diff options
| -rw-r--r-- | low-can-binding/CMakeLists.txt | 1 | ||||
| -rw-r--r-- | low-can-binding/binding/application.cpp | 6 | ||||
| -rw-r--r-- | low-can-binding/binding/application.hpp | 4 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-cb.cpp | 85 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-socket.cpp | 336 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-socket.hpp | 96 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-subscription.cpp | 365 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-subscription.hpp | 75 |
8 files changed, 474 insertions, 494 deletions
diff --git a/low-can-binding/CMakeLists.txt b/low-can-binding/CMakeLists.txt index c8bac4f6..d09757d6 100644 --- a/low-can-binding/CMakeLists.txt +++ b/low-can-binding/CMakeLists.txt @@ -24,7 +24,6 @@ PROJECT_TARGET_ADD(low-can) add_library(${TARGET_NAME} MODULE #binding/${TARGET_NAME}-hat.cpp binding/${TARGET_NAME}-cb.cpp - binding/${TARGET_NAME}-socket.cpp binding/${TARGET_NAME}-subscription.cpp binding/application.cpp can/can-bus.cpp diff --git a/low-can-binding/binding/application.cpp b/low-can-binding/binding/application.cpp index 153821c7..a85b5184 100644 --- a/low-can-binding/binding/application.cpp +++ b/low-can-binding/binding/application.cpp @@ -20,7 +20,7 @@ #include "../utils/signals.hpp" #include "../utils/openxc-utils.hpp" -#include "low-can-socket.hpp" +#include "low-can-subscription.hpp" #define MICROSECONDS_IN_SECOND 1000000 #define ENGINE_VALUE_TIMEOUT 5 @@ -37,7 +37,7 @@ can_bus_t& application_t::get_can_bus_manager() return can_bus_manager_; } -std::map<std::string, std::shared_ptr<low_can_socket_t> >& application_t::get_can_devices() +std::map<std::string, std::shared_ptr<low_can_subscription_t> >& application_t::get_can_devices() { return can_devices_; } @@ -136,4 +136,4 @@ bool application_t::isEngineOn() } return engine_on; -}
\ No newline at end of file +} diff --git a/low-can-binding/binding/application.hpp b/low-can-binding/binding/application.hpp index 92aca382..e017685b 100644 --- a/low-can-binding/binding/application.hpp +++ b/low-can-binding/binding/application.hpp @@ -47,7 +47,7 @@ class application_t std::vector<std::shared_ptr<can_message_set_t> > can_message_set_; ///< Vector holding all message set from JSON signals description file - std::map<std::string, std::shared_ptr<low_can_socket_t> > can_devices_; ///< Map containing all independant opened CAN sockets, key is the socket int value. + std::map<std::string, std::shared_ptr<low_can_subscription_t> > can_devices_; ///< Map containing all independant opened CAN sockets, key is the socket int value. application_t(); ///< Private constructor with implementation generated by the AGL generator. @@ -56,7 +56,7 @@ class application_t can_bus_t& get_can_bus_manager(); - std::map<std::string, std::shared_ptr<low_can_socket_t> >& get_can_devices(); + std::map<std::string, std::shared_ptr<low_can_subscription_t> >& get_can_devices(); const std::string get_diagnostic_bus() const; diff --git a/low-can-binding/binding/low-can-cb.cpp b/low-can-binding/binding/low-can-cb.cpp index d25f0683..daeb5a0b 100644 --- a/low-can-binding/binding/low-can-cb.cpp +++ b/low-can-binding/binding/low-can-cb.cpp @@ -1,5 +1,5 @@ /* - * Copyright (C) 2015, 2016 "IoT.bzh" + * Copyright (C) 2015, 2018 "IoT.bzh" * Author "Romain Forlot" <romain.forlot@iot.bzh> * Author "Loic Collignon" <loic.collignon@iot.bzh> * @@ -109,35 +109,6 @@ int read_message(sd_event_source *event_source, int fd, uint32_t revents, void * /// ///*******************************************************************************/ -static int make_subscription_unsubscription(afb_req_t request, - std::shared_ptr<low_can_subscription_t>& can_subscription, - std::map<int, std::shared_ptr<low_can_subscription_t> >& s, - bool subscribe) -{ - /* Make the subscription or unsubscription to the event (if request is not null) */ - if(request && - ((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[can_subscription->get_index()]->get_event())) < 0) - { - AFB_ERROR("Operation