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-rw-r--r--low-can-binding/CMakeLists.txt1
-rw-r--r--low-can-binding/binding/application.cpp6
-rw-r--r--low-can-binding/binding/application.hpp4
-rw-r--r--low-can-binding/binding/low-can-cb.cpp85
-rw-r--r--low-can-binding/binding/low-can-socket.cpp336
-rw-r--r--low-can-binding/binding/low-can-socket.hpp96
-rw-r--r--low-can-binding/binding/low-can-subscription.cpp365
-rw-r--r--low-can-binding/binding/low-can-subscription.hpp75
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);
};