X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fbinding%2Flow-can-subscription.cpp;h=df5a8f4d254a35290729f7db23a1e5427a6556bc;hb=4c8485a3af84312fc350fa7aff5ffddda13f608a;hp=54cd314c0b1c229ae66240e5a2f9e9a763950129;hpb=c88f115014d9e75e4d1cc0db9762f11ca8532afb;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 54cd314c..df5a8f4d 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() @@ -96,8 +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_); } @@ -129,7 +139,7 @@ bool low_can_subscription_t::is_signal_subscription_corresponding(const std::sha 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_; } @@ -206,6 +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_; @@ -226,40 +246,38 @@ 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(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, uint32_t flags) { - 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()) + if(flags&BCM_PROTOCOL) { - 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()) - { - 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 - { - #endif if( subscription.signal_ != nullptr) { subscription.socket_ = std::make_shared(); @@ -276,13 +294,81 @@ 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 } - #endif +#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 @@ -300,6 +386,7 @@ 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 +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) { subscription.signal_= sig; // Make sure that socket is opened. - if(open_socket(subscription) < 0) + if(open_socket(subscription,"",J1939_PROTOCOL) < 0) { return -1; } @@ -336,61 +434,126 @@ 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) { - uint32_t flags; - float val; + 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(); + + 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; + 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); } 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.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); + 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) { - #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 } @@ -421,15 +584,15 @@ 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) { @@ -442,7 +605,7 @@ 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; @@ -455,22 +618,93 @@ 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(subscription, 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; + } - std::shared_ptr msg = std::make_shared(); + struct bcm_msg &bcm_cm = cm->get_bcm_msg(); - 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