goes wrong for signal: %s", can_subscription->get_name().c_str()); - return -1; - } - return 0; -} - -static int create_event_handle(std::shared_ptr<low_can_subscription_t>& can_subscription, - std::map<int, std::shared_ptr<low_can_subscription_t> >& s) -{ - int sub_index = can_subscription->get_index(); - can_subscription->set_event(afb_daemon_make_event(can_subscription->get_name().c_str())); - s[sub_index] = can_subscription; - if (!afb_event_is_valid(s[sub_index]->get_event())) - { - AFB_ERROR("Can't create an event for %s, something goes wrong.", can_subscription->get_name().c_str()); - return -1; - } - return 0; -} - /// @brief This will determine if an event handle needs to be created and checks if /// we got a valid afb_event to get subscribe or unsubscribe. After that launch the subscription or unsubscription /// against the application framework using that event handle. @@ -146,30 +117,52 @@ static int subscribe_unsubscribe_signal(afb_req_t request, std::shared_ptr<low_can_subscription_t>& can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s) { - int ret = -1; + int ret = 0; int sub_index = can_subscription->get_index(); + bool subscription_exists = s.count(sub_index); - if (can_subscription && s.find(sub_index) != s.end()) + // Susbcription part + if(subscribe) { - if (!afb_event_is_valid(s[sub_index]->get_event()) && !subscribe) + /* There is no valid request to subscribe so this must be an + * internal permanent diagnostic request. Skip the subscription + * part and don't register it into the current "low-can" + * subsciptions. + */ + if(! request) { - AFB_NOTICE("Event isn't valid, no need to unsubscribed."); - ret = -1; + return 0; } - ret = 0; + + // Event doesn't exist , so let's create it + if (! subscription_exists && + (ret = can_subscription->subscribe(request)) < 0) + return ret; + + if(! subscription_exists) + s[sub_index] = can_subscription; + + return ret; } - else + + // Unsubscrition part + if(! subscription_exists) { - /* Event doesn't exist , so let's create it */ - s[sub_index] = can_subscription; - ret = create_event_handle(can_subscription, s); + AFB_NOTICE("There isn't any valid subscriptions for that request."); + return ret; + } + else if (subscription_exists && + ! afb_event_is_valid(s[sub_index]->get_event()) ) + { + AFB_NOTICE("Event isn't valid, no need to unsubscribed."); + return ret; } - // Checks if the event handler is correctly created, if it is, it - // performs the subscription or unsubscription operations. - if (ret < 0) + if( (ret = s[sub_index]->unsubscribe(request)) < 0) return ret; - return make_subscription_unsubscription(request, can_subscription, s, subscribe); + s.erase(sub_index); + + return ret; } static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription) @@ -411,10 +404,10 @@ static int send_frame(struct canfd_frame& cfd, const std::string& bus_name) return -1; } - std::map<std::string, std::shared_ptr<low_can_socket_t> >& cd = application_t::instance().get_can_devices(); + std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices(); if( cd.count(bus_name) == 0) - {cd[bus_name] = std::make_shared<low_can_socket_t>(low_can_socket_t());} + {cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t());} return cd[bus_name]->tx_send(cfd, bus_name); } diff --git a/low-can-binding/binding/low-can-socket.cpp b/low-can-binding/binding/low-can-socket.cpp deleted file mode 100644 index cd827b6b..00000000 --- a/low-can-binding/binding/low-can-socket.cpp +++ /dev/null @@ -1,336 +0,0 @@ -/* - * Copyright (C) 2015, 2016 "IoT.bzh" - * Author "Romain Forlot" <romain.forlot@iot.bzh> - * Author "Loic Collignon" <loic.collignon@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 "low-can-subscription.hpp" -#include "application.hpp" -#include "canutil/write.h" - -low_can_socket_t::low_can_socket_t() - : index_{-1}, - event_filter_{}, - socket_{} -{} - -low_can_socket_t::low_can_socket_t(struct event_filter_t