can/can-bus.cpp
can/can-message-set.cpp
can/can-message-definition.cpp
- can/can-message.cpp
+ can/message/message.cpp
+ can/message/can-message.cpp
can/can-signals.cpp
can/can-decoder.cpp
can/can-encoder.cpp
#utils/socketcan-raw.cpp
utils/socketcan-bcm.cpp
utils/config-parser.cpp
- binding/application-generated.cpp)
+ binding/application-generated.cpp
+ )
if(WITH_FEATURE_J1939)
set(SOURCES_J1939
- # Empty for the moment to not break the build until all modifications are set
+ can/message/j1939-message.cpp
+ utils/socketcan-j1939.cpp
)
endif()
#include "../can/can-encoder.hpp"
#include "../can/can-bus.hpp"
#include "../can/can-signals.hpp"
-#include "../can/can-message.hpp"
+#include "../can/message/message.hpp"
#include "../utils/signals.hpp"
#include "../diagnostic/diagnostic-message.hpp"
#include "../utils/openxc-utils.hpp"
s.erase(it);
}
-static void push_n_notify(std::shared_ptr<can_message_t> m)
+static void push_n_notify(std::shared_ptr<message_t> m)
{
can_bus_t& cbm = application_t::instance().get_can_bus_manager();
{
std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
- cbm.push_new_can_message(*m);
+ cbm.push_new_can_message(m);
}
cbm.get_new_can_message_cv().notify_one();
}
if ((revents & EPOLLIN) != 0)
{
std::shared_ptr<utils::socketcan_t> s = can_subscription->get_socket();
- std::shared_ptr<can_message_t> message = s->read_message();
+ std::shared_ptr<message_t> message = s->read_message();
// Sure we got a valid CAN message ?
if (! message->get_id() == 0 && ! message->get_length() == 0)
if( cd.count(bus_name) == 0)
{cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t());}
- return cd[bus_name]->tx_send(cfd, bus_name);
+ return cd[bus_name]->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)
#include "low-can-subscription.hpp"
#include "application.hpp"
#include "canutil/write.h"
+#include "../utils/socketcan-bcm.hpp"
+
+#ifdef USE_FEATURE_J1939
+ #include "../utils/socketcan-j1939.hpp"
+#endif
low_can_subscription_t::low_can_subscription_t()
: index_{-1},
///
/// @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 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;
+ struct bcm_msg bcm_msg;
::memset(&bcm_msg, 0, sizeof(bcm_msg));
bcm_msg.msg_head.opcode = opcode;
/// @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
+void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg) const
{
struct can_frame cf;
bcm_msg.msg_head.nframes++;
}
+#ifdef USE_FEATURE_J1939
+int low_can_subscription_t::create_rx_filter_j1939(low_can_subscription_t &subscription, std::shared_ptr<can_signal_t> sig)
+{
+ subscription.can_signal_= sig;
+
+ // Make sure that socket is opened.
+ if(subscription.open_socket() < 0)
+ {
+ return -1;
+ }
+ return 0;
+}
+#endif
+
/// @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<can_signal_t> sig)
+int low_can_subscription_t::create_rx_filter_can(low_can_subscription_t &subscription, std::shared_ptr<can_signal_t> sig)
{
uint32_t flags;
float val;
struct timeval freq, timeout = {0, 0};
struct canfd_frame cfd;
- can_signal_= sig;
+ subscription.can_signal_= sig;
if (sig->get_message()->is_fd())
{
flags = SETTIMER|RX_NO_AUTOTIMER;
cfd.len = CAN_MAX_DLEN;
}
- val = (float)(1 << can_signal_->get_bit_size()) - 1;
+ val = (float)(1 << subscription.can_signal_->get_bit_size()) - 1;
if(! bitfield_encode_float(val,
- can_signal_->get_bit_position(),
- can_signal_->get_bit_size(),
+ subscription.can_signal_->get_bit_position(),
+ subscription.can_signal_->get_bit_size(),
1,
- can_signal_->get_offset(),
+ subscription.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);
+ frequency_clock_t f = subscription.event_filter_.frequency == 0 ? subscription.can_signal_->get_frequency() : frequency_clock_t(subscription.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);
+ struct bcm_msg bcm_msg = subscription.make_bcm_head(RX_SETUP, subscription.can_signal_->get_message()->get_id(), flags, timeout, freq);
+ subscription.add_one_bcm_frame(cfd, bcm_msg);
- return create_rx_filter(bcm_msg);
+ return create_rx_filter_bcm(subscription, bcm_msg);
+}
+
+int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
+{
+ #ifdef USE_FEATURE_J1939
+ if(sig->get_message()->is_j1939())
+ {
+ return low_can_subscription_t::create_rx_filter_j1939(*this, sig);
+ }
+ else
+ {
+ #endif
+ return low_can_subscription_t::create_rx_filter_can(*this, sig);
+ #ifdef USE_FEATURE_J1939
+ }
+ #endif
+}
+
+
+/// @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<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};
+
+ struct 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(*this, 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.
