diff options
16 files changed, 139 insertions, 127 deletions
diff --git a/CAN-binder/low-can-binding/binding/low-can-subscription.cpp b/CAN-binder/low-can-binding/binding/low-can-subscription.cpp index 648220d8..5488cc53 100644 --- a/CAN-binder/low-can-binding/binding/low-can-subscription.cpp +++ b/CAN-binder/low-can-binding/binding/low-can-subscription.cpp @@ -22,12 +22,6 @@ #include "application.hpp" #include "canutil/write.h" -///****************************************************************************** -/// -/// low_can_subscription_t object -/// -///*******************************************************************************/ - low_can_subscription_t::low_can_subscription_t() : index_{-1}, event_filter_{event_filter_t()}, @@ -44,7 +38,7 @@ low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s) socket_{std::move(s.socket_)} {} - low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s) +low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s) { socket_ = std::move(s.socket_); return *this; @@ -80,6 +74,11 @@ const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_subscription_t 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_) @@ -92,6 +91,9 @@ const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnost 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_) @@ -104,6 +106,8 @@ const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnost 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) @@ -112,6 +116,9 @@ const std::string low_can_subscription_t::get_name() const 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()) @@ -160,6 +167,10 @@ void low_can_subscription_t::set_max(float max) event_filter_.max = max; } +/// @brief Based upon which object is subscribed CAN signal or diagnostic message +/// this 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() { int ret = 0; @@ -174,6 +185,10 @@ int low_can_subscription_t::open_socket() return ret; } +/// @brief Build a BCM message head but don't set can_frame. +/// +/// @return a simple_bcm_msg with the msg_head parts set and can_frame +/// zeroed. struct utils::simple_bcm_msg low_can_subscription_t::make_bcm_head(uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const { struct utils::simple_bcm_msg bcm_msg; @@ -191,6 +206,9 @@ struct utils::simple_bcm_msg low_can_subscription_t::make_bcm_head(uint32_t can_ return bcm_msg; } +/// @brief Take an existing simple_bcm_msg struct and add a can_frame to it. +/// Only possible for now to add 1 uniq can_frame, it isn't possible to build +/// a multiplexed message with several can_frame. void low_can_subscription_t::add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const { for(int i=0; i < CAN_MAX_DLEN; i++) @@ -204,21 +222,8 @@ void low_can_subscription_t::add_bcm_frame(const struct can_frame& cfd, struct u } } -/// @brief Create a RX_SETUP receive job used by the BCM socket. -/// -/// @return 0 if ok else -1 -int low_can_subscription_t::create_rx_filter() -{ - int ret = -1; - if ( can_signal_ != nullptr) - {ret = create_rx_filter(can_signal_);} - else if (! diagnostic_message_ .empty()) - {ret = create_rx_filter(diagnostic_message_.front());} - - return ret; -} - -/// @brief Create a RX_SETUP receive job used by the BCM socket. +/// @brief Create a RX_SETUP receive job 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) @@ -247,7 +252,8 @@ int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig) return create_rx_filter(bcm_msg); } -/// @brief Create a RX_SETUP receive job used by the BCM socket. +/// @brief Create a RX_SETUP receive job 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) @@ -262,7 +268,12 @@ int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_ return create_rx_filter(bcm_msg); } -/// @brief Create a RX_SETUP receive job used by the BCM socket. +/// @brief Create a RX_SETUP receive job used by the BCM socket directly from +/// a simple_bcm_msg. You will not use this method directly but rather use 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::simple_bcm_msg& bcm_msg) diff --git a/CAN-binder/low-can-binding/binding/low-can-subscription.hpp b/CAN-binder/low-can-binding/binding/low-can-subscription.hpp index 0efde63a..0ad7e3a2 100644 --- a/CAN-binder/low-can-binding/binding/low-can-subscription.hpp +++ b/CAN-binder/low-can-binding/binding/low-can-subscription.hpp @@ -25,28 +25,35 @@ #include "../diagnostic/diagnostic-message.hpp" #include "../utils/socketcan-bcm.hpp" +/// @brief Filtering values. Theses values has to be tested into +/// can_bus_t::apply_filter method. struct event_filter_t { - float frequency; - float min; - float max; + float frequency; ///< frequency - Maximum frequency which will be received and pushed a subscribed event. + float min; ///< min - Minimum value that the signal don't have to go below to be pushed. + float max; ///< max - Maximum value that the signal don't have to go above to be pushed. event_filter_t() : frequency{NAN}, min{NAN}, max{NAN} {} }; +/// @brief A subscription object used has a context that handle all needed values to describe a subscription +/// to the low-can binding. It can holds a CAN signal or diagnostic message. Diagnostic message for OBD2 is a kind +/// of special because there is only 1 listener to retrieve OBD2 requests. So it's needed