event_filter) - : event_filter_{event_filter} - {} - -low_can_socket_t::low_can_socket_t( low_can_socket_t&& s) - : index_{s.index_}, - event_filter_{s.event_filter_}, - socket_{std::move(s.socket_)} -{} - -low_can_socket_t& low_can_socket_t::operator=(const low_can_socket_t& s) -{ - socket_ = std::move(s.socket_); - return *this; -} - -low_can_socket_t::~low_can_socket_t() -{ - socket_.close(); -} - -low_can_socket_t::operator bool() const -{ - return ((can_signal_ != nullptr || ! diagnostic_message_.empty()) && ! socket_); -} - -int low_can_socket_t::get_index() const -{ - return index_; -} - -const std::shared_ptr<can_signal_t> low_can_socket_t::get_can_signal() const -{ - return can_signal_; -} - -bool low_can_socket_t::is_signal_subscription_corresponding(const std::shared_ptr<can_signal_t> can_signal, const struct event_filter_t& event_filter) const -{ - return can_signal_ == can_signal && event_filter_ == event_filter; -} - -const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_socket_t::get_diagnostic_message() const -{ - return diagnostic_message_; -} - -/// @brief Retrieve a diagnostic_message subscribed from a pid -/// -/// @param[in] pid - Diagnostic messages PID to search for -/// -/// @return shared_ptr diagnostic_message_ if found and nullptr if not found -const std::shared_ptr<diagnostic_message_t> low_can_socket_t::get_diagnostic_message(uint32_t pid) const -{ - for(const auto& diag: diagnostic_message_) - { - if(diag->get_pid() == pid) - { - return diag; - } - } - return nullptr; -} - -/// @brief Retrieve a diagnostic message search from its name -/// -/// @return shared_ptr diagnostic_message_ if found and nullptr if not found -const std::shared_ptr<diagnostic_message_t> low_can_socket_t::get_diagnostic_message(const std::string& name) const -{ - for(const auto& diag: diagnostic_message_) - { - if(diag->get_name() == name) - { - return diag; - } - } - return nullptr; -} - -/// @brief Return the CAN signal name and empty string if not found -/// or no CAN signal subscribed -const std::string low_can_socket_t::get_name() const -{ - if (can_signal_ != nullptr) - return can_signal_->get_name(); - else if (!diagnostic_message_.empty()) - return "diagnostic_messages"; - - AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported."); - return ""; -} - -/// @brief Return name from a diagnostic message from a PID -/// -/// @param[in] pid - Diagnostic message PID -const std::string low_can_socket_t::get_name(uint32_t pid) const -{ - if (!diagnostic_message_.empty()) - return get_diagnostic_message(pid)->get_name() ; - - AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported."); - return ""; -} - -float low_can_socket_t::get_frequency() const -{ - return event_filter_.frequency; -} - -float low_can_socket_t::get_min() const -{ - return event_filter_.min; -} - -float low_can_socket_t::get_max() const -{ - return event_filter_.max; -} - -utils::socketcan_bcm_t& low_can_socket_t::get_socket() -{ - return socket_; -} - -void low_can_socket_t::set_frequency(float freq) -{ - event_filter_.frequency = freq; -} - -void low_can_socket_t::set_min(float min) -{ - event_filter_.min = min; -} - -void low_can_socket_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_socket_t::open_socket(const std::string& bus_name) -{ - int ret = 0; - if(! socket_) - { - if( can_signal_ != nullptr) - {ret = socket_.open(can_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(); - } - return ret; -} - -/// @brief Builds a BCM message head but doesn't set can_frame. -/// -/// @returns a bcm_msg with the msg_head parts set and can_frame -/// zeroed. -struct utils::bcm_msg low_can_socket_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; - ::memset(&bcm_msg, 0, sizeof(bcm_msg)); - - bcm_msg.msg_head.opcode = opcode; - bcm_msg.msg_head.can_id = can_id; - bcm_msg.msg_head.flags = flags; - bcm_msg.msg_head.ival1.tv_sec = timeout.tv_sec ; - bcm_msg.msg_head.ival1.tv_usec = timeout.tv_usec; - bcm_msg.msg_head.ival2.tv_sec = frequency_thinning.tv_sec ; - bcm_msg.msg_head.ival2.tv_usec = frequency_thinning.tv_usec; - - return