+/// two previous method with 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)
+int low_can_subscription_t::create_rx_filter_bcm(low_can_subscription_t &subscription, struct bcm_msg& bcm_msg)
{
// Make sure that socket is opened.
- if(open_socket() < 0)
+ if(subscription.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.
+
+ std::shared_ptr<message_t> msg = std::make_shared<can_message_t>();
+
+ msg->set_bcm_msg(bcm_msg);
+
if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
{
- socket_->write_message(bcm_msg);
- if(! socket_)
+ subscription.socket_->write_message(msg);
+ if(! subscription.socket_)
return -1;
}
else
for(uint8_t i = 0; i < 8; i++)
{
bcm_msg.msg_head.can_id = OBD2_FUNCTIONAL_RESPONSE_START + i;
-
- socket_->write_message(bcm_msg);
- if(! socket_)
+ msg->set_bcm_msg(bcm_msg);
+ subscription.socket_->write_message(msg);
+ if(! subscription.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<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::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)
+int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, 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);
+ struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cfd.can_id);
+ subscription.add_one_bcm_frame(cfd, bcm_msg);
- if(open_socket(bus_name) < 0)
+ if(subscription.open_socket(bus_name) < 0)
{return -1;}
- socket_->write_message(bcm_msg);
- if(! socket_)
+
+ std::shared_ptr<message_t> msg = std::make_shared<can_message_t>();
+
+ msg->set_bcm_msg(bcm_msg);
+
+ subscription.socket_->write_message(msg);
+ if(! subscription.socket_.get())
return -1;
return 0;
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 receive OBD2
/// responses. Normal diagnostic request and response are not tested for now.
- std::shared_ptr<utils::socketcan_bcm_t> socket_; ///< socket_ - socket_ that receives CAN messages.
+ std::shared_ptr<utils::socketcan_t> socket_; ///< socket_ - socket_ that receives CAN messages.
int set_event();
void set_min(float min);
void set_max(float max);
- struct utils::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_one_bcm_frame(struct canfd_frame& cfd, struct utils::bcm_msg& bcm_msg) const;
+ 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}) const;
+ void add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg) const;
int open_socket(const std::string& bus_name = "");
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::bcm_msg& bcm_msg);
+ static int create_rx_filter_can(low_can_subscription_t &subscription, std::shared_ptr<can_signal_t> sig);
+ static int create_rx_filter_j1939(low_can_subscription_t &subscription, std::shared_ptr<can_signal_t> sig);
+ static int create_rx_filter_bcm(low_can_subscription_t &subscription, struct bcm_msg& bcm_msg);
- int tx_send(struct canfd_frame& cfd, const std::string& bus_name);
+ static int tx_send(low_can_subscription_t &subscription, struct canfd_frame& cfd, const std::string& bus_name);
};
#include <condition_variable>
#include "openxc.pb.h"
-#include "can-message.hpp"
+#include "message/can-message.hpp"
#include "../utils/config-parser.hpp"
#include "../binding/low-can-subscription.hpp"
/// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
///
/// @return How many signals has been decoded.
-void can_bus_t::process_can_signals(const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+void can_bus_t::process_signals(const message_t& message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
{
- int subscription_id = can_message.get_sub_id();
+ int subscription_id = message.get_sub_id();
openxc_DynamicField decoded_message;
openxc_VehicleMessage vehicle_message;
// First we have to found which can_signal_t it is
std::shared_ptr<low_can_subscription_t> sig = s[subscription_id];
- decoded_message = decoder_t::translate_signal(*sig->get_can_signal(), can_message, &send);
+ decoded_message = decoder_t::translate_signal(*sig->get_can_signal(), message, &send);
openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
- vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp());
+ vehicle_message = build_VehicleMessage(s_message, message.get_timestamp());
if(send && apply_filter(vehicle_message, sig))
{
/// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
///
/// @return How many signals has been decoded.
