#include "../utils/signals.hpp"
#include "../utils/openxc-utils.hpp"
+#include "low-can-socket.hpp"
/// @brief Return singleton instance of configuration object.
application_t& application_t::instance()
return can_bus_manager_;
}
+std::map<std::string, std::shared_ptr<low_can_socket_t> >& application_t::get_can_devices()
+{
+ return can_devices_;
+}
+
diagnostic_manager_t& application_t::get_diagnostic_manager()
{
return diagnostic_manager_;
std::vector<std::shared_ptr<can_message_set_t> > can_message_set_; ///< Vector holding all message set from JSON signals description file
+ std::map<std::string, std::shared_ptr<low_can_socket_t> > can_devices_; ///< Map containing all independant opened CAN sockets, key is the socket int value.
+
application_t(); ///< Private constructor with implementation generated by the AGL generator.
public:
can_bus_t& get_can_bus_manager();
+ std::map<std::string, std::shared_ptr<low_can_socket_t> >& get_can_devices();
+
const std::string get_diagnostic_bus() const;
diagnostic_manager_t& get_diagnostic_manager() ;
{
do_subscribe_unsubscribe(request, false);
}
+
+void swrite(struct afb_req request)
+{
+ int rc = 0;
+ struct can_frame cf;
+ struct utils::signals_found sf;
+ struct json_object *args, *json_can_socket, *json_can_id, *json_can_dlc, *json_can_data;
+
+ ::memset(&cf, 0, sizeof(cf));
+
+ args = afb_req_json(request);
+ if (args == NULL || (
+ ((!json_object_object_get_ex(args, "canbus_name", &json_can_socket)) && json_object_get_type(json_can_socket) == json_type_string) &&
+ ((!json_object_object_get_ex(args, "can_id", &json_can_id)) && json_object_get_type(json_can_id) == json_type_int) &&
+ ((!json_object_object_get_ex(args, "can_dlc", &json_can_dlc)) && json_object_get_type(json_can_dlc) == json_type_int)))
+ {
+ cf.can_id = json_object_get_int(json_can_id);
+ cf.can_dlc = (uint8_t)json_object_get_int(json_can_dlc);
+ openxc_DynamicField search_key = build_DynamicField((double)cf.can_id);
+ sf = utils::signals_manager_t::instance().find_signals(search_key);
+ }
+
+ if((args == NULL || !json_object_object_get_ex(args, "can_data", &json_can_data)) && json_object_get_type(json_can_data) == json_type_array)
+ {
+ struct json_object *x;
+
+ int n = json_object_array_length(json_can_data);
+ if(n < 8)
+ {
+ for (int i = 0 ; i < n ; i++)
+ {
+ x = json_object_array_get_idx(json_can_data, i);
+ cf.data[i] = json_object_get_type(x) == json_type_int ? (uint8_t)json_object_get_int(x) : 0;
+ }
+ }
+ }
+
+ if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
+ {
+ AFB_WARNING("No signal(s) found for id %d. Message not sent.", cf.can_id);
+ rc = -1;
+ }
+ else
+ {
+ std::map<std::string, std::shared_ptr<low_can_socket_t> >& cd = application_t::instance().get_can_devices();
+ const char* can_socket = json_object_get_string(json_can_socket);
+ for(const auto& sig: sf.can_signals)
+ {
+ if (sig->get_message()->get_bus_name().c_str() == can_socket)
+ {
+ rc = cd[can_socket]->tx_send(cf, sig);
+ }
+ }
+ }
+
+ if (rc >= 0)
+ afb_req_success(request, NULL, NULL);
+ else
+ afb_req_fail(request, "error", NULL);
+}
{
static int initv2();
+ static constexpr struct afb_auth loa_afb_auth(const unsigned loa)
+ {
+ struct afb_auth a = {};
+ a.type = afb_auth_LOA;
+ a.loa = loa;
+ return a;
+ }
+
+ static const struct afb_auth loa_1 = { loa_afb_auth(1) };
+
static const struct afb_verb_v2 verbs[]=
{
{ .verb= "subscribe", .callback= subscribe, .auth= NULL, .info="Let subscribe to signals", .session= AFB_SESSION_NONE},
{ .verb= "unsubscribe", .callback= unsubscribe, .auth= NULL, .info="Let unsubscribe signals", .session= AFB_SESSION_NONE},
+ { .verb= "swrite", .callback= swrite, .auth= &loa_1, .info="Write a single CAN message on a CAN bus", .session= AFB_SESSION_LOA_1},
{ .verb= NULL, .callback= NULL, .auth= NULL, .info=NULL, .session= 0}
};
int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata);
void subscribe(struct afb_req request);
-void unsubscribe(struct afb_req request);
\ No newline at end of file
+void unsubscribe(struct afb_req request);
+void swrite(struct afb_req request);
--- /dev/null
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loic Collignon" <loic.collignon@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "low-can-hat.hpp"
+
+#include "low-can-subscription.hpp"
+#include "application.hpp"
+#include "canutil/write.h"
