X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fbinding%2Flow-can-subscription.cpp;h=fe1ede81e44feb2f12a4eac781b2adea6fc83c84;hb=e190b7b3069d86fce25831c366bb0cd3fa615289;hp=3f844da352661d73a2169d2be9dbda1784ec269d;hpb=9cef9811c615df506807f405eb2de3c1a9268fba;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 3f844da3..fe1ede81 100644 --- a/low-can-binding/binding/low-can-subscription.cpp +++ b/low-can-binding/binding/low-can-subscription.cpp @@ -20,12 +20,373 @@ #include "application.hpp" #include "canutil/write.h" +low_can_subscription_t::low_can_subscription_t() + : index_{-1}, + event_filter_{}, + event_{}, + socket_{} +{} + +low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter) + : index_{-1}, + event_filter_{event_filter}, + event_{}, + socket_{} + {} + +low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s) + : index_{s.index_}, + event_filter_{s.event_filter_}, + event_{}, + socket_{std::move(s.socket_)} +{} + +low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s) +{ + socket_ = std::move(s.socket_); + return *this; +} + +low_can_subscription_t::~low_can_subscription_t() +{ + socket_.close(); +} + +low_can_subscription_t::operator bool() const +{ + return ((can_signal_ != nullptr || ! diagnostic_message_.empty()) && ! socket_); +} afb_event_t low_can_subscription_t::get_event() { return event_; } -void low_can_subscription_t::set_event(afb_event_t event) +/** + * @brief Set the event calling the afb_daemon_make_event function to + * create it and the checks its validity. + * + * @return int - 0 if OK, -1 if not + */ +int low_can_subscription_t::set_event() +{ + std::string event_name = get_name(); + event_ = afb_daemon_make_event(event_name.c_str()); + if (! afb_event_is_valid(event_)) + { + AFB_ERROR("Can't create an event for %s, something goes wrong.", event_name.c_str()); + return -1; + } + + return 0; +} + +/** + * @brief Subscribe to the event member of the object + * + * @param request the subscribe AFB client request which want to + * subscribe + * + * @return int - 0 if OK, -1 if not + */ +int low_can_subscription_t::subscribe(afb_req_t request) +{ + if(set_event() < 0) + return -1; + return afb_req_subscribe(request, event_); +} + +/** + * @brief Unsubscribe to the event member of the object + * + * @param request the unsubscribe AFB client request which want to + * unsubscribe + * + * @return int - 0 if OK, -1 if not + */ +int low_can_subscription_t::unsubscribe(afb_req_t request) +{ + return afb_req_unsubscribe(request, event_); +} + +int low_can_subscription_t::get_index() const +{ + return index_; +} + +const std::shared_ptr low_can_subscription_t::get_can_signal() const +{ + return can_signal_; +} + +bool low_can_subscription_t::is_signal_subscription_corresponding(const std::shared_ptr can_signal, const struct event_filter_t& event_filter) const +{ + return can_signal_ == can_signal && event_filter_ == event_filter; +} + +const std::vector > low_can_subscription_t::get_diagnostic_message() const +{ + return diagnostic_message_; +} + +/// @brief Retrieve a diagnostic_message subscribed from a pid +/// +/// @param[in] pid - Diagnostic messages PID to search for +/// +/// @return shared_ptr diagnostic_message_ if found and nullptr if not found +const std::shared_ptr low_can_subscription_t::get_diagnostic_message(uint32_t pid) const +{ + for(const auto& diag: diagnostic_message_) + { + if(diag->get_pid() == pid) + { + return diag; + } + } + return nullptr; +} + +/// @brief Retrieve a diagnostic message search from its name +/// +/// @return shared_ptr diagnostic_message_ if found and nullptr if not found +const std::shared_ptr low_can_subscription_t::get_diagnostic_message(const std::string& name) const +{ + for(const auto& diag: diagnostic_message_) + { + if(diag->get_name() == name) + { + return diag; + } + } + return nullptr; +} + +/// @brief Return the CAN signal name and empty string if not found +/// or no CAN signal subscribed +const std::string low_can_subscription_t::get_name() const +{ + if (can_signal_ != nullptr) + return can_signal_->get_name(); + else if (!diagnostic_message_.empty()) + return "diagnostic_messages"; + + AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported."); + return ""; +} + +/// @brief Return name from a diagnostic message from a PID +/// +/// @param[in] pid - Diagnostic message PID +const std::string low_can_subscription_t::get_name(uint32_t pid) const +{ + if (!diagnostic_message_.empty()) + return get_diagnostic_message(pid)->get_name() ; + + AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported."); + return ""; +} + +float low_can_subscription_t::get_frequency() const +{ + return event_filter_.frequency; +} + +float low_can_subscription_t::get_min() const +{ + return event_filter_.min; +} + +float low_can_subscription_t::get_max() const +{ + return event_filter_.max; +} + +utils::socketcan_bcm_t& low_can_subscription_t::get_socket() +{ + return socket_; +} + +void low_can_subscription_t::set_frequency(float freq) +{ + event_filter_.frequency = freq; +} + +void low_can_subscription_t::set_min(float min) +{ + event_filter_.min = min; +} + +void low_can_subscription_t::set_max(float max) +{ + event_filter_.max = max; +} +/// @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 ret = 0; + if(! 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(); + } + 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 utils::bcm_msg bcm_msg; + ::memset(&bcm_msg, 0, sizeof(bcm_msg)); + + bcm_msg.msg_head.opcode = opcode; + bcm_msg.msg_head.can_id = can_id; + bcm_msg.msg_head.flags = flags; + bcm_msg.msg_head.ival1.tv_sec = timeout.tv_sec ; + bcm_msg.msg_head.ival1.tv_usec = timeout.tv_usec; + 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 +{ + struct can_frame cf; + + if (bcm_msg.msg_head.flags & CAN_FD_FRAME) + bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cfd; + else + { + cf.can_id = cfd.can_id; + cf.can_dlc = cfd.len; + ::memcpy(&cf.data, cfd.data, cfd.len); + bcm_msg.frames[bcm_msg.msg_head.nframes] = cf; + } + bcm_msg.msg_head.nframes++; +} + +/// @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) +{ + uint32_t flags; + float val; + struct timeval freq, timeout = {0, 0}; + struct canfd_frame cfd; + can_signal_= sig; + + if (sig->get_message()->is_fd()) + { + flags = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME; + cfd.len = CANFD_MAX_DLEN; + } + else + { + flags = SETTIMER|RX_NO_AUTOTIMER; + cfd.len = CAN_MAX_DLEN; + } + 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); + 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); + + return create_rx_filter(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. +/// +/// 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) { - event_ = event; + // Make sure that socket is opened. + if(open_socket() < 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. + if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID) + { + socket_ << bcm_msg; + if(! socket_) + return -1; + } + else + { + for(uint8_t i = 0; i < 8; i++) + { + bcm_msg.msg_head.can_id = OBD2_FUNCTIONAL_RESPONSE_START + i; + + socket_ << bcm_msg; + if(! socket_) + return -1; + } + } + + return 0; +} + +/// @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}; + + 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); +} + +/// @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) +{ + struct utils::bcm_msg bcm_msg = make_bcm_head(TX_SEND, cfd.can_id); + add_one_bcm_frame(cfd, bcm_msg); + + if(open_socket(bus_name) < 0) + {return -1;} + + socket_ << bcm_msg; + if(! socket_) + return -1; + + return 0; }