Allows to build a message (J1939,BCM) with a signal and a value.
Bug-AGL: SPEC-2386
Signed-off-by: Arthur Guyader <arthur.guyader@iot.bzh>
Change-Id: Iadca13a927ff83f713f39da441c88356695a1285
event_filter.frequency = event_filter.frequency == 0 ? sig->get_frequency() : event_filter.frequency;
std::shared_ptr<low_can_subscription_t> can_subscription;
- auto it = std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub){ return (! sub.second->get_diagnostic_message().empty());});
+ auto it = std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
+ {
+ return (! sub.second->get_diagnostic_message().empty());
+ });
can_subscription = it != s.end() ?
it->second :
std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
int rets = 0;
for(const auto& sig: signals)
{
- auto it = std::find_if(s.begin(), s.end(), [&sig, &event_filter](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub){ return sub.second->is_signal_subscription_corresponding(sig, event_filter) ; });
+ auto it = std::find_if(s.begin(), s.end(), [&sig, &event_filter](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
+ {
+ return sub.second->is_signal_subscription_corresponding(sig, event_filter) ;
+ });
std::shared_ptr<low_can_subscription_t> can_subscription;
if(it != s.end())
{can_subscription = it->second;}
// 2 cases : ID(PGN) and event
- json_bool test_event = json_object_object_get_ex(args,"event",&event);
+ json_object_object_get_ex(args,"event",&event);
json_bool test_id = json_object_object_get_ex(args,"id",&id);
if(!test_id)
{
- json_object_object_get_ex(args,"pgn",&id);
+ test_id = json_object_object_get_ex(args,"pgn",&id);
}
- if( args == NULL || (!test_event && !id))
+ if( args == NULL || (id && ((std::string)json_object_get_string(id)).compare("*") == 0))
{
rc = one_subscribe_unsubscribe_events(request, subscribe, "*", args);
}
do_subscribe_unsubscribe(request, false);
}
-static int send_frame(struct canfd_frame& cfd, const std::string& bus_name)
+/*
+static int send_frame(struct canfd_frame& cfd, const std::string& bus_name, socket_type type)
{
- if(bus_name.empty()) {
+ if(bus_name.empty())
+ {
return -1;
}
std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
if( cd.count(bus_name) == 0)
- {cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t());}
+ {
+ cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t());
+ }
- return low_can_subscription_t::tx_send(*cd[bus_name], cfd, bus_name);
-}
-static void write_raw_frame(afb_req_t request, const std::string& bus_name, json_object *json_value)
+ if(type == socket_type::BCM)
+ {
+ return low_can_subscription_t::tx_send(*cd[bus_name], cfd, bus_name);
+ }
+ else{
+ return -1;
+ }
+}
+*/
+static int send_message(message_t *message, const std::string& bus_name, socket_type type)
{
- struct canfd_frame cfd;
- struct json_object *can_data = nullptr;
+ if(bus_name.empty())
+ {
+ return -1;
+ }
- ::memset(&cfd, 0, sizeof(cfd));
+ std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
- if(wrap_json_unpack(json_value, "{si, si, so !}",
- "can_id", &cfd.can_id,
- "can_dlc", &cfd.len,
- "can_data", &can_data))
+ if( cd.count(bus_name) == 0)
{
- afb_req_fail(request, "Invalid", "Frame object malformed");
- return;
+ cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t());
+ }
+
+
+ if(type == socket_type::BCM)
+ {
+ return low_can_subscription_t::tx_send(*cd[bus_name], message, bus_name);
+ }
+ else
+ {
+ return -1;
}
+}
+
- if(cfd.len <= 8 && cfd.len > 0)
+static void write_raw_frame(afb_req_t request, const std::string& bus_name, message_t *message, struct json_object *can_data, socket_type type)
+{
+ if((message->get_length() <= 8 && message->get_length() > 0 && type == socket_type::BCM)
+#ifdef USE_FEATURE_J1939
+ || (message->get_length() < J1939_MAX_DLEN && type == socket_type::J1939)
+#endif
+ )
{
- for (int i = 0 ; i < cfd.len ; i++)
+
+ std::vector<uint8_t> data;
+ for (int i = 0 ; i < message->get_length() ; i++)
{
struct json_object *one_can_data = json_object_array_get_idx(can_data, i);
- cfd.data[i] = (json_object_is_type(one_can_data, json_type_int)) ?