-void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, std::shared_ptr<message_t> message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
{
- int subscription_id = can_message.get_sub_id();
+ int subscription_id = message->get_sub_id();
- openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
- if (can_message.get_timestamp())
- {vehicle_message.timestamp = can_message.get_timestamp();}
+ openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(message);
+ if (message->get_timestamp())
+ {vehicle_message.timestamp = message->get_timestamp();}
if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
{
new_can_message_cv_.wait(can_message_lock);
while(!can_message_q_.empty())
{
- const can_message_t can_message = next_can_message();
+ std::shared_ptr<message_t> message = next_can_message();
can_message_lock.unlock();
{
std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
- if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
- {process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), can_message, s);}
+ if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(message))
+ {
+ process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), message, s);
+ }
else
- {process_can_signals(can_message, s);}
+ {process_signals(*message, s);}
}
can_message_lock.lock();
}
/// @brief Return first can_message_t on the queue
///
/// @return a can_message_t
-const can_message_t can_bus_t::next_can_message()
+std::shared_ptr<message_t> can_bus_t::next_can_message()
{
- can_message_t can_msg;
+ std::shared_ptr<message_t> msg;
if(!can_message_q_.empty())
{
- can_msg = can_message_q_.front();
+ msg = can_message_q_.front();
can_message_q_.pop();
- AFB_DEBUG("Here is the next can message : id %X, length %X, data %02X%02X%02X%02X%02X%02X%02X%02X", can_msg.get_id(), can_msg.get_length(),
- can_msg.get_data()[0], can_msg.get_data()[1], can_msg.get_data()[2], can_msg.get_data()[3], can_msg.get_data()[4], can_msg.get_data()[5], can_msg.get_data()[6], can_msg.get_data()[7]);
- return can_msg;
+ std::string debug = msg->get_debug_message();
+ AFB_DEBUG(debug.c_str());
+ return msg;
}
- return can_msg;
+ return msg;
}
-/// @brief Push a can_message_t into the queue
+/// @brief Push a message_t into the queue
///
-/// @param[in] can_msg - the const reference can_message_t object to push into the queue
-void can_bus_t::push_new_can_message(const can_message_t& can_msg)
+/// @param[in] msg - the const reference message_t object to push into the queue
+void can_bus_t::push_new_can_message(std::shared_ptr<message_t> msg)
{
- can_message_q_.push(can_msg);
+ can_message_q_.push(msg);
}
/// @brief Return first openxc_VehicleMessage on the queue
#include <thread>
#include <linux/can.h>
#include <condition_variable>
-
#include "openxc.pb.h"
-#include "can-message.hpp"
+#include "message/can-message.hpp"
#include "../utils/config-parser.hpp"
#include "../binding/low-can-subscription.hpp"
utils::config_parser_t conf_file_; ///< configuration file handle used to initialize can_bus_dev_t objects.
bool apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription);
- void process_can_signals(const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
- void process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
+ void process_signals(const message_t& message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
+ void process_diagnostic_signals(diagnostic_manager_t& manager, std::shared_ptr<message_t> message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
void can_decode_message();
std::thread th_decoding_; ///< thread that will handle decoding a can frame
std::condition_variable new_can_message_cv_; ///< condition_variable use to wait until there is a new CAN message to read
std::mutex can_message_mutex_; ///< mutex protecting the can_message_q_ queue.
- std::queue <can_message_t> can_message_q_; ///< queue that will store can_message_t to be decoded
+ std::queue <std::shared_ptr<message_t>> can_message_q_; ///< queue that will store can_message_t to be decoded
std::condition_variable new_decoded_can_message_; ///< condition_variable use to wait until there is a new vehicle message
/// to read from the queue vehicle_message_q_
void start_threads();
void stop_threads();
- const can_message_t next_can_message();
- void push_new_can_message(const can_message_t& can_msg);
+ std::shared_ptr<message_t> next_can_message();
+ void push_new_can_message(std::shared_ptr<message_t> can_msg);
std::mutex& get_can_message_mutex();
std::condition_variable& get_new_can_message_cv();
/// @return Returns the raw value of the signal parsed as a bitfield from the given byte
/// array.
///
-float decoder_t::parse_signal_bitfield(can_signal_t& signal, const can_message_t& message)
+float decoder_t::parse_signal_bitfield(can_signal_t& signal, const message_t& message)
{
return bitfield_parse_float(message.get_data(), CAN_MESSAGE_SIZE,
signal.get_bit_position(), signal.get_bit_size(), signal.get_factor(),
/// The decoder returns an openxc_DynamicField, which may contain a number,
/// string or boolean.