+
+low_can_socket_t::low_can_socket_t()
+ : index_{-1},
+ event_filter_{},
+ socket_{}
+{}
+
+low_can_socket_t::low_can_socket_t(struct event_filter_t event_filter)
+ : event_filter_{event_filter}
+ {}
+
+low_can_socket_t::low_can_socket_t( low_can_socket_t&& s)
+ : index_{s.index_},
+ event_filter_{s.event_filter_},
+ socket_{std::move(s.socket_)}
+{}
+
+low_can_socket_t& low_can_socket_t::operator=(const low_can_socket_t& s)
+{
+ socket_ = std::move(s.socket_);
+ return *this;
+}
+
+low_can_socket_t::~low_can_socket_t()
+{
+ socket_.close();
+}
+
+low_can_socket_t::operator bool() const
+{
+ return ((can_signal_ != nullptr || ! diagnostic_message_.empty()) && ! socket_);
+}
+
+int low_can_socket_t::get_index() const
+{
+ return index_;
+}
+
+const std::shared_ptr<can_signal_t> low_can_socket_t::get_can_signal() const
+{
+ return can_signal_;
+}
+
+const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_socket_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<diagnostic_message_t> low_can_socket_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<diagnostic_message_t> low_can_socket_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_socket_t::get_name() const
+{
+ if (can_signal_ != nullptr)
+ return can_signal_->get_name();
+
+ return "";
+}
+
+/// @brief Return name from a diagnostic message from a PID
+///
+/// @param[in] pid - Diagnostic message PID
+const std::string low_can_socket_t::get_name(uint32_t pid) const
+{
+ if (!diagnostic_message_.empty())
+ return get_diagnostic_message(pid)->get_name() ;
+
+ return "";
+}
+
+float low_can_socket_t::get_frequency() const
+{
+ return event_filter_.frequency;
+}
+
+float low_can_socket_t::get_min() const
+{
+ return event_filter_.min;
+}
+
+float low_can_socket_t::get_max() const
+{
+ return event_filter_.max;
+}
+
+utils::socketcan_bcm_t& low_can_socket_t::get_socket()
+{
+ return socket_;
+}
+
+void low_can_socket_t::set_frequency(float freq)
+{
+ event_filter_.frequency = freq;
+}
+
+void low_can_socket_t::set_min(float min)
+{
+ event_filter_.min = min;
+}
+
+void low_can_socket_t::set_max(float max)
+{
+ event_filter_.max = max;
+}
+/// @brief Based upon which object is subscribed CAN signal or diagnostic message
+/// this will open the socket with the required CAN bus device name.
+///
+/// @return INVALID_SOCKET on failure else positive integer
+int low_can_socket_t::open_socket()
+{
+ 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());}
+ index_ = (int)socket_.socket();
+ }
+ return ret;
+}
+
+/// @brief Build a BCM message head but don't set can_frame.
+///
+/// @return a simple_bcm_msg with the msg_head parts set and can_frame
+/// zeroed.
+struct utils::simple_bcm_msg low_can_socket_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::simple_bcm_msg 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 simple_bcm_msg struct and add a can_frame to it.
+/// Only possible for now to add 1 uniq can_frame, it isn't possible to build
+/// a multiplexed message with several can_frame.
+void low_can_socket_t::add_bcm_frame(const struct can_frame& cf, struct utils::simple_bcm_msg& bcm_msg) const
+{
+ for(int i=0; i < CAN_MAX_DLEN; i++)
+ {
+ if(cf.data[i] != 0)
+ {
+ bcm_msg.msg_head.nframes = 1;
+ bcm_msg.frames = cf;
+ return;
+ }
+ }
+}
+
+/// @brief Create a RX_SETUP receive job used by the BCM socket for a CAN signal
+/// subscription
+///
+/// @return 0 if ok else -1
+int low_can_socket_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
+{
+ can_signal_= sig;
+
+ struct can_frame cfd;
+ memset(&cfd, 0, sizeof(cfd));
+
+ float val = (float)(1 << can_signal_->get_bit_size()) - 1;
+ bitfield_encode_float(val,
+ can_signal_->get_bit_position(),
+ can_signal_->get_bit_size(),
+ can_signal_->get_factor(),
+ can_signal_->get_offset(),
+ cfd.data,
+ CAN_MAX_DLEN);
+
+ struct timeval freq, timeout = {0, 0};
+ frequency_clock_t f = std::isnan(event_filter_.frequency) ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency);
+ freq = f.get_timeval_from_period();
+
+ utils::simple_bcm_msg bcm_msg = make_bcm_head(RX_SETUP, can_signal_->get_message()->get_id(), SETTIMER|RX_NO_AUTOTIMER, timeout, freq);
+ add_bcm_frame(cfd, bcm_msg);
+
+ return create_rx_filter(bcm_msg);
+}
+
+/// @brief Create a RX_SETUP receive job used by the BCM socket for a
+/// diagnostic message subscription.
