X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fbinding%2Flow-can-subscription.hpp;h=5ea1cf172c304ecd9ce44ce969d455ce45087622;hb=88077fb4b383cf7f35093b6cc0d2d9d86c6f1bf3;hp=0ad7e3a2d8a2e3f1832734dc7a9a22d1488d649d;hpb=32e25cbca210a359b09768537b6f443fe90a3070;p=apps%2Fagl-service-can-low-level.git diff --git a/low-can-binding/binding/low-can-subscription.hpp b/low-can-binding/binding/low-can-subscription.hpp index 0ad7e3a2..5ea1cf17 100644 --- a/low-can-binding/binding/low-can-subscription.hpp +++ b/low-can-binding/binding/low-can-subscription.hpp @@ -15,45 +15,50 @@ * limitations under the License. */ - #pragma once +#pragma once #include #include #include -#include "../can/can-signals.hpp" +#include "../can/signals.hpp" #include "../diagnostic/diagnostic-message.hpp" -#include "../utils/socketcan-bcm.hpp" +#include "../utils/socketcan.hpp" -/// @brief Filtering values. Theses values has to be tested into + +#define OBDII_MAX_SIMULTANEOUS_RESPONSES 8 + +/// @brief Filtering values. Theses values have to be tested in /// can_bus_t::apply_filter method. struct event_filter_t { - float frequency; ///< frequency - Maximum frequency which will be received and pushed a subscribed event. - float min; ///< min - Minimum value that the signal don't have to go below to be pushed. - float max; ///< max - Maximum value that the signal don't have to go above to be pushed. - event_filter_t() : frequency{NAN}, min{NAN}, max{NAN} {} + float frequency; ///< frequency - Maximum frequency which will be received and pushed to a subscribed event. + float min; ///< min - Minimum value that the signal doesn't have to go below to be pushed. + float max; ///< max - Maximum value that the signal doesn't have to go above to be pushed. + + event_filter_t() : frequency{0}, min{-__FLT_MAX__}, max{__FLT_MAX__} {}; + bool operator==(const event_filter_t& ext) const { + return frequency == ext.frequency && min == ext.min && max == ext.max; + } }; -/// @brief A subscription object used has a context that handle all needed values to describe a subscription -/// to the low-can binding. It can holds a CAN signal or diagnostic message. Diagnostic message for OBD2 is a kind -/// of special because there is only 1 listener to retrieve OBD2 requests. So it's needed that all diagnostic messages -/// subscriptions is to be in 1 object. +/// @brief The object stores socket to CAN to be used to write on it. +/// This is a simple access to a CAN bus device without any subscriptions attached class low_can_subscription_t { private: int index_; ///< index_ - index number is the socket (int) casted - struct afb_event event_; ///< event_ - application framework event used to push on client + struct event_filter_t event_filter_; + afb_event_t event_; ///< event_ - application framework event used to push on client /// Signal part - std::shared_ptr can_signal_; ///< can_signal_ - the CAN signal subscribed - std::vector > diagnostic_message_; ///< diagnostic_message_ - diagnostic messages meant to received OBD2 responses. - /// normal diagnostic request and response not tested for now. + std::shared_ptr signal_; ///< signal_ - the CAN signal subscribed + std::vector > diagnostic_message_; ///< diagnostic_message_ - diagnostic messages meant to receive OBD2 + /// responses. Normal diagnostic request and response are not tested for now. + std::shared_ptr socket_; ///< socket_ - socket_ that receives CAN messages. - /// Filtering part - struct event_filter_t event_filter_; ///< event_filter_ - filtering values applied to a subscription + int set_event(); - utils::socketcan_bcm_t socket_; ///< socket_ - socket_ that receives CAN messages. public: low_can_subscription_t(); low_can_subscription_t(struct event_filter_t event_filter); @@ -64,9 +69,13 @@ public: low_can_subscription_t& operator=(const low_can_subscription_t& s); explicit operator bool() const; + afb_event_t get_event(); + int subscribe(afb_req_t request); + int unsubscribe(afb_req_t request); + int get_index() const; - struct afb_event& get_event(); - const std::shared_ptr get_can_signal() const; + const std::shared_ptr get_signal() const; + bool is_signal_subscription_corresponding(const std::shared_ptr, const struct event_filter_t& event_filter) const; const std::shared_ptr get_diagnostic_message(uint32_t pid) const; const std::vector > get_diagnostic_message() const; const std::shared_ptr get_diagnostic_message(const std::string& name) const; @@ -75,17 +84,22 @@ public: float get_frequency() const; float get_min() const; float get_max() const; - utils::socketcan_bcm_t& get_socket(); + std::shared_ptr get_socket(); - void set_event(struct afb_event event); void set_frequency(float freq); void set_min(float min); void set_max(float max); - struct utils::simple_bcm_msg make_bcm_head(uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const; - void add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const; - int open_socket(); - int create_rx_filter(std::shared_ptr sig); + static struct bcm_msg make_bcm_head(uint32_t opcode, uint32_t can_id = 0, uint32_t flags = 0, const struct timeval& timeout = {0,0}, const struct timeval& frequency_thinning = {0,0}); + static void add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg); + + static int open_socket(low_can_subscription_t &subscription, const std::string& bus_name = ""); + + int create_rx_filter(std::shared_ptr sig); int create_rx_filter(std::shared_ptr sig); - int create_rx_filter(utils::simple_bcm_msg& bcm_msg); + static int create_rx_filter_can(low_can_subscription_t &subscription, std::shared_ptr sig); + static int create_rx_filter_j1939(low_can_subscription_t &subscription, std::shared_ptr sig); + static int create_rx_filter_bcm(low_can_subscription_t &subscription, bcm_msg& bcm_msg); + + static int tx_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name); };