Create a received job for BCM Socket to handle filtering.

Filter is created using can_signals description and send with appropriate
BCM header structure. This is the simplest way to do, no temporal filtering
for now is available.

Change-Id: Iee49f011ba9316880735d2765c1c23a8b2d3c4d2
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

1 files changed, 27 insertions, 0 deletions

diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.cpp b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
index 8470156f..6cd2264b 100644
--- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
@@ -20,13 +20,17 @@
 #include <mutex>
 #include <unistd.h>
 #include <linux/can/raw.h>
+#include <linux/can/bcm.h>
 
 #include "can-bus-dev.hpp"
+#include <cmath>
 
 #include "can-bus.hpp"
 #include "can-message.hpp"
 #include "../low-can-binding.hpp"
+#include "canutil/write.h"
 
+#define U64_DATA(p) (*(unsigned long long*)(p)->data)
 /// @brief Class constructor
 ///
 /// @param[in] dev_name - String representing the device name into the linux /dev tree
@@ -113,6 +117,29 @@ can_message_t can_bus_dev_t::read()
 	return can_message_t::convert_from_canfd_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::canfd_bcm_msg bcm_msg;
+
+	uint8_t bit_size = s.get_bit_size();
+	float val = (float)exp2(bit_size);
+	uint64_t filter = eightbyte_encode_float(val, s.get_bit_position(), bit_size, s.get_factor(), s.get_offset());
+
+	bcm_msg.msg_head.opcode  = RX_SETUP;
+	bcm_msg.msg_head.can_id  = can_id;
+	bcm_msg.msg_head.nframes = 1;
+	U64_DATA(&bcm_msg.frames[0]) = filter;
+
+	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)