bcm_msg; -} - -/// @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_socket_t::add_one_bcm_frame(struct canfd_frame& cfd, struct utils::bcm_msg& bcm_msg) const -{ - struct can_frame cf; - - if (bcm_msg.msg_head.flags & CAN_FD_FRAME) - bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cfd; - else - { - cf.can_id = cfd.can_id; - cf.can_dlc = cfd.len; - ::memcpy(&cf.data, cfd.data, cfd.len); - bcm_msg.frames[bcm_msg.msg_head.nframes] = cf; - } - bcm_msg.msg_head.nframes++; -} - -/// @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_socket_t::create_rx_filter(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; - - if (sig->get_message()->is_fd()) - { - flags = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME; - cfd.len = CANFD_MAX_DLEN; - } - else - { - flags = SETTIMER|RX_NO_AUTOTIMER; - cfd.len = CAN_MAX_DLEN; - } - val = (float)(1 << can_signal_->get_bit_size()) - 1; - if(! bitfield_encode_float(val, - can_signal_->get_bit_position(), - can_signal_->get_bit_size(), - 1, - 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); - 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); - - return create_rx_filter(bcm_msg); -} - -/// @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_socket_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 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. -/// -/// 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_socket_t::create_rx_filter(utils::bcm_msg& bcm_msg) -{ - // Make sure that socket is opened. - if(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. - if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID) - { - socket_ << bcm_msg; - if(! socket_) - return -1; - } - else - { - for(uint8_t i = 0; i < 8; i++) - { - bcm_msg.msg_head.can_id = OBD2_FUNCTIONAL_RESPONSE_START + i; - - socket_ << bcm_msg; - if(! socket_) - return -1; - } - } - - return 0; -} - -/// @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_socket_t::tx_send(struct canfd_frame& cfd, const std::string& bus_name) -{ - utils::bcm_msg bcm_msg = make_bcm_head(TX_SEND, cfd.can_id); - add_one_bcm_frame(cfd, bcm_msg); - - if(open_socket(bus_name) < 0) - {return -1;} - - socket_ << bcm_msg; - if(! socket_) - return -1; - - return 0; -} diff --git a/low-can-binding/binding/low-can-socket.hpp b/low-can-binding/binding/low-can-socket.hpp deleted file mode 100644 index d46f1f8c..00000000 --- a/low-can-binding/binding/low-can-socket.hpp +++ /dev/null @@ -1,96 +0,0 @@ -/* - * 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 <string> -#include <cmath> -#include <utility> - -#include "../can/can-signals.hpp" -#include "../diagnostic/diagnostic-message.hpp" -#include "../utils/socketcan-bcm.hpp" - -#define OBDII_MAX_SIMULTANEOUS_RESPONSES 8 - -/// @brief Filtering values. Theses values have to be tested in -/// can_bus_t::apply_filter method. -struct event_filter_t -{ - float frequency; ///< frequency - Maximum frequency which will be received and pushed to a subscribed event. - float min; ///< min - Minimum value that the signal doesn't have to go below to be pushed. - float max; ///< max - Maximum value that the signal doesn't have to go above to be pushed. - event_filter_t() : frequency{0}, min{-__FLT_MAX__}, max{__FLT_MAX__} {}; - bool operator==(const event_filter_t& ext) const { - return frequency == ext.frequency && min == ext.min && max == ext.max; - } -}; - -/// @brief The object stores socket to CAN to be used to write on it. -/// This is a simple access to a CAN bus device without any subscriptions attached -class low_can_socket_t -{ -protected: - int index_; ///< index_ - index number is the socket (int) casted - struct event_filter_t event_filter_; - - /// Signal part - 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. - - utils::socketcan_bcm_t socket_; ///< socket_ - socket_ that receives CAN messages. - -public: - low_can_socket_t(); - low_can_socket_t(struct event_filter_t event_filter); - low_can_socket_t(const low_can_socket_t& s) = delete; - low_can_socket_t(low_can_socket_t&& s); - virtual ~low_can_socket_t(); - - low_can_socket_t& operator=(const