- (uint8_t)json_object_get_int(one_can_data) : 0;
+ data.push_back((json_object_is_type(one_can_data, json_type_int)) ?
+ (uint8_t)json_object_get_int(one_can_data) : 0);
}
+ message->set_data(data);
}
else
{
- afb_req_fail(request, "Invalid", "Data array must hold 1 to 8 values.");
+ if(type == socket_type::BCM)
+ {
+ afb_req_fail(request, "Invalid", "Data array must hold 1 to 8 values.");
+ }
+ else
+ {
+ afb_req_fail(request, "Invalid", "Invalid socket type");
+ }
return;
}
- if(! send_frame(cfd, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name)))
+ if(! send_message(message, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name),type))
+ {
afb_req_success(request, nullptr, "Message correctly sent");
+ }
else
+ {
afb_req_fail(request, "Error", "sending the message. See the log for more details.");
+ }
+}
+
+static void write_frame(afb_req_t request, const std::string& bus_name, json_object *json_value)
+{
+ message_t *message;
+ int id;
+ int length;
+ struct json_object *can_data = nullptr;
+ std::vector<uint8_t> data;
+
+ AFB_DEBUG("JSON content %s",json_object_get_string(json_value));
+
+ if(!wrap_json_unpack(json_value, "{si, si, so !}",
+ "can_id", &id,
+ "can_dlc", &length,
+ "can_data", &can_data))
+ {
+ message = new can_message_t(CANFD_MAX_DLEN,(uint32_t)id,(uint32_t)length,message_format_t::STANDARD,false,0,data,0);
+ write_raw_frame(request,bus_name,message,can_data,socket_type::BCM);
+ }
+ else
+ {
+ afb_req_fail(request, "Invalid", "Frame object malformed");
+ return;
+ }
+ delete message;
}
static void write_signal(afb_req_t request, const std::string& name, json_object *json_value)
encoder(*sig, dynafield_value, &send) :
encoder_t::encode_DynamicField(*sig, dynafield_value, &send);
- cfd = encoder_t::build_frame(sig, value);
- if(! send_frame(cfd, sig->get_message()->get_bus_device_name()) && send)
+ socket_type type = socket_type::INVALID;
+
+ if(sig->get_message()->is_j1939())
+ {
+ type = socket_type::J1939;
+ }
+ else
+ {
+ type = socket_type::BCM;
+ }
+
+// cfd = encoder_t::build_frame(sig, value);
+ message_t *message = encoder_t::build_message(sig,value);
+
+ if(! send_message(message, sig->get_message()->get_bus_device_name(), type) && send)
+ {
afb_req_success(request, nullptr, "Message correctly sent");
+ }
else
+ {
afb_req_fail(request, "Error", "Sending the message. See the log for more details.");
+ }
+
+ if(sig->get_message()->is_j1939())
+ {
+#ifdef USE_FEATURE_J1939
+ delete (j1939_message_t*) message;
+#endif
+ }
+ else
+ {
+ delete (can_message_t*) message;
+ }
}
void write(afb_req_t request)
if (args != NULL && ! wrap_json_unpack(args, "{ss, so !}",
"bus_name", &name,
"frame", &json_value))
- write_raw_frame(request, name, json_value);
+ write_frame(request, name, json_value);
// Search signal then encode value.
else if(args != NULL &&
rc = -1;
if (rc >= 0)
+ {
afb_req_success(request, ans, NULL);
+ }
else
+ {
afb_req_fail(request, "error", NULL);
+ }
}
/// @brief Initialize the binding.
// 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.
