From 69922a959e9c21055e0d0e782bb936c477f0da02 Mon Sep 17 00:00:00 2001 From: Romain Forlot Date: Wed, 31 May 2017 12:03:02 +0200 Subject: [PATCH] Use ptr to can_signal instead of copying some members Change-Id: Ie827559c7da462f59bfe4af8af824f4616c2dd5b Signed-off-by: Romain Forlot --- CAN-binder/low-can-binding/binding/low-can-cb.cpp | 101 +++++----------------- CAN-binder/low-can-binding/binding/low-can-cb.hpp | 18 ++-- 2 files changed, 28 insertions(+), 91 deletions(-) diff --git a/CAN-binder/low-can-binding/binding/low-can-cb.cpp b/CAN-binder/low-can-binding/binding/low-can-cb.cpp index abcd69b8..dad1438f 100644 --- a/CAN-binder/low-can-binding/binding/low-can-cb.cpp +++ b/CAN-binder/low-can-binding/binding/low-can-cb.cpp @@ -50,13 +50,7 @@ extern "C" low_can_subscription_t::low_can_subscription_t() : index_{-1}, - sig_name_{}, - bus_name_{""}, - can_id_{0}, - bit_position_{0}, - bit_size_{0}, - factor_{-1.0}, - offset_{-1}, + event_filter_{event_filter_t()}, socket_{} {} @@ -66,13 +60,6 @@ low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filte low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s) : index_{s.index_}, - sig_name_{s.sig_name_}, - bus_name_{s.bus_name_}, - can_id_{s.can_id_}, - bit_position_{s.bit_position_}, - bit_size_{s.bit_size_}, - factor_{s.factor_}, - offset_{s.offset_}, event_filter_{s.event_filter_}, socket_{std::move(s.socket_)} {} @@ -93,9 +80,14 @@ int low_can_subscription_t::get_index() const return index_; } +const std::shared_ptr low_can_subscription_t::get_can_signal() const +{ + return can_signal_; +} + const std::string low_can_subscription_t::get_sig_name() const { - return sig_name_; + return can_signal_->get_name(); } float low_can_subscription_t::get_frequency() const @@ -136,53 +128,10 @@ void low_can_subscription_t::set_max(float max) /// @brief Create a RX_SETUP receive job used by the BCM socket. /// /// @return 0 if ok else -1 -int low_can_subscription_t::create_rx_filter(const std::string& bus_name, const std::string& sig_name, uint32_t can_id, uint8_t bit_position, uint8_t bit_size, float factor, float offset) +int low_can_subscription_t::create_rx_filter(std::shared_ptr sig) { - // Make sure that socket has been opened. - if(! socket_) - { - socket_.open(bus_name); - index_ = (int)socket_.socket(); - } - - sig_name_ = sig_name; - bus_name_ = bus_name; - can_id_ = can_id; - bit_position_ = bit_position; - bit_size_ = bit_size; - factor_ = factor; - offset_ = offset; - - 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; - - struct timeval freq; - frequency_clock_t f(event_filter_.frequency); - freq = f.get_timeval_from_period(); - - bcm_msg.msg_head.opcode = RX_SETUP; - bcm_msg.msg_head.can_id = can_id_; - bcm_msg.msg_head.flags = SETTIMER|RX_NO_AUTOTIMER; - bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec ; - bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec; - 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; + can_signal_= sig; + return create_rx_filter(); } /// @brief Create a RX_SETUP receive job used by the BCM socket. @@ -193,7 +142,7 @@ int low_can_subscription_t::create_rx_filter() // Make sure that socket has been opened. if(! socket_) { - socket_.open(bus_name_); + socket_.open(can_signal_->get_message()->get_bus_device_name()); index_ = (int)socket_.socket(); } @@ -202,25 +151,25 @@ int low_can_subscription_t::create_rx_filter() memset(&cfd, 0, sizeof(cfd)); memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head)); - float val = (float)(1 << bit_size_) - 1; + float val = (float)(1 << can_signal_->get_bit_size()) - 1; struct timeval freq; frequency_clock_t f(event_filter_.frequency); freq = f.get_timeval_from_period(); bcm_msg.msg_head.opcode = RX_SETUP; - bcm_msg.msg_head.can_id = can_id_; + bcm_msg.msg_head.can_id = can_signal_->get_message()->get_id(); bcm_msg.msg_head.flags = SETTIMER|RX_NO_AUTOTIMER; bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec ; bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec; bcm_msg.msg_head.nframes = 1; bitfield_encode_float(val, - bit_position_, - bit_size_, - factor_, - offset_, - cfd.data, - CAN_MAX_DLEN); + can_signal_->get_bit_position(), + can_signal_->get_bit_size(), + can_signal_->get_factor(), + can_signal_->get_offset(), + cfd.data, + CAN_MAX_DLEN); bcm_msg.frames = cfd; @@ -421,26 +370,20 @@ static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, for(const auto& sig: signals.can_signals) { std::shared_ptr can_subscription(new low_can_subscription_t(event_filter)); - if(can_subscription->create_rx_filter(sig->get_message()->get_bus_device_name(), - sig->get_name(), - sig->get_message()->get_id(), - sig->get_bit_position(), - sig->get_bit_size(), - sig->get_factor(), - sig->get_offset()) < 0) + if(can_subscription->create_rx_filter(sig) < 0) {return -1;} else if(subscribe_unsubscribe_signal(request, subscribe, can_subscription) < 0) {return -1;} struct sd_event_source* e_source; - sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &e_source, can_subscription->get_socket().socket(), EPOLLIN, read_message, sig.get()); + sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &e_source, can_subscription->get_socket().socket(), EPOLLIN, read_message, can_subscription.get()); rets++; DEBUG(binder_interface, "%s: signal: %s subscribed", __FUNCTION__, sig->get_name().c_str()); } return rets; } -static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const char *tag, struct json_object *event) +static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const std::string& tag, struct json_object *event) { int ret = 0; struct event_filter_t event_filter; diff --git a/CAN-binder/low-can-binding/binding/low-can-cb.hpp b/CAN-binder/low-can-binding/binding/low-can-cb.hpp index 6490fdc6..6dc2221d 100644 --- a/CAN-binder/low-can-binding/binding/low-can-cb.hpp +++ b/CAN-binder/low-can-binding/binding/low-can-cb.hpp @@ -17,6 +17,9 @@ #include #include +#include + +#include "../can/can-signals.hpp" #include "../utils/socketcan-bcm.hpp" struct event_filter_t @@ -33,17 +36,7 @@ private: int index_; /// Signal part - std::string sig_name_; - std::string bus_name_; - uint32_t can_id_; - 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_; /*!< 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 - * don't need an offset. */ + std::shared_ptr can_signal_; /// Filtering part struct event_filter_t event_filter_; @@ -59,6 +52,7 @@ public: explicit operator bool() const; int get_index() const; + const std::shared_ptr get_can_signal() const; const std::string get_sig_name() const; float get_frequency() const; float get_min() const; @@ -70,5 +64,5 @@ public: void set_max(float max); int create_rx_filter(); - int create_rx_filter(const std::string& bus_name, const std::string& sig_name, uint32_t can_id, uint8_t bit_position, uint8_t bit_size, float factor, float offset); + int create_rx_filter(std::shared_ptr sig); }; -- 2.16.6