low_can_socket_t& s); - explicit operator bool() const; - - int get_index() const; - const std::shared_ptr<can_signal_t> get_can_signal() const; - bool is_signal_subscription_corresponding(const std::shared_ptr<can_signal_t>, const struct event_filter_t& event_filter) const; - const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(uint32_t pid) const; - const std::vector<std::shared_ptr<diagnostic_message_t> > get_diagnostic_message() const; - const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(const std::string& name) const; - const std::string get_name() const; - const std::string get_name(uint32_t pid) const; - float get_frequency() const; - float get_min() const; - float get_max() const; - utils::socketcan_bcm_t& get_socket(); - - void set_event(afb_event_t event); - void set_frequency(float freq); - 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; - - 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); - - int tx_send(struct canfd_frame& cfd, const std::string& bus_name); -}; diff --git a/low-can-binding/binding/low-can-subscription.cpp b/low-can-binding/binding/low-can-subscription.cpp index 3f844da3..fe1ede81 100644 --- a/low-can-binding/binding/low-can-subscription.cpp +++ b/low-can-binding/binding/low-can-subscription.cpp @@ -20,12 +20,373 @@ #include "application.hpp" #include "canutil/write.h" +low_can_subscription_t::low_can_subscription_t() + : index_{-1}, + event_filter_{}, + event_{}, + socket_{} +{} + +low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter) + : index_{-1}, + event_filter_{event_filter}, + event_{}, + socket_{} + {} + +low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s) + : index_{s.index_}, + event_filter_{s.event_filter_}, + event_{}, + socket_{std::move(s.socket_)} +{} + +low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s) +{ + socket_ = std::move(s.socket_); + return *this; +} + +low_can_subscription_t::~low_can_subscription_t() +{ + socket_.close(); +} + +low_can_subscription_t::operator bool() const +{ + return ((can_signal_ != nullptr || ! diagnostic_message_.empty()) && ! socket_); +} afb_event_t low_can_subscription_t::get_event() { return event_; } -void low_can_subscription_t::set_event(afb_event_t event) +/** + * @brief Set the event calling the afb_daemon_make_event function to + * create it and the checks its validity. + * + * @return int - 0 if OK, -1 if not + */ +int low_can_subscription_t::set_event() +{ + std::string event_name = get_name(); + event_ = afb_daemon_make_event(event_name.c_str()); + if (! afb_event_is_valid(event_)) + { + AFB_ERROR("Can't create an event for %s, something goes wrong.", event_name.c_str()); + return -1; + } + + return 0; +} + +/** + * @brief Subscribe to the event member of the object + * + * @param request the subscribe AFB client request which want to + * subscribe + * + * @return int - 0 if OK, -1 if not + */ +int low_can_subscription_t::subscribe(afb_req_t request) +{ + if(set_event() < 0) + return -1; + return afb_req_subscribe(request, event_); +} + +/** + * @brief Unsubscribe to the event member of the object + * + * @param request the unsubscribe AFB client request which want to + * unsubscribe + * + * @return int - 0 if OK, -1 if not + */ +int low_can_subscription_t::unsubscribe(afb_req_t request) +{ + return afb_req_unsubscribe(request, event_); +} + +int low_can_subscription_t::get_index() const +{ + return index_; +} + +const std::shared_ptr<can_signal_t> low_can_subscription_t::get_can_signal() const +{ + return can_signal_; +} + +bool low_can_subscription_t::is_signal_subscription_corresponding(const std::shared_ptr<can_signal_t> can_signal, const struct event_filter_t& event_filter) const +{ + return can_signal_ == can_signal && event_filter_ == event_filter; +} + +const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_subscription_t::get_diagnostic_message() const +{ + return diagnostic_message_; +} + +/// @brief Retrieve a diagnostic_message subscribed from a pid +/// +/// @param[in] pid - Diagnostic messages PID to search for +/// +/// @return