opcode, uint32_t c /// @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; @@ -289,7 +354,7 @@ int low_can_subscription_t::create_rx_filter_j1939(low_can_subscription_t &subsc subscription.signal_= sig; // Make sure that socket is opened. - if(subscription.open_socket() < 0) + if(open_socket(subscription,"",socket_type::J1939) < 0) { return -1; } @@ -382,15 +447,15 @@ 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 +468,7 @@ 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 +481,48 @@ 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); + can_message_t *cm = static_cast(message); + + struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cm->get_id(),cm->get_flags()); + canfd_frame cfd = cm->convert_to_canfd_frame(); subscription.add_one_bcm_frame(cfd, bcm_msg); - if(subscription.open_socket(bus_name) < 0) - {return -1;} + if(subscription.open_socket(subscription, bus_name,socket_type::BCM) < 0) + { + return -1; + } + cm->set_bcm_msg(bcm_msg); + subscription.socket_->write_message(*cm); + if(! subscription.socket_.get()) + { + return -1; + } - std::shared_ptr msg = std::make_shared(); + return 0; +} - msg->set_bcm_msg(bcm_msg); +#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); - subscription.socket_->write_message(msg); - if(! subscription.socket_.get()) + if(subscription.open_socket(subscription, bus_name, socket_type::J1939) < 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 \ No newline at end of file