X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fbinding%2Flow-can-subscription.cpp;h=d4ada3fe1d81c5b9251fceb4043a1814bb0d7703;hb=59bffa4;hp=b31fe48eb080688d384fd06d1d894e0c2367df54;hpb=88077fb4b383cf7f35093b6cc0d2d9d86c6f1bf3;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 b31fe48e..d4ada3fe 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() @@ -96,8 +95,13 @@ 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_); } @@ -226,40 +230,24 @@ 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(low_can_subscription_t &subscription, 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; + int ret = -1; if(! subscription.socket_) { - - #ifdef USE_FEATURE_J1939 - if((subscription.signal_ != nullptr || !bus_name.empty()) && subscription.signal_->get_message()->is_j1939()) - { - name_t name = J1939_NO_NAME; - pgn_t pgn = J1939_NO_PGN; - uint8_t addr = J1939_NO_ADDR; - pgn = subscription.signal_->get_message()->get_id(); - if( subscription.signal_ != nullptr) - { - std::shared_ptr socket = std::make_shared(); - ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(), name, pgn, addr); - subscription.socket_ = socket; - } - else if ( !bus_name.empty()) + switch (type) { - std::shared_ptr socket = std::make_shared(); - ret = socket->open(bus_name, name, pgn, addr); - subscription.socket_ = socket; - } - subscription.index_ = (int)subscription.socket_->socket(); - } - else + case socket_type::BCM: { - #endif if( subscription.signal_ != nullptr) { subscription.socket_ = std::make_shared(); @@ -276,13 +264,56 @@ int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, co ret = subscription.socket_->open(bus_name); } subscription.index_ = (int)subscription.socket_->socket(); - #ifdef USE_FEATURE_J1939 + 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; + } } - #endif + } + 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 @@ -300,6 +331,7 @@ 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; } @@ -322,13 +354,24 @@ 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) { subscription.signal_= sig; // Make sure that socket is opened. - if(open_socket(subscription) < 0) + if(open_socket(subscription,"",socket_type::J1939) < 0) { return -1; } @@ -347,32 +390,65 @@ int low_can_subscription_t::create_rx_filter_can(low_can_subscription_t &subscri struct timeval freq, timeout = {0, 0}; struct canfd_frame cfd; subscription.signal_= sig; + bool is_fd = sig->get_message()->is_fd(); + + std::vector data; + uint32_t length_msg = sig->get_message()->get_length(); + + if(length_msg == 0) + { + AFB_ERROR("Error in the length of message with id %d",sig->get_message()->get_id()); + return -1; + } + + for(int i = 0; iget_message()->is_fd()) + can_message_t cm; + + if (is_fd) { flags = 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,sig->get_message()->get_format(),false,CAN_FD_FRAME,data,0); } else { flags = SETTIMER|RX_NO_AUTOTIMER; cfd.len = CAN_MAX_DLEN; + cm = can_message_t(CAN_MAX_DLEN,sig->get_message()->get_id(),length_msg,sig->get_message()->get_format(),false,0,data,0); } - val = (float)(1 << subscription.signal_->get_bit_size()) - 1; - if(! bitfield_encode_float(val, - subscription.signal_->get_bit_position(), - subscription.signal_->get_bit_size(), - 1, - subscription.signal_->get_offset(), - cfd.data, - cfd.len)) - return -1; 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.signal_->get_message()->get_id(), flags, timeout, freq); - subscription.add_one_bcm_frame(cfd, bcm_msg); + + 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(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); + 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 + std::vector cfd_vect = cm->convert_to_canfd_frame_vector(); + for(auto cfd: cfd_vect) + { + subscription.add_one_bcm_frame(cfd, bcm_msg); + } - if(subscription.open_socket(subscription, 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); @@ -474,4 +555,27 @@ int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, messag } return 0; -} \ No newline at end of file +} + +#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, 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