shared_ptr diagnostic_message_ if found and nullptr if not found +const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(uint32_t pid) const +{ + for(const auto& diag: diagnostic_message_) + { + if(diag->get_pid() == pid) + { + return diag; + } + } + return nullptr; +} + +/// @brief Retrieve a diagnostic message search from its name +/// +/// @return shared_ptr diagnostic_message_ if found and nullptr if not found +const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(const std::string& name) const +{ + for(const auto& diag: diagnostic_message_) + { + if(diag->get_name() == name) + { + return diag; + } + } + return nullptr; +} + +/// @brief Return the CAN signal name and empty string if not found +/// or no CAN signal subscribed +const std::string low_can_subscription_t::get_name() const +{ + if (can_signal_ != nullptr) + return can_signal_->get_name(); + else if (!diagnostic_message_.empty()) + return "diagnostic_messages"; + + AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported."); + return ""; +} + +/// @brief Return name from a diagnostic message from a PID +/// +/// @param[in] pid - Diagnostic message PID +const std::string low_can_subscription_t::get_name(uint32_t pid) const +{ + if (!diagnostic_message_.empty()) + return get_diagnostic_message(pid)->get_name() ; + + AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported."); + return ""; +} + +float low_can_subscription_t::get_frequency() const +{ + return event_filter_.frequency; +} + +float low_can_subscription_t::get_min() const +{ + return event_filter_.min; +} + +float low_can_subscription_t::get_max() const +{ + return event_filter_.max; +} + +utils::socketcan_bcm_t& low_can_subscription_t::get_socket() +{ + return socket_; +} + +void low_can_subscription_t::set_frequency(float freq) +{ + event_filter_.frequency = freq; +} + +void low_can_subscription_t::set_min(float min) +{ + event_filter_.min = min; +} + +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 ret = 0; + if(! socket_) + { + if( can_signal_ != nullptr) + {ret = socket_.open(can_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(); + } + return ret; +} + +/// @brief Builds a BCM message head but doesn't set can_frame. +/// +/// @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 utils::bcm_msg bcm_msg; + ::memset(&bcm_msg, 0, sizeof(bcm_msg)); + + bcm_msg.msg_head.opcode = opcode; + bcm_msg.msg_head.can_id = can_id; + bcm_msg.msg_head.flags = flags; + bcm_msg.msg_head.ival1.tv_sec = timeout.tv_sec ; + bcm_msg.msg_head.ival1.tv_usec = timeout.tv_usec; + bcm_msg.msg_head.ival2.tv_sec = frequency_thinning.tv_sec ; + bcm_msg.msg_head.ival2.tv_usec = frequency_thinning.tv_usec; + + return bcm_msg; +} + +/// @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 +{ + struct can_frame cf; + + if (bcm_msg.msg_head.flags & CAN_FD_FRAME) + bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cfd; + else + { + cf.can_id = cfd.can_id; + cf.can_dlc = cfd.len; + ::memcpy(&cf.data, cfd.data, cfd.len); + bcm_msg.frames[bcm_msg.msg_head.nframes] = cf; + } + bcm_msg.msg_head.nframes++; +} + +/// @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) +{ + uint32_t flags; + float val; + struct timeval freq, timeout = {0, 0}; + struct canfd_frame cfd; + can_signal_= sig; + + if (sig->get_message()->is_fd()) + { + flags = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME; + cfd.len = CANFD_MAX_DLEN; + } + else + { + flags = SETTIMER|RX_NO_AUTOTIMER; + cfd.len = CAN_MAX_DLEN; + } + val = (float)(1 << can_signal_->get_bit_size()) - 1; + if(! bitfield_encode_float(val, + can_signal_->get_bit_position(), + can_signal_->get_bit_size(), + 1, + 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); + 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); + + return create_rx_filter(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. +/// +/// 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) { - event_ = event; + // Make sure that socket is opened. + if(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. + if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID) + { + socket_ << bcm_msg; + if(! socket_) + return -1; + } + else + { + for(uint8_t i = 0; i < 8; i++) + { + bcm_msg.msg_head.can_id = OBD2_FUNCTIONAL_RESPONSE_START + i; + + socket_ << bcm_msg; + if(! 