X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fbinding%2Flow-can-subscription.cpp;h=e9ee198b373a19cb3d7642449109274bd2146314;hb=c9f3b54ab16992bf4cd878618ccbf3e77891299a;hp=edc0a0b4f6530c268fcfb636f53ae8655f4e20c6;hpb=62083285cdaaab054e940013bc1c20cb4959327f;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 edc0a0b4..e9ee198b 100644 --- a/low-can-binding/binding/low-can-subscription.cpp +++ b/low-can-binding/binding/low-can-subscription.cpp @@ -22,6 +22,10 @@ #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/socketcan-j1939-data.hpp" #endif @@ -120,22 +124,45 @@ int low_can_subscription_t::unsubscribe(afb_req_t request) return afb_req_unsubscribe(request, event_); } +/** + * @brief Getter of index of subscription + * + * @return int Index + */ int low_can_subscription_t::get_index() const { return index_; } +/** + * @brief Getter of signal of subscription + * + * @return const std::shared_ptr A shared pointer of the signal + */ const std::shared_ptr low_can_subscription_t::get_signal() const { return signal_; } +/** + * @brief Check if the signal and event are the same that the subscription + * + * @param signal the signal compared + * @param event_filter the event_filter compared + * @return true if they are equal + * @return false if they are not equal + */ bool low_can_subscription_t::is_signal_subscription_corresponding(const std::shared_ptr signal, const struct event_filter_t& event_filter) const { return signal_ == signal && event_filter_ == event_filter; } -const std::vector > low_can_subscription_t::get_diagnostic_message() const +/** + * @brief Getter for diagnostic messages of subscription + * + * @return const vector_ptr_diag_msg_t Vector of pointer of diagnostic message + */ +const vect_ptr_diag_msg_t low_can_subscription_t::get_diagnostic_message() const { return diagnostic_message_; } @@ -197,58 +224,147 @@ const std::string low_can_subscription_t::get_name(uint32_t pid) const return ""; } +/** + * @brief Getter of the frequency of the event_filter + * + * @return float The frequency + */ float low_can_subscription_t::get_frequency() const { return event_filter_.frequency; } +/** + * @brief Getter of the min of the event_filter + * + * @return float The min value filtered + */ float low_can_subscription_t::get_min() const { return event_filter_.min; } +/** + * @brief Getter of the max of the event_filter + * + * @return float The max value filtered + */ float low_can_subscription_t::get_max() const { return event_filter_.max; } +/** + * @brief Getter of the rx_id of the event_filter + * + * @return canid_t The rx_id value + */ +canid_t low_can_subscription_t::get_rx_id() const +{ + return event_filter_.rx_id; +} + +/** + * @brief Getter of the tx_id of the event_filter + * + * @return canid_t The tx_id value + */ +canid_t low_can_subscription_t::get_tx_id() const +{ + return event_filter_.tx_id; +} + +/** + * @brief Getter of the socket of the subscription + * + * @return std::shared_ptr Pointer of the socket object + */ std::shared_ptr low_can_subscription_t::get_socket() { return socket_; } +/** + * @brief Setter for the frequency of the event_filter + * + * @param freq The new frequency + */ void low_can_subscription_t::set_frequency(float freq) { event_filter_.frequency = freq; } +/** + * @brief Setter for the min of the event_filter + * + * @param min The new min + */ void low_can_subscription_t::set_min(float min) { event_filter_.min = min; } +/** + * @brief Setter for the max of the event_filter + * + * @param max The new max + */ void low_can_subscription_t::set_max(float max) { event_filter_.max = max; } +/** + * @brief Setter for the rx_id of the event_filter + * + * @param rx_id The new rx_id + */ +void low_can_subscription_t::set_rx_id(canid_t rx_id) +{ + event_filter_.rx_id = rx_id; +} + +/** + * @brief Setter for the tx_id of the event_filter + * + * @param tx_id The new tx_id + */ +void low_can_subscription_t::set_tx_id(canid_t tx_id) +{ + event_filter_.tx_id = tx_id; +} + +/** + * @brief Setter for the index of the subscription + * + * @param index The new index + */ void low_can_subscription_t::set_index(int index) { index_ = index; } +/** + * @brief Setter for the signal of the subscription + * + * @param signal The new signal + */ +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, socket_type type) +int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, const std::string& bus_name, uint32_t flags) { int ret = -1; if(! subscription.socket_) { - switch (type) - { - case socket_type::BCM: + if(flags & BCM_PROTOCOL) { if( subscription.signal_ != nullptr) { @@ -266,10 +382,39 @@ 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(); - break; } +#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 - case socket_type::J1939_ADDR_CLAIM: + else if(flags & J1939_ADDR_CLAIM_PROTOCOL) { pgn_t pgn = J1939_NO_PGN; if(!bus_name.empty()) @@ -279,9 +424,8 @@ int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, co subscription.socket_ = socket; } subscription.index_ = (int)subscription.socket_->socket(); - break; } - case socket_type::J1939: + else if(flags & J1939_PROTOCOL) { pgn_t pgn = J1939_NO_PGN; if(subscription.signal_ != nullptr) @@ -298,15 +442,12 @@ int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, co subscription.socket_ = socket; } subscription.index_ = (int)subscription.socket_->socket(); - break; } #endif - default: + else { AFB_ERROR("Socket format not supported"); return INVALID_SOCKET; - break; - } } } else{ @@ -368,12 +509,19 @@ void low_can_subscription_t::remove_last_bcm_frame(struct bcm_msg& bcm_msg) } #ifdef USE_FEATURE_J1939 +/** + * @brief Create a j1939 socket to read message + * + * @param subscription The subscription + * @param sig The signal subscribed + * @return int 0 if ok else -1 + */ 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) + if(open_socket(subscription, "", J1939_PROTOCOL) < 0) { return -1; } @@ -381,54 +529,72 @@ int low_can_subscription_t::create_rx_filter_j1939(low_can_subscription_t &subsc } #endif +/** + * @brief Create an iso tp socket to read message + * + * @param subscription The subscription + * @param sig The signal subscribed + * @return int 0 if ok else -1 + */ +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(); + uint32_t max_dlen = 0; - std::vector data; uint32_t length_msg = sig->get_message()->get_length(); + std::vector data(length_msg); + can_message_t cm; - if(length_msg == 0) + if(! length_msg) { - AFB_ERROR("Error in the length of message with id %d",sig->get_message()->get_id()); + 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); + flags_bcm = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME; + max_dlen = CANFD_MAX_DLEN; } 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); + flags_bcm = SETTIMER|RX_NO_AUTOTIMER; + max_dlen = CAN_MAX_DLEN; } + cm = can_message_t( max_dlen, + sig->get_message()->get_id(), + length_msg, + false, + sig->get_message()->get_flags(), + data, + 0); + 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); + 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(); @@ -439,12 +605,7 @@ int low_can_subscription_t::create_rx_filter_can(low_can_subscription_t &subscri } 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 } @@ -482,9 +659,9 @@ int low_can_subscription_t::create_rx_filter(std::shared_ptrwrite_message(msg); if(! subscription.socket_) @@ -542,7 +719,7 @@ int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, messag std::vector cfd_vect = cm->convert_to_canfd_frame_vector(); - if(subscription.open_socket(subscription, bus_name,socket_type::BCM) < 0) + if(subscription.open_socket(subscription, bus_name, BCM_PROTOCOL) < 0) { return -1; } @@ -562,7 +739,7 @@ int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, messag if(subscription.socket_->write_message(*cm) < 0) { - AFB_ERROR("Error write message id : %d",cfd_vect[0].can_id); + AFB_ERROR("Error write message id : %d", cfd_vect[0].can_id); return -1; } } @@ -581,18 +758,26 @@ int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, messag } #ifdef USE_FEATURE_J1939 +/** + * @brief Allows to open socket j1939 and send j1939 messsage + * + * @param subscription The subscription + * @param message The j1939 message to send + * @param bus_name The bus name where to send message + * @return int 0 if ok else -1 + */ 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) + 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); + 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"); @@ -602,3 +787,32 @@ int low_can_subscription_t::j1939_send(low_can_subscription_t &subscription, mes return 0; } #endif + + +/** + * @brief Allows to open socket isotp and send can messsage + * + * @param subscription The subscription + * @param message The can message to send + * @param bus_name The bus name where to send message + * @return int 0 if ok else -1 + */ +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; +}