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=d8149b64844d86aaeeaa9e17d110f73cdbc5cf23;hpb=a6fb72a70f90c35e0968f2460d324a8505410562;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 d8149b64..d4ada3fe 100644 --- a/low-can-binding/binding/low-can-subscription.cpp +++ b/low-can-binding/binding/low-can-subscription.cpp @@ -19,6 +19,10 @@ #include "low-can-subscription.hpp" #include "application.hpp" #include "canutil/write.h" +#include "../utils/socketcan-bcm.hpp" +#ifdef USE_FEATURE_J1939 +#include "../utils/socketcan-j1939/socketcan-j1939-data.hpp" +#endif low_can_subscription_t::low_can_subscription_t() : index_{-1}, @@ -49,12 +53,13 @@ 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() { @@ -90,8 +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_); } @@ -113,14 +123,14 @@ 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 @@ -164,8 +174,8 @@ 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"; @@ -200,7 +210,7 @@ float low_can_subscription_t::get_max() const return event_filter_.max; } -utils::socketcan_bcm_t& low_can_subscription_t::get_socket() +std::shared_ptr low_can_subscription_t::get_socket() { return socket_; } @@ -219,33 +229,98 @@ 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( 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(); + 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 utils::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 utils::bcm_msg bcm_msg; + struct bcm_msg bcm_msg; ::memset(&bcm_msg, 0, sizeof(bcm_msg)); bcm_msg.msg_head.opcode = opcode; @@ -256,13 +331,14 @@ struct utils::bcm_msg low_can_subscription_t::make_bcm_head(uint32_t opcode, uin 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 utils::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; @@ -278,67 +354,163 @@ void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct u 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,"",socket_type::J1939) < 0) + { + return -1; + } + return 0; +} +#endif + /// @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) { uint32_t flags; float val; struct timeval freq, timeout = {0, 0}; struct canfd_frame cfd; - can_signal_= sig; + subscription.signal_= sig; + bool is_fd = sig->get_message()->is_fd(); + + std::vector data; + uint32_t length_msg = sig->get_message()->get_length(); - if (sig->get_message()->is_fd()) + 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()->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 << can_signal_->get_bit_size()) - 1; - if(! bitfield_encode_float(val, - can_signal_->get_bit_position(), - can_signal_->get_bit_size(), - 1, - can_signal_->get_offset(), - cfd.data, - cfd.len)) - return -1; - frequency_clock_t f = event_filter_.frequency == 0 ? can_signal_->get_frequency() : frequency_clock_t(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(); - utils::bcm_msg bcm_msg = make_bcm_head(RX_SETUP, can_signal_->get_message()->get_id(), flags, timeout, freq); - 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, 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) +{ + #ifdef USE_FEATURE_J1939 + if(sig->get_message()->is_j1939()) + { + return low_can_subscription_t::create_rx_filter_j1939(*this, sig); + } + else + { + #endif + return low_can_subscription_t::create_rx_filter_can(*this, sig); + #ifdef USE_FEATURE_J1939 + } + #endif +} + + +/// @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 +int low_can_subscription_t::create_rx_filter(std::shared_ptr sig) +{ + 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 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); } /// @brief Create a RX_SETUP receive job used by the BCM socket directly from /// a bcm_msg. The method should not be used directly but rather through the -/// two previous method with can_signal_t or diagnostic_message_t object. +/// two previous method with signal_t or diagnostic_message_t object. /// /// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed /// to the 8 classics OBD2 functional response ID /// /// @return 0 if ok else -1 -int low_can_subscription_t::create_rx_filter(utils::bcm_msg& bcm_msg) +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(open_socket() < 0) + if(subscription.open_socket(subscription,"",socket_type::BCM) < 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. + + can_message_t msg = can_message_t(); + + msg.set_bcm_msg(bcm_msg); + if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID) { - socket_.write_message(bcm_msg); - if(! socket_) + subscription.socket_->write_message(msg); + if(! subscription.socket_) return -1; } else @@ -346,47 +518,64 @@ int low_can_subscription_t::create_rx_filter(utils::bcm_msg& bcm_msg) for(uint8_t i = 0; i < 8; i++) { bcm_msg.msg_head.can_id = OBD2_FUNCTIONAL_RESPONSE_START + i; - - socket_.write_message(bcm_msg); - if(! socket_) + msg.set_bcm_msg(bcm_msg); + subscription.socket_->write_message(msg); + if(! subscription.socket_) return -1; } } - return 0; } -/// @brief Create a RX_SETUP receive job to be used by the BCM socket for a -/// diagnostic message subscription. +/// @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::create_rx_filter(std::shared_ptr sig) +int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name) { - diagnostic_message_.push_back(sig); + can_message_t *cm = static_cast(message); - 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 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,socket_type::BCM) < 0) + { + return -1; + } - utils::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_msg); + cm->set_bcm_msg(bcm_msg); + subscription.socket_->write_message(*cm); + if(! subscription.socket_.get()) + { + 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(struct canfd_frame& cfd, const std::string& bus_name) +#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 utils::bcm_msg bcm_msg = make_bcm_head(TX_SEND, cfd.can_id); - add_one_bcm_frame(cfd, bcm_msg); + //struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cfd.can_id); + //subscription.add_one_bcm_frame(cfd, bcm_msg); - if(open_socket(bus_name) < 0) - {return -1;} + if(subscription.open_socket(subscription, bus_name, socket_type::J1939) < 0) + { + return -1; + } - socket_.write_message(bcm_msg); - if(! socket_) + 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