+///
+/// @return 0 if ok else -1
+int low_can_socket_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> 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::simple_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 Create a RX_SETUP receive job used by the BCM socket directly from
+/// a simple_bcm_msg. You will not use this method directly but rather use 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_socket_t::create_rx_filter(utils::simple_bcm_msg& bcm_msg)
+{
+ // Make sure that socket has been opened.
+ if(open_socket() < 0)
+ {return -1;}
+
+ // If it isn't 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 TX_SEND job used by the BCM socket to
+/// simply send message
+///
+/// @return 0 if ok else -1
+int low_can_socket_t::tx_send(const struct can_frame& cf, std::shared_ptr<can_signal_t> sig)
+{
+ can_signal_ = sig;
+
+ utils::simple_bcm_msg bcm_msg = make_bcm_head(TX_SEND);
+ add_bcm_frame(cf, bcm_msg);
+
+ if(open_socket() < 0)
+ {return -1;}
+
+ socket_ << bcm_msg;
+ if(! socket_)
+ return -1;
+
+ return 0;
+}
--- /dev/null
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+ #pragma once
+
+#include <string>
+#include <cmath>
+#include <utility>
+
+#include "../can/can-signals.hpp"
+#include "../diagnostic/diagnostic-message.hpp"
+#include "../utils/socketcan-bcm.hpp"
+
+/// @brief Filtering values. Theses values has to be tested into
+/// 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} {}
+};
+
+/// @brief An object storing socket to CAN to be used to write on it.
+/// This is a simple access to a CAN bus device without subscriptions attached
+class low_can_socket_t
+{
+protected:
+ int index_; ///< index_ - index number is the socket (int) casted
+ struct event_filter_t event_filter_;
+
+ /// Signal part
+ std::shared_ptr<can_signal_t> can_signal_; ///< can_signal_ - the CAN signal subscribed
+ std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_message_; ///< diagnostic_message_ - diagnostic messages meant to received OBD2 responses.
+ /// normal diagnostic request and response not tested for now.
+
+ utils::socketcan_bcm_t socket_; ///< socket_ - socket_ that receives CAN messages.
+
+public:
+ low_can_socket_t();
+ low_can_socket_t(struct event_filter_t event_filter);
+ low_can_socket_t(const low_can_socket_t& s) = delete;
+ low_can_socket_t(low_can_socket_t&& s);
+ virtual ~low_can_socket_t();
+
+ low_can_socket_t& operator=(const low_can_socket_t& s);
+ explicit operator bool() const;
+
+ int get_index() const;
+ const std::shared_ptr<can_signal_t> get_can_signal() const;
+ const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(uint32_t pid) const;
+ const std::vector<std::shared_ptr<diagnostic_message_t> > get_diagnostic_message() const;
+ const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(const std::string& name) const;
+ const std::string get_name() const;
+ const std::string get_name(uint32_t pid) const;
+ float get_frequency() const;
+ float get_min() const;
+ float get_max() const;
+ utils::socketcan_bcm_t& 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 opcode, uint32_t can_id = 0, uint32_t flags = 0, const struct timeval& timeout = {0,0}, const struct timeval& frequency_thinning = {0,0}) 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<can_signal_t> sig);
+ int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig);
+ int create_rx_filter(utils::simple_bcm_msg& bcm_msg);
+
+ int tx_send(const struct can_frame& cf, std::shared_ptr<can_signal_t> sig);
+};
#include "application.hpp"
#include "canutil/write.h"
-low_can_subscription_t::low_can_subscription_t()
- : index_{-1},
- event_filter_{event_filter_t()},
- socket_{}
-{}
-
-low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter)
- : event_filter_{event_filter}
-{}
-
-low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
- : index_{s.index_},
- event_filter_{s.event_filter_},
- 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()) && afb_event_is_valid(event_));
-}
-
struct afb_event& low_can_subscription_t::get_event()
{
return event_;
}
-int low_can_subscription_t::get_index() const
-{
- return index_;
-}
-
-const std::shared_ptr<can_signal_t> low_can_subscription_t::get_can_signal() const
-{
- return can_signal_;
-}
-
-const std::vector<std::shared_ptr<diagnostic_message_t> > 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<diagnostic_message_t> 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<diagnostic_message_t> 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();
-
- 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() ;
-
- 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_event(struct afb_event event)
{
event_ = event;
}
-
-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 subscribed CAN signal or diagnostic message
-/// this 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()
-{
- 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());}
- index_ = (int)socket_.socket();
- }
- return ret;
-}
-
-/// @brief Build a BCM message head but don't set can_frame.