- std::shared_ptr<can_message_t> msg = std::make_shared<can_message_t>();
+ can_message_t msg = can_message_t();
- msg->set_bcm_msg(bcm_msg);
+ msg.set_bcm_msg(bcm_msg);
if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
{
for(uint8_t i = 0; i < 8; i++)
{
bcm_msg.msg_head.can_id = OBD2_FUNCTIONAL_RESPONSE_START + i;
- msg->set_bcm_msg(bcm_msg);
+ msg.set_bcm_msg(bcm_msg);
subscription.socket_->write_message(msg);
if(! subscription.socket_)
return -1;
/// send a message
///
/// @return 0 if ok else -1
-int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, struct canfd_frame& cfd, const std::string& bus_name)
+int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name)
{
- struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cfd.can_id);
+ 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());
+ canfd_frame cfd = cm->convert_to_canfd_frame();
subscription.add_one_bcm_frame(cfd, bcm_msg);
if(subscription.open_socket(subscription, bus_name) < 0)
{return -1;}
-
- std::shared_ptr<can_message_t> msg = std::make_shared<can_message_t>();
-
- msg->set_bcm_msg(bcm_msg);
-
- subscription.socket_->write_message(msg);
+ cm->set_bcm_msg(bcm_msg);
+ subscription.socket_->write_message(*cm);
if(! subscription.socket_.get())
- return -1;
+ {
+ return -1;
+ }
return 0;
-}
+}
\ No newline at end of file
static int create_rx_filter_j1939(low_can_subscription_t &subscription, std::shared_ptr<signal_t> 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, struct canfd_frame& cfd, const std::string& bus_name);
+ static int tx_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name);
};
cf.data,
cf.len);
}
-
return cf;
}
+
+/**
+ * @brief Allows to build a single frame message with correct data to be send
+ *
+ * @param signal The CAN signal to write, including the bit position and bit size.
+ * @param value The encoded integer value to write in the CAN signal.
+ * @param message A single frame message to complete
+ * @return message_t* The message that is generated
+ */
+message_t* encoder_t::build_one_frame_message(const std::shared_ptr<signal_t>& signal, uint64_t value, message_t *message)
+{
+ signal->set_last_value((float)value);
+ uint8_t data_tab[message->get_length()];
+ ::memset(&data_tab, 0, sizeof(data_tab));
+ std::vector<uint8_t> data;
+
+ for(const auto& sig: signal->get_message()->get_signals())
+ {
+ float last_value = sig->get_last_value();
+ bitfield_encode_float(last_value,
+ sig->get_bit_position(),
+ sig->get_bit_size(),
+ sig->get_factor(),
+ sig->get_offset(),
+ data_tab,
+ (uint8_t)message->get_length());
+ }
+
+ for (size_t i = 0; i < (uint8_t) message->get_length(); i++)
+ {
+ data.push_back(data_tab[i]);
+ }
+
+ message->set_data(data);
+ return message;
+}
+
+/**
+ * @brief Allows to build a multi frame message with correct data to be send
+ *
+ * @param signal The CAN signal to write, including the bit position and bit size.
+ * @param value The encoded integer value to write in the CAN signal.
+ * @param message A multi frame message to complete
+ * @return message_t* The message that is generated
+ */
+message_t* encoder_t::build_multi_frame_message(const std::shared_ptr<signal_t>& signal, uint64_t value, message_t *message)
+{
+ signal->set_last_value((float)value);
+ std::vector<uint8_t> data;
+
+ uint32_t msgs_len = signal->get_message()->get_length(); // multi frame - number of bytes
+ int number_of_frame = (int) msgs_len / 8;
+
+ uint8_t data_tab[number_of_frame][8] = {0};
+
+ for(const auto& sig: signal->get_message()->get_signals())
+ {
+
+ int frame_position = (int) sig->get_bit_position() / 64;
+ float last_value = sig->get_last_value();
+ uint8_t bit_position = sig->get_bit_position() - ((uint8_t)(64 * frame_position));
+
+ bitfield_encode_float(last_value,
+ bit_position,
+ sig->get_bit_size(),
+ sig->get_factor(),
+ sig->get_offset(),
+ data_tab[frame_position],
+ 8);
+ }
+
+ for (size_t i = 0; i < number_of_frame; i++)
+ {
+ for(size_t j = 0; j < 8 ; j++)
+ {
+ data.push_back(data_tab[i][j]);
+ }
+ }
+
+ message->set_data(data);
+ return message;
+}
+
+/**
+ * @brief Allows to build a message_t with correct data to be send
+ *
+ * @param signal The CAN signal to write, including the bit position and bit size.
+ * @param value The encoded integer value to write in the CAN signal.