///
-openxc_DynamicField decoder_t::translate_signal(can_signal_t& signal, const can_message_t& message, bool* send)
+openxc_DynamicField decoder_t::translate_signal(can_signal_t& signal, const message_t& message, bool* send)
{
float value = decoder_t::parse_signal_bitfield(signal, message);
AFB_DEBUG("Decoded message from parse_signal_bitfield: %f", value);
#pragma once
#include "can-signals.hpp"
-#include "can-message.hpp"
+#include "message/can-message.hpp"
#include "openxc.pb.h"
class decoder_t
{
public:
- static float parse_signal_bitfield(can_signal_t& signal, const can_message_t& message);
+ static float parse_signal_bitfield(can_signal_t& signal, const message_t& message);
static openxc_DynamicField decode_state(can_signal_t& signal, float value, bool* send);
static openxc_DynamicField decode_boolean(can_signal_t& signal, float value, bool* send);
static openxc_DynamicField decode_ignore(can_signal_t& signal, float value, bool* send);
static openxc_DynamicField decode_noop(can_signal_t& signal, float value, bool* send);
- static openxc_DynamicField translate_signal(can_signal_t& signal, const can_message_t& messag, bool* send);
+ static openxc_DynamicField translate_signal(can_signal_t& signal, const message_t& messag, bool* send);
static openxc_DynamicField decode_signal(can_signal_t& signal, const can_message_t& message, bool* send);
#pragma once
#include "can-signals.hpp"
-#include "can-message.hpp"
+#include "message/can-message.hpp"
#include "openxc.pb.h"
class encoder_t
return is_fd_;
}
+bool can_message_definition_t::is_j1939() const
+{
+ if(format_ == can_message_format_t::J1939)
+ {
+ return true;
+ }
+ else
+ {
+ return false;
+ }
+}
+
std::vector<std::shared_ptr<can_signal_t> >& can_message_definition_t::get_can_signals()
{
return can_signals_;
parent_= parent;
}
-void can_message_definition_t::set_last_value(const can_message_t& cm)
+void can_message_definition_t::set_last_value(const message_t& cm)
{
last_value_= cm.get_data_vector();
}
#include <memory>
#include "can-signals.hpp"
-#include "can-message.hpp"
+#include "message/can-message.hpp"
#include "can-message-set.hpp"
#include "../utils/timer.hpp"
const std::string get_bus_device_name() const;
uint32_t get_id() const;
bool is_fd() const;
+ bool is_j1939() const;
std::vector<std::shared_ptr<can_signal_t> >& get_can_signals();
void set_parent(can_message_set_t* parent);
- void set_last_value(const can_message_t& cm);
+ void set_last_value(const message_t& cm);
};
#include "../binding/application.hpp"
#include "../utils/signals.hpp"
#include "can-decoder.hpp"
-#include "can-message.hpp"
+#include "message/can-message.hpp"
#include "can-bus.hpp"
#include "../diagnostic/diagnostic-message.hpp"
#include "canutil/write.h"
#include "can-message-definition.hpp"
#include "../utils/timer.hpp"
#include "../utils/socketcan-bcm.hpp"
-#include "can-message.hpp"
+#include "message/can-message.hpp"
#include "../diagnostic/diagnostic-message.hpp"
#define MESSAGE_SET_ID 0
* limitations under the License.
*/
-#include "can-message.hpp"
+#include "./can-message.hpp"
#include <cstring>
-#include "../binding/low-can-hat.hpp"
+#include "../../binding/low-can-hat.hpp"
///
/// @brief Class constructor
/// can_message_t class constructor.
///
can_message_t::can_message_t()
- : maxdlen_{0},
+ : message_t(),
+ maxdlen_{0},
id_{0},
- length_{0},
- format_{can_message_format_t::INVALID},
rtr_flag_{false},
- flags_{0},
- timestamp_{0},
- sub_id_{-1}
+ flags_{0}
{}
can_message_t::can_message_t(uint8_t maxdlen,
uint8_t flags,
std::vector<uint8_t>& data,
uint64_t timestamp)
- : maxdlen_{maxdlen},
+ : message_t(length, format, data, timestamp),
+ maxdlen_{maxdlen},
id_{id},
- length_{length},
- format_{format},
rtr_flag_{rtr_flag},
- flags_{flags},
- data_{data},
- timestamp_{timestamp},
- sub_id_{-1}
+ flags_{flags}
{}
///
return id_;
}
-int can_message_t::get_sub_id() const
-{
- return sub_id_;
-}
-
-///
-/// @brief Retrieve data_ member value.
-///
-/// @return pointer to the first element
-/// of class member data_
-///
-const uint8_t* can_message_t::get_data() const
-{
- return data_.data();
-}
-
-///
-/// @brief Retrieve data_ member whole vector
-///
-/// @return the vector as is
-///
-const std::vector<uint8_t> can_message_t::get_data_vector() const
-{
- return data_;
-}
-
-///
-/// @brief Retrieve length_ member value.
-///
-/// @return length_ class member
-///
-uint8_t can_message_t::get_length() const
-{
- return length_;
-}
-
-void can_message_t::set_sub_id(int sub_id)
-{
- sub_id_ = sub_id;
-}
-
-uint64_t can_message_t::get_timestamp() const
-{
- return timestamp_;
-}
/// @brief Control whether the object is correctly initialized
/// to be sent over the CAN bus
/// @param[in] nbytes - bytes read from socket read operation.
