Change can_message_t class usage for new j1939

This commit transforms the class can_message_t as the base class
and creates two derived classes: j1939_message_t and can_message_t.

Bug-AGL: SPEC-2386

Change-Id: I6d3afd8e4f5abff2cd0ec4e9910bd52a2893de76
Signed-off-by: Arthur Guyader <arthur.guyader@iot.bzh>
Signed-off-by: Stephane Desneux <stephane.desneux@iot.bzh>
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

3 files changed, 101 insertions, 54 deletions

diff --git a/low-can-binding/binding/low-can-cb.cpp b/low-can-binding/binding/low-can-cb.cpp
index 6b869073..9515424a 100644
--- a/low-can-binding/binding/low-can-cb.cpp
+++ b/low-can-binding/binding/low-can-cb.cpp
@@ -32,7 +32,7 @@
 #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"
@@ -70,12 +70,12 @@ void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std
 	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();
 }
@@ -88,7 +88,7 @@ int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *
 	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)
@@ -413,7 +413,7 @@ static int send_frame(struct canfd_frame& cfd, const std::string& bus_name)
 	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)
diff --git a/low-can-binding/binding/low-can-subscription.cpp b/low-can-binding/binding/low-can-subscription.cpp
index 09e9b807..27f4ebba 100644
--- a/low-can-binding/binding/low-can-subscription.cpp
+++ b/low-can-binding/binding/low-can-subscription.cpp
@@ -19,6 +19,11 @@
 #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},
@@ -243,9 +248,9 @@ int low_can_subscription_t::open_socket(const std::string& bus_name)
 ///
 /// @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;
@@ -262,7 +267,7 @@ struct utils::bcm_msg low_can_subscription_t::make_bcm_head(uint32_t opcode, uin
 /// @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;
 
@@ -278,17 +283,31 @@ void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct u
 	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())
 	{
@@ -300,45 +319,83 @@ int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
 		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
@@ -346,46 +403,34 @@ int low_can_subscription_t::create_rx_filter(utils::bcm_msg& bcm_msg)
 		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;
diff --git a/low-can-binding/binding/low-can-subscription.hpp b/low-can-binding/binding/low-can-subscription.hpp
index ded600c5..c9cd2e3f 100644
--- a/low-can-binding/binding/low-can-subscription.hpp
+++ b/low-can-binding/binding/low-can-subscription.hpp
@@ -54,7 +54,7 @@ private:
 	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();
 
@@ -89,14 +89,16 @@ public:
 	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);
 };