+ * @return message_t* The message that is generated
+ */
+message_t* encoder_t::build_message(const std::shared_ptr<signal_t>& signal, uint64_t value)
+{
+ message_t *message;
+ std::vector<uint8_t> data;
+ if(signal->get_message()->is_fd())
+ {
+ message = new can_message_t(CANFD_MAX_DLEN,signal->get_message()->get_id(),CANFD_MAX_DLEN,signal->get_message()->get_format(),false,CAN_FD_FRAME,data,0);
+ return build_one_frame_message(signal,value,message);
+ }
+#ifdef USE_FEATURE_J1939
+ else if(signal->get_message()->is_j1939())
+ {
+ message = new j1939_message_t(J1939_MAX_DLEN,signal->get_message()->get_length(),signal->get_message()->get_format(),data,0,J1939_NO_NAME,signal->get_message()->get_id(),J1939_NO_ADDR);
+ return build_multi_frame_message(signal,value,message);
+ }
+#endif
+ else
+ {
+ message = new can_message_t(CAN_MAX_DLEN,signal->get_message()->get_id(),CAN_MAX_DLEN,signal->get_message()->get_format(),false,0,data,0);
+ return build_one_frame_message(signal,value,message);
+ }
+}
+
/// @brief Encode a boolean into an integer, fit for a CAN signal bitfield.
///
/// This is a shortcut for encodeDynamicField(CanSignal*, openxc_DynamicField*,
#include "signals.hpp"
#include "message/can-message.hpp"
#include "openxc.pb.h"
+#include "message/can-message.hpp"
+#ifdef USE_FEATURE_J1939
+#include "message/j1939-message.hpp"
+#endif
class encoder_t
{
public:
static const canfd_frame build_frame(const std::shared_ptr<signal_t>& signal, uint64_t value);
+ static message_t* build_message(const std::shared_ptr<signal_t>& signal, uint64_t value);
+ static message_t* build_one_frame_message(const std::shared_ptr<signal_t>& signal, uint64_t value, message_t *message);
+ static message_t* build_multi_frame_message(const std::shared_ptr<signal_t>& signal, uint64_t value, message_t *message);
static uint64_t encode_state(const signal_t& signal, const std::string& value, bool* send);
static uint64_t encode_boolean(const signal_t& signal, bool value, bool* send);
static uint64_t encode_number(const signal_t& signal, float value, bool* send);
{
last_value_= m->get_data_vector();
}
+
+uint32_t message_definition_t::get_length() const
+{
+ return length_;
+}
+
+message_format_t message_definition_t::get_format() const
+{
+ return format_;
+}
\ No newline at end of file
bool is_fd() const;
bool is_j1939() const;
std::vector<std::shared_ptr<signal_t>>& get_signals();
+ uint32_t get_length() const;
+ message_format_t get_format() const;
void set_parent(std::shared_ptr<message_set_t> parent);
void set_last_value(std::shared_ptr<message_t> m);
///
can_message_t::can_message_t()
: message_t(),
- maxdlen_{0},
id_{0},
rtr_flag_{false},
flags_{0}
{}
-can_message_t::can_message_t(uint8_t maxdlen,
+can_message_t::can_message_t(uint32_t maxdlen,
uint32_t id,
- uint8_t length,
+ uint32_t length,
message_format_t format,
bool rtr_flag,
- uint8_t flags,
+ uint32_t flags,
std::vector<uint8_t>& data,
uint64_t timestamp)
- : message_t(length, format, data, timestamp),
- maxdlen_{maxdlen},
+ : message_t(maxdlen, length, format, data, timestamp),
id_{id},
rtr_flag_{rtr_flag},
flags_{flags}
/// @return A can_message_t object fully initialized with canfd_frame values.
std::shared_ptr<can_message_t> can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp)
{
- uint8_t maxdlen = 0, length = 0, flags = 0;
+ uint32_t maxdlen = 0, length = 0;
+ uint8_t flags = 0;
uint32_t id;
message_format_t format;
bool rtr_flag;
return std::make_shared<can_message_t>(can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp));
}
+/// @brief Take all initialized class members and build a
+/// canfd_frame struct that can be use to send a CAN message over
+/// the bus.
+///
+/// @return canfd_frame struct built from class members.
+struct canfd_frame can_message_t::convert_to_canfd_frame()
+{
+ canfd_frame frame;
+
+ if(is_correct_to_send())
+ {
+ frame.can_id = get_id();
+ frame.len = (uint8_t) get_length();
+ ::memcpy(frame.data, get_data(), length_);
+ }
+ else
+ AFB_ERROR("can_message_t not correctly initialized to be sent");
+
+ return frame;
+}
+
+/// @brief Take all initialized class members and build a
+/// can_frame struct that can be use to send a CAN message over
+/// the bus.
+///
+/// @return can_frame struct built from class members.