///
/// @return A can_message_t object fully initialized with canfd_frame values.
-can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp)
+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 id;
id, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
}
- return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp);
+ return std::make_shared<can_message_t>(can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp));
+}
+
+
+bool can_message_t::is_set()
+{
+ return (id_ != 0 && length_ != 0);
+}
+
+std::string can_message_t::get_debug_message()
+{
+ std::string ret = "";
+ ret = ret + "Here is the next can message : id " + std::to_string(id_) + " length " + std::to_string(length_) + ", data ";
+ for (size_t i = 0; i < data_.size(); i++)
+ {
+ ret = ret + std::to_string(data_[i]);
+ }
+
+ return ret;
+}
+
+struct bcm_msg can_message_t::get_bcm_msg()
+{
+ return bcm_msg_;
}
+
+void can_message_t::set_bcm_msg(struct bcm_msg bcm_msg)
+{
+ bcm_msg_ = bcm_msg;
+}
+
--- /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 "./message.hpp"
+
+
+
+/// @class can_message_t
+///
+/// @brief A compact representation of a single CAN message, meant to be used in in/out
+/// 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.*/
+ struct bcm_msg bcm_msg_;
+
+ public:
+ can_message_t();
+ can_message_t(uint8_t maxdlen, uint32_t id, uint8_t length, can_message_format_t format, bool rtr_flag_, uint8_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);
+ 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();
+
+};
--- /dev/null
+/*
+ * Copyright (C) 2018, 2019 "IoT.bzh"
+ * Author "Arthur Guyader" <arthur.guyader@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 "./j1939-message.hpp"
+#include <cstring>
+#include "../../binding/low-can-hat.hpp"
+
+
+///
+/// @brief Class constructor
+///
+/// j1939_message_t class constructor.
+///
+j1939_message_t::j1939_message_t():
+ message_t(),
+ name_{0},
+ pgn_{0},
+ addr_{0}
+{}
+
+j1939_message_t::j1939_message_t(uint8_t length,
+ can_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),
+ name_{name},
+ pgn_{pgn},
+ addr_{addr}
+{}
+
+///
+/// @brief Retrieve name_ member value.
+///
+/// @return name_ class member
+///
+uint64_t j1939_message_t::get_name() const {
+ return name_;
+}
+
+///
+/// @brief Retrieve pgn_ member value.
+///
+/// @return pgn_ class member
+///
+uint32_t j1939_message_t::get_pgn() const{
+ return pgn_;
+}
+
+///
+/// @brief Retrieve addr_ member value.
+///
+/// @return addr_ class member
+///
+uint8_t j1939_message_t::get_addr() const{
+ return addr_;
+}
+
+
+/// @brief Take a sockaddr_can struct and array of data to initialize class members
+///
+/// This is the preferred way to initialize class members.
+///
+/// @param[in] addr - sockaddr_can to get pgn, name and addr
+/// @param[in] data - array of data get from the j1939 socket
+/// @param[in] nbytes - size of the array of data
+/// @param[in] timestamp - timestamp of the message
+///
+/// @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;
+ can_message_format_t format;
+ std::vector<uint8_t> dataVector;
+
+ if(nbytes > J1939_MAX_DLEN)
+ {
+ AFB_DEBUG("Unsupported j1939 frame");
+ format = can_message_format_t::INVALID;
+ }
+ else
+ {
+ AFB_DEBUG("Got a j1939 frame");
+ format = can_message_format_t::J1939;
+ }
+
+ length = (uint8_t) nbytes;
+ dataVector.reserve(length);
+ int i;
+ dataVector.clear();
+ for(i=0;i<length;i++)
+ {
+ dataVector.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]);
+
+ 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));
+}
+
+/// @brief Test if members pgn_ and length are set.
+///
+/// @return boolean - true = set - false = not set
+bool j1939_message_t::is_set()
+{
+ return (pgn_ != 0 && length_ != 0);
+}
+
+/// @brief Generate a string with informations about the message
+///
+/// @return Debug message with informations about members
+std::string j1939_message_t::get_debug_message()
+{
+ std::string ret = "";
+ ret = ret + "Here is the next j1939 message : pgn " + std::to_string(pgn_) + " length " + std::to_string(length_) + ", data ";
+ for (size_t i = 0; i < data_.size(); i++)
+ {
+ ret = ret + std::to_string(data_[i]);
+ }
+ return ret;
+}
+
+///
+/// @brief Retrieve pgn_ member value.