-///
-/// @return a simple_bcm_msg with the msg_head parts set and can_frame
-/// zeroed.
-struct utils::simple_bcm_msg low_can_subscription_t::make_bcm_head(uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const
-{
- struct utils::simple_bcm_msg bcm_msg;
-
- memset(&bcm_msg, 0, sizeof(bcm_msg));
-
- bcm_msg.msg_head.opcode = RX_SETUP;
- 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 simple_bcm_msg struct and add a can_frame to it.
-/// Only possible for now to add 1 uniq can_frame, it isn't possible to build
-/// a multiplexed message with several can_frame.
-void low_can_subscription_t::add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const
-{
- for(int i=0; i < CAN_MAX_DLEN; i++)
- {
- if(cfd.data[i] != 0)
- {
- bcm_msg.msg_head.nframes = 1;
- bcm_msg.frames = cfd;
- return;
- }
- }
-}
-
-/// @brief Create a RX_SETUP receive job 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<can_signal_t> sig)
-{
- can_signal_= sig;
-
- struct can_frame cfd;
- memset(&cfd, 0, sizeof(cfd));
-
- float val = (float)(1 << can_signal_->get_bit_size()) - 1;
- bitfield_encode_float(val,
- can_signal_->get_bit_position(),
- can_signal_->get_bit_size(),
- can_signal_->get_factor(),
- can_signal_->get_offset(),
- cfd.data,
- CAN_MAX_DLEN);
-
- struct timeval freq, timeout = {0, 0};
- frequency_clock_t f = std::isnan(event_filter_.frequency) ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency);
- freq = f.get_timeval_from_period();
-
- utils::simple_bcm_msg bcm_msg = make_bcm_head(can_signal_->get_message()->get_id(), SETTIMER|RX_NO_AUTOTIMER, timeout, freq);
- add_bcm_frame(cfd, bcm_msg);
-
- return create_rx_filter(bcm_msg);
-}
-
-/// @brief Create a RX_SETUP receive job 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<diagnostic_message_t> 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::simple_bcm_msg bcm_msg = make_bcm_head(OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
- return create_rx_filter(bcm_msg);
-}
-
-/// @brief Create a RX_SETUP receive job used by the BCM socket directly from
-/// a simple_bcm_msg. You will not use this method directly but rather use 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::simple_bcm_msg& bcm_msg)
-{
- // Make sure that socket has been opened.
- if(open_socket() < 0)
- {return -1;}
-
- // If it isn't 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;
-}
\ No newline at end of file
#include <cmath>
#include <utility>
+#include "low-can-socket.hpp"
#include "../can/can-signals.hpp"
#include "../diagnostic/diagnostic-message.hpp"
#include "../utils/socketcan-bcm.hpp"
-/// @brief Filtering values. Theses values has to be tested into
-/// 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} {}
-};
-
/// @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.
-class low_can_subscription_t
+class low_can_subscription_t : public low_can_socket_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
- /// Signal part
- std::shared_ptr<can_signal_t> can_signal_; ///< can_signal_ - the CAN signal subscribed
- std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_message_; ///< diagnostic_message_ - diagnostic messages meant to received OBD2 responses.
- /// normal diagnostic request and response not tested for now.
-
- /// Filtering part
- struct event_filter_t event_filter_; ///< event_filter_ - filtering values applied to a subscription
-
- 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);
- low_can_subscription_t(const low_can_subscription_t& s) = delete;
- low_can_subscription_t(low_can_subscription_t&& s);
- ~low_can_subscription_t();
-
- low_can_subscription_t& operator=(const low_can_subscription_t& s);
- explicit operator bool() const;
+ using low_can_socket_t::low_can_socket_t;
- int get_index() const;
struct afb_event& get_event();
- const std::shared_ptr<can_signal_t> get_can_signal() const;
- const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(uint32_t pid) const;
- const std::vector<std::shared_ptr<diagnostic_message_t> > get_diagnostic_message() const;
- const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(const std::string& name) const;
- const std::string get_name() const;
- const std::string get_name(uint32_t pid) const;
- float get_frequency() const;
- float get_min() const;
- float get_max() const;
- utils::socketcan_bcm_t& 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<can_signal_t> sig);
- int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig);
- int create_rx_filter(utils::simple_bcm_msg& bcm_msg);
};
Code Review / apps / low-level-can-service.git / commitdiff