+struct can_frame can_message_t::convert_to_can_frame()
+{
+ can_frame frame;
+
+ if(is_correct_to_send())
+ {
+ frame.can_id = get_id();
+ frame.can_dlc = (uint8_t) get_length();
+ ::memcpy(frame.data, get_data(), length_);
+ }
+ else
+ AFB_ERROR("can_message_t not correctly initialized to be sent");
+
+ return frame;
+}
bool can_message_t::is_set()
{
bcm_msg_ = bcm_msg;
}
+uint32_t can_message_t::get_flags()
+{
+ return flags_;
+}
\ No newline at end of file
/// buffers. It is a wrapper of a can_frame struct with some sugar around it for binding purposes.
class can_message_t : public message_t {
private:
- uint8_t maxdlen_; ///< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/
uint32_t id_; ///< id_ - The ID of the message. */
bool rtr_flag_; ///< rtr_flag_ - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/
- uint8_t flags_; ///< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/
+ uint32_t flags_; ///< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/
struct bcm_msg bcm_msg_;
public:
can_message_t();
- can_message_t(uint8_t maxdlen, uint32_t id, uint8_t length, message_format_t format, bool rtr_flag_, uint8_t flags, std::vector<uint8_t>& data, uint64_t timestamp);
+ can_message_t(uint32_t maxdlen, uint32_t id, uint32_t length, message_format_t format, bool rtr_flag_, uint32_t flags, std::vector<uint8_t>& data, uint64_t timestamp);
uint32_t get_id() const;
static std::shared_ptr<can_message_t> convert_from_frame(const canfd_frame& frame, size_t nbytes, uint64_t timestamp);
+ struct canfd_frame convert_to_canfd_frame();
+ struct can_frame convert_to_can_frame();
+
bool is_correct_to_send();
bool is_set();
struct bcm_msg get_bcm_msg();
void set_bcm_msg(struct bcm_msg bcm_msg);
std::string get_debug_message();
-
+ uint32_t get_flags();
};
*/
#include <cstring>
+#include <sstream>
+#include <iomanip>
+#include <net/if.h>
#include "../../binding/low-can-hat.hpp"
#include "j1939-message.hpp"
-///
-/// @brief Class constructor
-///
-/// j1939_message_t class constructor.
-///
+/**
+ * @brief Construct a new j1939 message t::j1939 message t object
+ *
+ */
j1939_message_t::j1939_message_t():
message_t(),
name_{0},
addr_{0}
{}
-j1939_message_t::j1939_message_t(uint8_t length,
+/**
+ * @brief Construct a new j1939 message t::j1939 message t object
+ *
+ * @param maxdlen The max length of the message
+ * @param length The length of the message
+ * @param format The format of the message
+ * @param data The vector data of the message
+ * @param timestamp The timetamp of the message
+ * @param name The name of the message
+ * @param pgn The PGN of the message
+ * @param addr The address of the message
+ */
+j1939_message_t::j1939_message_t(uint32_t maxdlen,
+ uint32_t length,
message_format_t format,
std::vector<uint8_t>& data,
uint64_t timestamp,
name_t name,
pgn_t pgn,
uint8_t addr):
- message_t(length, format, data, timestamp),
+ message_t(maxdlen,length, format, data, timestamp),
name_{name},
pgn_{pgn},
addr_{addr}
return addr_;
}
+/**
+ * @brief Convert hex data to string
+ *
+ * @param data An array of data
+ * @param length The length of the data
+ * @return std::string The string data
+ */
+std::string to_hex( uint8_t data[], const size_t length)
+{
+ std::stringstream stream;
+ stream << std::hex << std::setfill('0');
+ for(int i = 0; i < length; i++)
+ {
+ stream << std::hex << ((int) data[i]);
+ }
+ return stream.str();
+}
/// @brief Take a sockaddr_can struct and array of data to initialize class members
///
/// @return A j1939_message_t object fully initialized with sockaddr_can and data values.