+///
+/// @return pgn_ class member
+///
+uint32_t j1939_message_t::get_id() const
+{
+ AFB_WARNING("Prefer method get_pgn() for j1939 messages");
+ return get_pgn();
+}
+
+
+struct bcm_msg j1939_message_t::get_bcm_msg()
+{
+ AFB_WARNING("Not implemented");
+ struct bcm_msg bcm_msg;
+ ::memset(&bcm_msg, 0, sizeof(struct bcm_msg));
+ return bcm_msg;
+}
+
+void j1939_message_t::set_bcm_msg(struct bcm_msg bcm_msg)
+{
+ AFB_WARNING("Not implemented");
+}
--- /dev/null
+/*
+ * Copyright (C) 2018, 2019 "IoT.bzh"
+ * Author "Arthur Guyader" <arthur.guyader@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 <linux/can.h>
+#include <linux/can/j1939.h>
+#include "./message.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 NAME
+ *
+ * bit 0-20 : Identity Number
+ * bit 21-31 : Manufacturer Code
+ * bit 32-34 : ECU Instance
+ * bit 35-39 : Function Instance
+ * bit 40-47 : Function
+ * bit 48 : Reserved
+ * bit 49-55 : Vehicle System
+ * bit 56-59 : Vehicle System Instance
+ * bit 60-62 : Industry Group
+ * bit 63 : Arbitrary Address Capable
+ */
+ name_t name_;
+
+ /* J1939 Parameter Group Number
+ *
+ * bit 0-7 : PDU Specific (PS)
+ * bit 8-15 : PDU Format (PF)
+ * bit 16 : Data Page (DP)
+ * bit 17 : Reserved (R)
+ * bit 19-31 : set to zero
+ */
+ pgn_t pgn_;
+
+
+ /* J1939 Address
+ */
+ uint8_t addr_;
+
+ public:
+ j1939_message_t();
+ j1939_message_t(uint8_t length, can_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;
+ static std::shared_ptr<j1939_message_t> convert_from_addr(struct sockaddr_can& addr, uint8_t (&data)[128], size_t nbytes, uint64_t timestamp);
+ bool is_set();
+ std::string get_debug_message();
+ uint32_t get_id() const;
+ struct bcm_msg get_bcm_msg();
+ void set_bcm_msg(struct bcm_msg bcm_msg);
+};
+
+
--- /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.
+ */
+
+#include "./message.hpp"
+
+#include <cstring>
+
+#include "../../binding/low-can-hat.hpp"
+
+///
+/// @brief Class constructor
+///
+/// message_t class constructor.
+///
+message_t::message_t()
+ : length_{0},
+ format_{can_message_format_t::INVALID},
+ timestamp_{0},
+ sub_id_{-1}
+{}
+
+message_t::message_t(uint8_t length,
+ can_message_format_t format,
+ std::vector<uint8_t>& data,
+ uint64_t timestamp)
+ : length_{length},
+ format_{format},
+ data_{data},
+ timestamp_{timestamp},
+ sub_id_{-1}
+{}
+
+int message_t::get_sub_id() const
+{
+ return sub_id_;
+}
+
+///
+/// @brief Retrieve data_ member value.
+///
+/// @return pointer to the first element
+/// of class member data_
+///
+const uint8_t* message_t::get_data() const
+{
+ return data_.data();
+}
+
+///
+/// @brief Retrieve data_ member whole vector
+///
+/// @return the vector as is
+///
+const std::vector<uint8_t> message_t::get_data_vector() const
+{
+ return data_;
+}
+
+///
+/// @brief Retrieve length_ member value.
+///
+/// @return length_ class member
+///
+uint8_t message_t::get_length() const
+{
+ return length_;
+}
+
+void message_t::set_sub_id(int sub_id)
+{
+ sub_id_ = sub_id;
+}
+
+uint64_t message_t::get_timestamp() const
+{
+ return timestamp_;
+}
+
+can_message_format_t message_t::get_msg_format()
+{
+ return format_;
+}
#include <vector>
#include <string>
#include <cstdint>
+#include <iostream>
+#include <memory>
#include <linux/can.h>
-
-#include "../utils/timer.hpp"
+#include <linux/can/bcm.h>
+#include "../../utils/timer.hpp"
#define CAN_MESSAGE_SIZE 8
+#define MAX_BCM_CAN_FRAMES 257
+
+struct bcm_msg
+{
+ struct bcm_msg_head msg_head;
+ union {
+ struct canfd_frame fd_frames[MAX_BCM_CAN_FRAMES];
+ struct can_frame frames[MAX_BCM_CAN_FRAMES];
+ };
+};
+
/**
* @enum can_message_format_t
* @brief The ID format for a CAN message.
enum class can_message_format_t {
STANDARD, ///< STANDARD - standard 11-bit CAN arbitration ID. */
EXTENDED, ///< EXTENDED - an extended frame, with a 29-bit arbitration ID. */
- INVALID, ///< INVALID - INVALID code used at initialization to signify that it isn't usable'*/
+ J1939, ///< J1939 - Format for j1939 messages
+ INVALID, ///< INVALID - INVALID code used at initialization to signify that it isn't usable'*/
};
-/// @class can_message_t
+
+/// @class message_t
///
/// @brief A compact representation of a single CAN message, meant to be used in in/out
/// buffers. It is a wrapper of a can_frame struct with some sugar around it for binding purposes.