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) +{ + struct utils::bcm_msg bcm_msg = make_bcm_head(TX_SEND, cfd.can_id); + add_one_bcm_frame(cfd, bcm_msg); + + if(open_socket(bus_name) < 0) + {return -1;} + + socket_ << bcm_msg; + if(! socket_) + 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 0807feef..8af0aa19 100644 --- a/low-can-binding/binding/low-can-subscription.hpp +++ b/low-can-binding/binding/low-can-subscription.hpp @@ -21,23 +21,82 @@ #include <cmath> #include <utility> -#include "low-can-socket.hpp" #include "../can/can-signals.hpp" #include "../diagnostic/diagnostic-message.hpp" #include "../utils/socketcan-bcm.hpp" -/// @brief The subscription class has a context that can handle all needed values to describe a subscription -/// to the low-can binding. It can hold a CAN signal or a diagnostic message. A diagnostic message for OBD2 is -/// special because there is only 1 listener to retrieve OBD2 requests. It is required that all diagnostic message -/// subscriptions are in 1 object. -class low_can_subscription_t : public low_can_socket_t +#define OBDII_MAX_SIMULTANEOUS_RESPONSES 8 + +/// @brief Filtering values. Theses values have to be tested in +/// can_bus_t::apply_filter method. +struct event_filter_t +{ + float frequency; ///< frequency - Maximum frequency which will be received and pushed to a subscribed event. + float min; ///< min - Minimum value that the signal doesn't have to go below to be pushed. + float max; ///< max - Maximum value that the signal doesn't have to go above to be pushed. + + event_filter_t() : frequency{0}, min{-__FLT_MAX__}, max{__FLT_MAX__} {}; + bool operator==(const event_filter_t& ext) const { + return frequency == ext.frequency && min == ext.min && max == ext.max; + } +}; + +/// @brief The object stores socket to CAN to be used to write on it. +/// This is a simple access to a CAN bus device without any subscriptions attached +class low_can_subscription_t { private: + int index_; ///< index_ - index number is the socket (int) casted + struct event_filter_t event_filter_; afb_event_t event_; ///< event_ - application framework event used to push on client + /// Signal part + 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. + utils::socketcan_bcm_t socket_; ///< socket_ - socket_ that receives CAN messages. + + int set_event(); + public: - using low_can_socket_t::low_can_socket_t; + low_can_subscription_t(); + low_can_subscription_t(struct event_filter_t event_filter); + low_can_subscription_t(const low_can_subscription_t& s) = delete; + low_can_subscription_t(low_can_subscription_t&& s); + ~low_can_subscription_t(); + + low_can_subscription_t& operator=(const low_can_subscription_t& s); + explicit operator bool() const; afb_event_t get_event(); - void set_event(afb_event_t event); + int subscribe(afb_req_t request); + int unsubscribe(afb_req_t request); + + int get_index() const; + const std::shared_ptr<can_signal_t> get_can_signal() const; + bool is_signal_subscription_corresponding(const std::shared_ptr<can_signal_t>, const struct event_filter_t& event_filter) const; + const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(uint32_t pid) const; + const std::vector<std::shared_ptr<diagnostic_message_t> > get_diagnostic_message() const; + const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(const std::string& name) const; + const std::string get_name() const; + const std::string get_name(uint32_t pid) const; + float get_frequency() const; + float get_min() const; + float get_max() const; + utils::socketcan_bcm_t& get_socket(); + + void set_frequency(float freq); + 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; + + 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); + + int tx_send(struct canfd_frame& cfd, const std::string& bus_name); }; |