std::shared_ptr<j1939_message_t> j1939_message_t::convert_from_addr(struct sockaddr_can& addr, uint8_t (&data)[128],size_t nbytes, uint64_t timestamp)
{
- uint8_t length = 0;
- message_format_t format;
- std::vector<uint8_t> dataVector;
+ int i;
+ uint32_t length = 0;
+ message_format_t format;
+ std::vector<uint8_t> data_vector;
if(nbytes > J1939_MAX_DLEN)
{
}
else
{
- AFB_DEBUG("Got a j1939 frame");
+ //AFB_DEBUG("Got a j1939 frame");
format = message_format_t::J1939;
}
- length = (uint8_t) nbytes;
- dataVector.reserve(length);
- int i;
- dataVector.clear();
+ length = (uint32_t) nbytes;
+ data_vector.reserve(length);
+
+ data_vector.clear();
+
+ std::string data_string;
+ data_string = to_hex(data,length);
+
for(i=0;i<length;i++)
{
- dataVector.push_back(data[i]);
+ data_vector.push_back(data[i]);
};
- AFB_DEBUG("Found pgn: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
- addr.can_addr.j1939.pgn, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
+ AFB_DEBUG("Found pgn: %X, format: %X, length: %X, data %s",
+ addr.can_addr.j1939.pgn, (uint8_t)format, length, data_string.c_str());
- return std::make_shared<j1939_message_t>(j1939_message_t(length, format, dataVector, timestamp,addr.can_addr.j1939.name,addr.can_addr.j1939.pgn,addr.can_addr.j1939.addr));
+ return std::make_shared<j1939_message_t>(j1939_message_t(J1939_MAX_DLEN,length, format, data_vector, timestamp,addr.can_addr.j1939.name,addr.can_addr.j1939.pgn,addr.can_addr.j1939.addr));
}
/// @brief Test if members pgn_ and length are set.
///
uint32_t j1939_message_t::get_id() const
{
- AFB_WARNING("Prefer method get_pgn() for j1939 messages");
+ AFB_DEBUG("Prefer method get_pgn() for j1939 messages");
return get_pgn();
}
#include <linux/can/j1939.h>
#include "message.hpp"
-#include "../../utils/socketcan-j1939.hpp"
+
#define J1939_MAX_MULTIPACKETS 255
#define J1939_MAX_DLEN J1939_MAX_MULTIPACKETS * CAN_MAX_DLEN
+
class j1939_message_t : public message_t
{
private:
/* J1939 Address
+ 0-255
*/
uint8_t addr_;
+ /**
+ * @brief The sockanme to send a message to
+ * an other ECU
+ */
+ struct sockaddr_can sockname_;
+
public:
j1939_message_t();
- j1939_message_t(uint8_t length, message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp, name_t name, pgn_t pgn, uint8_t addr);
+ j1939_message_t(uint32_t maxdlen, uint32_t length, message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp, name_t name, pgn_t pgn, uint8_t addr);
uint64_t get_name() const;
uint32_t get_pgn() const;
uint8_t get_addr() const;
#include "../../binding/low-can-hat.hpp"
-///
-/// @brief Class constructor
-///
-/// message_t class constructor.
-///
+/**
+ * @brief Construct a new message t::message t object
+ *
+ */
message_t::message_t()
- : length_{0},
+ : maxdlen_{0},
+ length_{0},
format_{message_format_t::INVALID},
timestamp_{0},
sub_id_{-1}
{}
-message_t::message_t(uint8_t length,
+/**
+ * @brief Construct a new message t::message t object
+ *
+ * @param maxdlen The maxdlen of a message
+ * @param length The length of the message
+ * @param format The format of the message
+ * @param data The data vector of the message
+ * @param timestamp The timestamp of the message
+ */
+message_t::message_t(uint32_t maxdlen,
+ uint32_t length,
message_format_t format,
std::vector<uint8_t>& data,
uint64_t timestamp)
- : length_{length},
+ : maxdlen_{maxdlen},
+ length_{length},
format_{format},
data_{data},
timestamp_{timestamp},
sub_id_{-1}
{}
+/**
+ * @brief Return the sub_id of the message
+ *
+ * @return int The sub_id of the message
+ */
int message_t::get_sub_id() const
{
return sub_id_;
///
/// @return length_ class member
///
-uint8_t message_t::get_length() const
+uint32_t message_t::get_length() const
{
return length_;
}
+/**
+ * @brief Set data vector of the message
+ *
+ * @param data A vector of data
+ */
+void message_t::set_data(std::vector<uint8_t> &data)
+{
+ data_ = data;
+}
+
+/**
+ * @brief Set sub_id of the message
+ *
+ * @param sub_id The sub_id to set
+ */
void message_t::set_sub_id(int sub_id)
{
sub_id_ = sub_id;
}
+/**
+ * @brief Return the timestamp of the message
+ *
+ * @return uint64_t The timestamp
+ */
uint64_t message_t::get_timestamp() const
{
return timestamp_;
}
+/**
+ * @brief Return the format of the message
+ *
+ * @return message_format_t The message format
+ */
message_format_t message_t::get_msg_format()
{
return format_;
/// buffers. It is a wrapper of a can_frame struct with some sugar around it for binding purposes.