-class can_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. */
+class message_t {
+protected:
uint8_t length_; ///< length_ - the length of the data array (max 8). */
can_message_format_t format_; ///< format_ - the format of the message's ID.*/
- 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.*/
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:
- can_message_t();
- can_message_t(uint8_t maxdlen, uint32_t id, uint8_t length, can_message_format_t format, bool rtr_flag_, uint8_t flags, std::vector<uint8_t>& data, uint64_t timestamp);
+ message_t();
+ message_t(uint8_t length, can_message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp);
- uint32_t get_id() const;
int get_sub_id() const;
const uint8_t* get_data() const;
const std::vector<uint8_t> get_data_vector() const;
void set_sub_id(int sub_id);
void set_timestamp(uint64_t timestamp);
+ can_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;
- bool is_correct_to_send();
-
- static can_message_t convert_from_frame(const canfd_frame& frame, size_t nbytes, uint64_t timestamp);
};
if(! tx_socket)
tx_socket.open(dm.get_bus_device_name());
- struct utils::bcm_msg bcm_msg;
+ struct bcm_msg bcm_msg;
struct can_frame cf;
struct timeval freq = current_adr->get_frequency_clock().get_timeval_from_period();
bcm_msg.frames[0] = cf;
- tx_socket.write_message(bcm_msg);
+
+ std::shared_ptr<message_t> msg = std::make_shared<can_message_t>();
+
+ msg->set_bcm_msg(bcm_msg);
+
+ tx_socket.write_message(msg);
if(tx_socket)
return true;
return false;
/// @param[in] cm - A raw CAN message.
///
/// @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, const can_message_t& cm)
+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(), cm.get_id(), cm.get_data(), cm.get_length());
+ DiagnosticResponse response = diagnostic_receive_can_frame(&shims_, entry->get_handle(), m->get_id(), m->get_data(), m->get_length());
if(response.completed && entry->get_handle()->completed)
{
if(entry->get_handle()->success)
- return relay_diagnostic_response(entry, response, cm.get_timestamp());
+ return relay_diagnostic_response(entry, response, m->get_timestamp());
}
else if(!response.completed && response.multi_frame)
{
/// @param[in] cm - Raw CAN message received
///
/// @return VehicleMessage with decoded value.
-openxc_VehicleMessage diagnostic_manager_t::find_and_decode_adr(const can_message_t& cm)
+openxc_VehicleMessage diagnostic_manager_t::find_and_decode_adr(std::shared_ptr<message_t> m)
{
openxc_VehicleMessage vehicle_message = build_VehicleMessage();
for ( auto entry : non_recurring_requests_)
{
- vehicle_message = relay_diagnostic_handle(entry, cm);
+ vehicle_message = relay_diagnostic_handle(entry, m);
if (is_valid(vehicle_message))
return vehicle_message;
}
for ( auto entry : recurring_requests_)
{
- vehicle_message = relay_diagnostic_handle(entry, cm);
+ vehicle_message = relay_diagnostic_handle(entry, m);
if (is_valid(vehicle_message))
return vehicle_message;
}
/// @param[in] cm - CAN message received from the socket.
///
/// @return True if the active diagnostic request match the response.
-bool diagnostic_manager_t::is_diagnostic_response(const can_message_t& cm)
+bool diagnostic_manager_t::is_diagnostic_response(std::shared_ptr<message_t> m)
{
- if (cm.get_id() >= 0x7e8 && cm.get_id() <= 0x7ef)
- return true;
+ if(m->get_msg_format() == can_message_format_t::STANDARD || m->get_msg_format() == can_message_format_t::EXTENDED)
+ {
+ if (m->get_id() >= 0x7e8 && m->get_id() <= 0x7ef)
+ return true;
+ }
return false;
}
// Decoding part
openxc_VehicleMessage relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response, const uint64_t timestamp);
- openxc_VehicleMessage relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm);
- openxc_VehicleMessage find_and_decode_adr(const can_message_t& cm);
- bool is_diagnostic_response(const can_message_t& cm);
+ openxc_VehicleMessage relay_diagnostic_handle(active_diagnostic_request_t* entry, std::shared_ptr<message_t> m);
+ openxc_VehicleMessage find_and_decode_adr(std::shared_ptr<message_t> m);
+ bool is_diagnostic_response(std::shared_ptr<message_t> m);
};
#include "uds/uds.h"
#include "../can/can-message-set.hpp"
-#include "../can/can-message.hpp"
+#include "../can/message/can-message.hpp"
#include "active-diagnostic-request.hpp"
enum UNIT {
/// Read the socket to retrieve the associated CAN message. All the hard work is do into
/// convert_from_frame method and if there isn't CAN message retrieve, only BCM head struct,
/// then CAN message will be zeroed and must be handled later.
