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-rw-r--r--low-can-binding/binding/low-can-subscription.cpp70
-rw-r--r--low-can-binding/binding/low-can-subscription.hpp10
2 files changed, 59 insertions, 21 deletions
diff --git a/low-can-binding/binding/low-can-subscription.cpp b/low-can-binding/binding/low-can-subscription.cpp
index 8e4429f5..eb3f6c37 100644
--- a/low-can-binding/binding/low-can-subscription.cpp
+++ b/low-can-binding/binding/low-can-subscription.cpp
@@ -224,22 +224,60 @@ void low_can_subscription_t::set_max(float max)
{
event_filter_.max = max;
}
+
/// @brief Based upon which object is a subscribed CAN signal or diagnostic message
/// it will open the socket with the required CAN bus device name.
///
/// @return INVALID_SOCKET on failure, else positive integer
-int low_can_subscription_t::open_socket(const std::string& bus_name)
+int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, const std::string& bus_name)
{
int ret = 0;
- if(! socket_)
+ if(! subscription.socket_)
{
- if( signal_ != nullptr)
- {ret = socket_->open(signal_->get_message()->get_bus_device_name());}
- else if (! diagnostic_message_ .empty())
- {ret = socket_->open(application_t::instance().get_diagnostic_manager().get_bus_device_name());}
- else if ( ! bus_name.empty())
- { ret = socket_->open(bus_name);}
- index_ = (int)socket_->socket();
+
+ #ifdef USE_FEATURE_J1939
+ if((subscription.signal_ != nullptr || !bus_name.empty()) && subscription.signal_->get_message()->is_j1939())
+ {
+ name_t name = J1939_NO_NAME;
+ pgn_t pgn = J1939_NO_PGN;
+ uint8_t addr = J1939_NO_ADDR;
+ pgn = subscription.signal_->get_message()->get_id();
+ if( subscription.signal_ != nullptr)
+ {
+ std::shared_ptr<utils::socketcan_j1939_t> socket = std::make_shared<utils::socketcan_j1939_t>();
+ ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(), name, pgn, addr);
+ subscription.socket_ = socket;
+ }
+ else if ( !bus_name.empty())
+ {
+ std::shared_ptr<utils::socketcan_j1939_t> socket = std::make_shared<utils::socketcan_j1939_t>();
+ ret = socket->open(bus_name, name, pgn, addr);
+ subscription.socket_ = socket;
+ }
+ subscription.index_ = (int)subscription.socket_->socket();
+ }
+ else
+ {
+ #endif
+ if( subscription.signal_ != nullptr)
+ {
+ subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
+ ret = subscription.socket_->open(subscription.signal_->get_message()->get_bus_device_name());
+ }
+ else if (! subscription.diagnostic_message_ .empty())
+ {
+ subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
+ ret = subscription.socket_->open(application_t::instance().get_diagnostic_manager().get_bus_device_name());
+ }
+ else if ( !bus_name.empty())
+ {
+ subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
+ ret = subscription.socket_->open(bus_name);
+ }
+ subscription.index_ = (int)subscription.socket_->socket();
+ #ifdef USE_FEATURE_J1939
+ }
+ #endif
}
return ret;
}
@@ -248,7 +286,7 @@ 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 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)
{
struct bcm_msg bcm_msg;
::memset(&bcm_msg, 0, sizeof(bcm_msg));
@@ -267,7 +305,7 @@ struct bcm_msg low_can_subscription_t::make_bcm_head(uint32_t opcode, uint32_t c
/// @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 bcm_msg& bcm_msg) const
+void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg)
{
struct can_frame cf;
@@ -289,7 +327,7 @@ int low_can_subscription_t::create_rx_filter_j1939(low_can_subscription_t &subsc
subscription.signal_= sig;
// Make sure that socket is opened.
- if(subscription.open_socket() < 0)
+ if(open_socket(subscription) < 0)
{
return -1;
}
@@ -382,13 +420,13 @@ int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_
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(subscription.open_socket() < 0)
+ if(subscription.open_socket(subscription) < 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>();
+ std::shared_ptr<can_message_t> msg = std::make_shared<can_message_t>();
msg->set_bcm_msg(bcm_msg);
@@ -421,11 +459,11 @@ int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, struct
struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cfd.can_id);
subscription.add_one_bcm_frame(cfd, bcm_msg);
- if(subscription.open_socket(bus_name) < 0)
+ if(subscription.open_socket(subscription, bus_name) < 0)
{return -1;}
- std::shared_ptr<message_t> msg = std::make_shared<can_message_t>();
+ std::shared_ptr<can_message_t> msg = std::make_shared<can_message_t>();
msg->set_bcm_msg(bcm_msg);
diff --git a/low-can-binding/binding/low-can-subscription.hpp b/low-can-binding/binding/low-can-subscription.hpp
index 01264ff4..691eb881 100644
--- a/low-can-binding/binding/low-can-subscription.hpp
+++ b/low-can-binding/binding/low-can-subscription.hpp
@@ -15,7 +15,7 @@
* limitations under the License.
*/
- #pragma once
+#pragma once
#include <string>
#include <cmath>
@@ -89,16 +89,16 @@ public:
void set_min(float min);
void set_max(float max);
- 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;
+ static 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});
+ static void add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg);
- int open_socket(const std::string& bus_name = "");
+ static int open_socket(low_can_subscription_t &subscription, const std::string& bus_name = "");
int create_rx_filter(std::shared_ptr<signal_t> sig);
int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig);
static int create_rx_filter_can(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig);
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, struct bcm_msg& bcm_msg);
+ 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);
};