class message_t {
protected:
- uint8_t length_; ///< length_ - the length of the data array (max 8). */
+ uint32_t maxdlen_; ///< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/
+ uint32_t length_; ///< length_ - the length of the data array. */
message_format_t format_; ///< format_ - the format of the message's ID.*/
std::vector<uint8_t> data_; ///< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
uint64_t timestamp_; ///< timestamp_ - timestamp of the received message*/
int sub_id_; ///< sub_id_ - Subscription index. */
+
public:
message_t();
- message_t(uint8_t length, message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp);
+ message_t(uint32_t maxdlen, uint32_t length, message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp);
+ virtual ~message_t() = default;
int get_sub_id() const;
const uint8_t* get_data() const;
const std::vector<uint8_t> get_data_vector() const;
- uint8_t get_length() const;
+ uint32_t get_length() const;
uint64_t get_timestamp() const;
+ void set_data(std::vector<uint8_t> &data);
void set_sub_id(int sub_id);
void set_timestamp(uint64_t timestamp);
message_format_t get_msg_format();
virtual bool is_set() = 0;
virtual std::string get_debug_message() = 0;
virtual uint32_t get_id() const = 0;
- virtual struct bcm_msg get_bcm_msg() = 0;
- virtual void set_bcm_msg(struct bcm_msg bcm_msg) = 0;
};
bcm_msg.frames[0] = cf;
- std::shared_ptr<can_message_t> msg = std::make_shared<can_message_t>();
+ can_message_t msg = can_message_t();
- msg->set_bcm_msg(bcm_msg);
+ msg.set_bcm_msg(bcm_msg);
tx_socket.write_message(msg);
if(tx_socket)
/// @return A pointer to a filled openxc_VehicleMessage or a nullptr if nothing has been found.
openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_handle(active_diagnostic_request_t* entry, std::shared_ptr<message_t> m)
{
- DiagnosticResponse response = diagnostic_receive_can_frame(&shims_, entry->get_handle(), m->get_id(), m->get_data(), m->get_length());
+ DiagnosticResponse response = diagnostic_receive_can_frame(&shims_, entry->get_handle(), m->get_id(), m->get_data(), (uint8_t)m->get_length());
if(response.completed && entry->get_handle()->completed)
{
if(entry->get_handle()->success)
namespace utils
{
- /// @brief Connect the socket.
- /// @return 0 if success.
- int socketcan_bcm_t::connect(const struct sockaddr* addr, socklen_t len)
- {
- return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0;
- }
/// @brief Open a raw socket CAN.
/// @param[in] device_name is the kernel network device name of the CAN interface.
return cm;
}
- void socketcan_bcm_t::write_message(std::vector<std::shared_ptr<message_t>>& vobj)
+ int socketcan_bcm_t::write_message(message_t& m)
{
- for(const auto& obj : vobj)
- write_message(obj);
- }
- void socketcan_bcm_t::write_message(std::shared_ptr<message_t> m)
- {
- struct bcm_msg obj = m->get_bcm_msg();
+ can_message_t& cm = reinterpret_cast<can_message_t&>(m);
+ struct bcm_msg obj = cm.get_bcm_msg();
size_t size = (obj.msg_head.flags & CAN_FD_FRAME) ?
