Move create_rx_filter to can_signals and adding all accessories needed to works.
Change-Id: I3636fe82ce5c2e43a4992b66ce89440ff709004a
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>
return can_message_t::convert_from_frame(cfd, nbytes);
}
-/// @brief Create a RX_SETUP receive job using the BCM socket.
-///
-/// @return 0 if ok else -1
-int can_bus_dev_t::create_rx_filter(const can_signal_t& s)
-{
- uint32_t can_id = s.get_message().get_id();
-
- struct utils::simple_bcm_msg bcm_msg;
- struct can_frame cfd;
-
- memset(&cfd, 0, sizeof(cfd));
- memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
- uint8_t bit_size = s.get_bit_size();
- float val = (float)(1 << bit_size)-1;
-
- bcm_msg.msg_head.opcode = RX_SETUP;
- bcm_msg.msg_head.can_id = can_id;
- bcm_msg.msg_head.flags = 0;
- bcm_msg.msg_head.nframes = 1;
- bitfield_encode_float(val,
- s.get_bit_position(),
- bit_size,
- s.get_factor(),
- s.get_offset(),
- cfd.data,
- CAN_MAX_DLEN);
-
- bcm_msg.frames = cfd;
-
- if(can_socket_ << bcm_msg)
- return 0;
- return -1;
-}
-
/// @brief start reading threads and set flag is_running_
/// @param[in] can_bus reference can_bus_t. it will be passed to the thread to allow using can_bus_t queue.
void can_bus_dev_t::start_reading(can_bus_t& can_bus)
void stop_reading();
can_message_t read();
- int create_rx_filter(const can_signal_t& s);
int send(can_message_t& can_msg);
bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size);
vehicle_message_q_.push(v_msg);
}
-/// @brief Create a RX_SETUP receive job for the BCM socket of a CAN signal.
-///
-/// @return 0 if ok -1 if not.
- int can_bus_t::create_rx_filter(const can_signal_t& s)
- {
- const std::string& bus = s.get_message().get_bus_name();
- return can_bus_t::can_devices_[bus]->create_rx_filter(s);
- }
-
/// @brief Return a map with the can_bus_dev_t initialized
///
/// @return map can_bus_dev_m_ map
openxc_VehicleMessage next_vehicle_message();
void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
- int create_rx_filter(const can_signal_t& signal);
-
const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& get_can_devices() const;
static std::shared_ptr<can_bus_dev_t> get_can_device(std::string bus);
};
#include "../binding/configuration.hpp"
#include "../utils/signals.hpp"
#include "can-decoder.hpp"
+#include "can-message.hpp"
+#include "can-bus.hpp"
#include "../diagnostic/diagnostic-message.hpp"
+#include "canutil/write.h"
std::string can_signal_t::prefix_ = "messages";
, last_value_{.0f}
{}
+utils::socketcan_bcm_t can_signal_t::get_socket() const
+{
+ return socket_;
+}
const can_message_definition_t& can_signal_t::get_message() const
{
{
last_value_ = val;
}
+
+/// @brief Create a RX_SETUP receive job using the BCM socket.
+///
+/// @return 0 if ok else -1
+int can_signal_t::create_rx_filter()
+{
+ // Make sure that socket has been opened.
+ if(! socket_)
+ socket_.open(
+ get_message().get_bus_name());
+
+ uint32_t can_id = get_message().get_id();
+
+ struct utils::simple_bcm_msg bcm_msg;
+ struct can_frame cfd;
+
+ memset(&cfd, 0, sizeof(cfd));
+ memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
+ float val = (float)(1 << bit_size_)-1;
+ float freq = frequency_.frequency_to_period();
+ if(freq <= 0)
+ freq = 0.000001f;
+
+ bcm_msg.msg_head.opcode = RX_SETUP;
+ bcm_msg.msg_head.can_id = can_id;
+ bcm_msg.msg_head.flags = SETTIMER;
+ bcm_msg.msg_head.ival2.tv_sec = long(freq);
+ bcm_msg.msg_head.ival2.tv_usec = (freq - (long)freq) * 1000000;
+ bcm_msg.msg_head.nframes = 1;
+ bitfield_encode_float(val,
+ bit_position_,
+ bit_size_,
+ factor_,
+ offset_,
+ cfd.data,
+ CAN_MAX_DLEN);
+
+ bcm_msg.frames = cfd;
+
+ if(socket_ << bcm_msg)
+ return 0;
+ return -1;
+}
+
#include "openxc.pb.h"
#include "../utils/timer.hpp"
+#include "../utils/socketcan-bcm.hpp"
#include "can-message.hpp"
#include "can-message-definition.hpp"
#include "../diagnostic/diagnostic-message.hpp"
class can_signal_t
{
private:
- std::uint8_t message_set_id_;
- std::uint8_t message_id_;
+ utils::socketcan_bcm_t socket_; /*!< socket_ - Specific BCM socket that filter the signal read from CAN device */
+ std::uint8_t message_set_id_; ///< message_set_id_ - Index number to the message_set_id container object
+ std::uint8_t message_id_; ///< message_id_ - Index number to the message_definition_t container object
std::string generic_name_; /*!< generic_name_ - The name of the signal to be output.*/
static std::string prefix_; /*!< prefix_ - generic_name_ will be prefixed with it. It has to reflect the used protocol.
* which make easier to sort message when the come in.*/
uint8_t bit_position_; /*!< bitPosition_ - The starting bit of the signal in its CAN message (assuming
* non-inverted bit numbering, i.e. the most significant bit of
* each byte is 0) */
- uint8_t bit_size_; /*!< bitSize_ - The width of the bit field in the CAN message. */
+ uint8_t bit_size_; /*!< bit_size_ - The width of the bit field in the CAN message. */
float factor_; /*!< factor_ - The final value will be multiplied by this factor. Use 1 if you
* don't need a factor. */
float offset_; /*!< offset_ - The final value will be added to this offset. Use 0 if you
SignalEncoder encoder,
bool received);
+ utils::socketcan_bcm_t get_socket() const;
const can_message_definition_t& get_message() const;
const std::string& get_generic_name() const;
const std::string get_name() const;
void set_prefix(std::string val);
void set_received(bool r);
void set_last_value(float val);
+ int create_rx_filter();
};
\ No newline at end of file
Code Review / apps / agl-service-can-low-level.git / commitdiff