- std::shared_ptr<can_message_t> socketcan_bcm_t::read_message()
+ std::shared_ptr<message_t> socketcan_bcm_t::read_message()
{
struct bcm_msg msg;
std::shared_ptr<can_message_t> cm = std::make_shared<can_message_t>();
struct timeval tv;
ioctl(socket(), SIOCGSTAMP, &tv);
uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
- *cm = can_message_t::convert_from_frame(msg.fd_frames[0] , frame_size, timestamp);
+ cm = can_message_t::convert_from_frame(msg.fd_frames[0] , frame_size, timestamp);
cm->set_sub_id((int)socket());
return cm;
}
- void socketcan_bcm_t::write_message(std::vector<std::shared_ptr<can_message_t>>& vobj)
+ void socketcan_bcm_t::write_message(std::vector<std::shared_ptr<message_t>>& vobj)
{
for(const auto& obj : vobj)
write_message(obj);
}
- void socketcan_bcm_t::write_message(std::shared_ptr<can_message_t> m)
- {
- struct can_frame obj;
- obj.can_id = m->get_id();
- obj.can_dlc = m->get_length();
- ::memcpy(obj.data, m->get_data(), CAN_MAX_DLEN);
- if (::sendto(socket(), &obj, sizeof(&obj), 0, (const struct sockaddr*)&get_tx_address(), sizeof(get_tx_address())) < 0)
- AFB_API_ERROR(afbBindingV3root, "Error sending : %i %s", errno, ::strerror(errno));
- }
-
- void socketcan_bcm_t::write_message(struct bcm_msg& obj)
+ void socketcan_bcm_t::write_message(std::shared_ptr<message_t> m)
{
+ struct bcm_msg obj = m->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);
+ (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));
}
#pragma once
#include "socketcan.hpp"
-#include "../can/can-message.hpp"
-
-#define MAX_BCM_CAN_FRAMES 257
+#include "../can/message/can-message.hpp"
namespace utils
{
- struct bcm_msg
- {
- struct bcm_msg_head msg_head;
- union {
- struct canfd_frame fd_frames[MAX_BCM_CAN_FRAMES];
- struct can_frame frames[MAX_BCM_CAN_FRAMES];
- };
- };
-
/// @brief derivated socketcan class specialized for BCM CAN socket.make_bcm_head
class socketcan_bcm_t : public socketcan_t
{
using socketcan_t::socketcan_t;
virtual int open(std::string device_name);
- virtual std::shared_ptr<can_message_t> read_message();
- virtual void write_message(std::vector<std::shared_ptr<can_message_t>>& vobj);
- virtual void write_message(std::shared_ptr<can_message_t> obj);
- void write_message(struct bcm_msg& obj);
+ 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);
private:
int connect(const struct sockaddr* addr, socklen_t len);
}
- void socketcan_j1939_t::write_message(std::vector<std::shared_ptr<can_message_t>>& vobj)
+ void socketcan_j1939_t::write_message(std::vector<std::shared_ptr<message_t>>& vobj)
{
AFB_WARNING("Not implemented");
}
- void socketcan_j1939_t::write_message(std::shared_ptr<can_message_t> cm)
+ void socketcan_j1939_t::write_message(std::shared_ptr<message_t> cm)
{
AFB_WARNING("Not implemented");
}
#include <string.h>
#include "../binding/low-can-hat.hpp"
-#include "../can/can-message.hpp"
+#include "../can/message/can-message.hpp"
#define INVALID_SOCKET -1
virtual int open(std::string device_name) = 0;
int setopt(int level, int optname, const void* optval, socklen_t optlen);
virtual int close();
- virtual std::shared_ptr<can_message_t> read_message() = 0;
- virtual void write_message(std::shared_ptr<can_message_t> obj) = 0;
- virtual void write_message(std::vector<std::shared_ptr<can_message_t>>& vobj) = 0;
+ 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;
protected:
int socket_;
Code Review / apps / agl-service-can-low-level.git / commitdiff