(size_t)((char*)&obj.fd_frames[obj.msg_head.nframes] - (char*)&obj):
(size_t)((char*)&obj.frames[obj.msg_head.nframes] - (char*)&obj);
if (::sendto(socket(), &obj, size, 0, (const struct sockaddr*)&get_tx_address(), sizeof(get_tx_address())) < 0)
- AFB_API_ERROR(afbBindingV3root, "Error sending : %i %s", errno, ::strerror(errno));
+ {
+ AFB_ERROR("Error sending : %i %s", errno, ::strerror(errno));
+ return -1;
+ }
+ return 0;
}
}
virtual int open(std::string device_name);
virtual std::shared_ptr<message_t> read_message();
- virtual void write_message(std::vector<std::shared_ptr<message_t>>& vobj);
- virtual void write_message(std::shared_ptr<message_t> obj);
+ virtual int write_message(message_t& obj);
- private:
- int connect(const struct sockaddr* addr, socklen_t len);
};
}
++filter_on;
}
- if(filter_on){
+ if(filter_on)
+ {
setopt(SOL_CAN_J1939, SO_J1939_FILTER, &filter, sizeof(filter));
}
}
virtual std::shared_ptr<message_t> read_message();
virtual void write_message(std::shared_ptr<message_t> obj);
virtual void write_message(std::vector<std::shared_ptr<message_t>>& vobj);
+ virtual int write_message(message_t& obj);
private:
int connect(const struct sockaddr* addr, socklen_t len);
namespace utils
{
- /// @brief Bind the socket.
- /// @return 0 if success.
- int socketcan_raw_t::bind(const struct sockaddr* addr, socklen_t len)
- {
- return socket_ != INVALID_SOCKET ? ::bind(socket_, addr, len) : 0;
- }
/// @brief Open a raw socket CAN.
/// @param[in] device_name is the kernel network device name of the CAN interface.
ifr.ifr_ifindex = addr.can_ifindex;
ioctl(socket(), SIOCGIFNAME, &ifr);
- AFB_DEBUG("Data available: %i bytes read", (int)nbytes);
+ //AFB_DEBUG("Data available: %i bytes read", (int)nbytes);
AFB_DEBUG("read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, frame.can_id, frame.len,
frame.data[0], frame.data[1], frame.data[2], frame.data[3], frame.data[4], frame.data[5], frame.data[6], frame.data[7]);
return cm;
}
- void socketcan_raw_t::write_message(std::vector<std::shared_ptr<message_t>>& vobj)
- {
- AFB_WARNING("Not implemented");
- }
-
- void socketcan_raw_t::write_message(std::shared_ptr<message_t> cm)
+ int socketcan_raw_t::write_message(message_t& m)
{
AFB_WARNING("Not implemented");
+ return -1;
}
}
using socketcan_t::socketcan_t;
virtual int open(std::string device_name);
virtual std::shared_ptr<message_t> read_message();
- virtual void write_message(std::shared_ptr<message_t> cm);
- virtual void write_message(std::vector<std::shared_ptr<message_t>>& vobj);
-
- private:
- int bind(const struct sockaddr* addr, socklen_t len);
+ virtual int write_message(message_t& cm);
};
}
{
return socket_;
}
+
+ /// @brief Connect the socket.
+ /// @return 0 if success.
+ int socketcan_t::connect(const struct sockaddr* addr, socklen_t len)
+ {
+ return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0;
+ }
+
+ /// @brief Bind the socket.
+ /// @return 0 if success.
+ int socketcan_t::bind(const struct sockaddr* addr, socklen_t len)
+ {
+ return socket_ != INVALID_SOCKET ? ::bind(socket_, addr, len) : 0;
+ }
+
+ int socketcan_t::write_message(std::vector<message_t>& vobj)
+ {
+ for(int i=0;i<vobj.size();i++)
+ {
+ if(write_message(vobj[i])<0)
+ {
+ AFB_ERROR("Error send message %d",i);
+ return -1;
+ }
+ }
+ return 0;
+ }
+
}
#define INVALID_SOCKET -1
+/**
+ * @enum socket_type
+ * @brief The type of socket
+ */
+enum class socket_type {
+ BCM, ///< BCM - Socket BCM
+ J1939_ADDR_CLAIM, ///< J1939 - Socket J1939
+ J1939, ///< J1939 - Socket J1939
+ INVALID
+};
+
namespace utils
{
int setopt(int level, int optname, const void* optval, socklen_t optlen);
virtual int close();
virtual std::shared_ptr<message_t> read_message() = 0;
- virtual void write_message(std::shared_ptr<message_t> obj) = 0;
- virtual void write_message(std::vector<std::shared_ptr<message_t>>& vobj) = 0;
+ virtual int write_message(message_t& obj) = 0;
+ virtual int write_message(std::vector<message_t>& vobj);
protected:
int socket_;
struct sockaddr_can tx_address_;
int open(int domain, int type, int protocol);
+ int bind(const struct sockaddr* addr, socklen_t len);
+ int connect(const struct sockaddr* addr, socklen_t len);
};
Code Review / apps / agl-service-can-low-level.git / commitdiff