X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fbinding%2Flow-can-subscription.cpp;h=edc0a0b4f6530c268fcfb636f53ae8655f4e20c6;hb=a8d5f5d3018da0b051dad4c143c6257b2fba9fac;hp=a1187edde387d5ba7ad0adf4a4cac2d1a8eec306;hpb=5174772b69e56b671fb149e8acdc4f2a35e354d9;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 a1187edd..edc0a0b4 100644
--- a/low-can-binding/binding/low-can-subscription.cpp
+++ b/low-can-binding/binding/low-can-subscription.cpp
@@ -20,6 +20,8 @@
 #include "application.hpp"
 #include "canutil/write.h"
 #include "../utils/socketcan-bcm.hpp"
+#include "../can/can-encoder.hpp"
+
 #ifdef USE_FEATURE_J1939
 #include "../utils/socketcan-j1939/socketcan-j1939-data.hpp"
 #endif
@@ -331,6 +333,7 @@ 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;
 }
 
@@ -353,6 +356,17 @@ 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<signal_t> sig)
 {
@@ -378,32 +392,65 @@ 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<uint8_t> 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; i<length_msg;i++)
+	{
+		data.push_back(0);
+	}
+
+	encoder_t::encode_data(subscription.signal_,data,true,false,true);
+
+	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<canfd_frame> 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<cfd.len;i++)
+		{
+			cfd.data[i] = cf.data[i];
+		}
+		subscription.add_one_bcm_frame(cfd, bcm_msg);
+	}
+	else
+	{
+		AFB_ERROR("No data available");
+		return -1;
+	}
 
 	return create_rx_filter_bcm(subscription, bcm_msg);
 }
@@ -490,20 +537,41 @@ int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, messag
 {
 	can_message_t *cm = static_cast<can_message_t*>(message);
 
-	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
+	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<canfd_frame> cfd_vect = cm->convert_to_canfd_frame_vector();
-	for(auto cfd: cfd_vect)
+
+	if(subscription.open_socket(subscription, bus_name,socket_type::BCM) < 0)
 	{
-		subscription.add_one_bcm_frame(cfd, bcm_msg);
+			return -1;
 	}
 
-	if(subscription.open_socket(subscription, bus_name,socket_type::BCM) < 0)
+	struct bcm_msg &bcm_cm = cm->get_bcm_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;
 	}
 
-	cm->set_bcm_msg(bcm_msg);
-	subscription.socket_->write_message(*cm);
 	if(! subscription.socket_.get())
 	{
 			return -1;
@@ -533,4 +601,4 @@ int low_can_subscription_t::j1939_send(low_can_subscription_t &subscription, mes
 
 	return 0;
 }
-#endif
\ No newline at end of file
+#endif