that all diagnostic messages +/// subscriptions is to be in 1 object. class low_can_subscription_t { private: - int index_; - struct afb_event event_; + int index_; ///< index_ - index number is the socket (int) casted + struct afb_event event_; ///< event_ - application framework event used to push on client /// Signal part - std::shared_ptr<can_signal_t> can_signal_; - std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_message_; + 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 received OBD2 responses. + /// normal diagnostic request and response not tested for now. /// Filtering part - struct event_filter_t event_filter_; + struct event_filter_t event_filter_; ///< event_filter_ - filtering values applied to a subscription - utils::socketcan_bcm_t socket_; + utils::socketcan_bcm_t socket_; ///< socket_ - socket_ that receives CAN messages. public: low_can_subscription_t(); low_can_subscription_t(struct event_filter_t event_filter); @@ -78,7 +85,6 @@ public: struct utils::simple_bcm_msg make_bcm_head(uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const; void add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const; int open_socket(); - int create_rx_filter(); 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::simple_bcm_msg& bcm_msg); diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp index d06eb77c..e481a1bd 100644 --- a/CAN-binder/low-can-binding/can/can-bus.cpp +++ b/CAN-binder/low-can-binding/can/can-bus.cpp @@ -40,6 +40,14 @@ can_bus_t::can_bus_t(utils::config_parser_t conf_file) : conf_file_{conf_file} {} +/// @brief Take a decoded message to determine if its value comply with the wanted +/// filtering values. +/// +/// @param[in] vehicle_message - A decoded message to analyze +/// @param[in] can_subscription - the subscription which will be notified depending +/// on its filtering values. Filtering values are stored in the event_filtermember. +/// +/// @return True if the value is compliant with event filter values, false if not... bool can_bus_t::apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription) { bool send = false; @@ -283,12 +291,8 @@ void can_bus_t::push_new_vehicle_message(int subscription_id, const openxc_Vehic vehicle_message_q_.push(std::make_pair(subscription_id, v_msg)); } -/// @brief Return the shared pointer on the can_bus_dev_t initialized -/// with device_name "bus" -/// -/// @param[in] bus - CAN bus device name to retrieve. -/// -/// @return A shared pointer on an object can_bus_dev_t +/// @brief Fills the CAN device map member with value from device +/// mapping configuration file read at initialization. void can_bus_t::set_can_devices() { can_devices_ = conf_file_.get_devices_name(); @@ -300,6 +304,9 @@ void can_bus_t::set_can_devices() } } + +/// @brief Return the CAN device index from the map +/// map are sorted so index depend upon alphabetical sorting. int can_bus_t::get_can_device_index(const std::string& bus_name) const { int i = 0; @@ -312,6 +319,9 @@ int can_bus_t::get_can_device_index(const std::string& bus_name) const return i; } +/// @brief Return CAN device name from a logical CAN device name gotten from +/// the signals.json description file which comes from a CAN databases file in +/// general. const std::string can_bus_t::get_can_device_name(const std::string& id_name) const { std::string ret; diff --git a/CAN-binder/low-can-binding/can/can-bus.hpp b/CAN-binder/low-can-binding/can/can-bus.hpp index b19519a8..a76d3e87 100644 --- a/CAN-binder/low-can-binding/can/can-bus.hpp +++ b/CAN-binder/low-can-binding/can/can-bus.hpp @@ -72,7 +72,7 @@ private: std::mutex decoded_can_message_mutex_; ///< mutex protecting the vehicle_message_q_ queue. std::queue <std::pair<int, openxc_VehicleMessage> > vehicle_message_q_; ///< queue that'll store openxc_VehicleMessage to pushed - std::vector<std::pair<std::string, std::string> > can_devices_; + std::vector<std::pair<std::string, std::string> > can_devices_; ///< can_devices_ - holds a mapping between logical CAN devices names and linux CAN devices names. public: explicit can_bus_t(utils::config_parser_t conf_file); can_bus_t(can_bus_t&&); diff --git a/CAN-binder/low-can-binding/can/can-message-definition.hpp b/CAN-binder/low-can-binding/can/can-message-definition.hpp index 3e150369..6d0f17d6 100644 --- a/CAN-binder/low-can-binding/can/can-message-definition.hpp +++ b/CAN-binder/low-can-binding/can/can-message-definition.hpp @@ -35,22 +35,24 @@ class can_message_set_t; +/// @brief The definition of a CAN message. This includes a lot of metadata, so +/// to save memory this class gets the can_signal_t object related to a CAN message. class can_message_definition_t { private: - can_message_set_t* parent_; /*!< parent_ - Pointer to the CAN message set holding this CAN message definition */ - std::string bus_; /*!< bus_ - Address of CAN bus device. */ - uint32_t id_; /*!< id_ - The ID of the message.*/ - can_message_format_t format_; /*!< format_ - the format of the message's ID.*/ - frequency_clock_t frequency_clock_; /*!< clock_ - an optional frequency clock to control the output of this - * message, if sent raw, or simply to mark the max frequency for custom - * handlers to retrieve.*/ - bool force_send_changed_; /*!< force_send_changed_ - If true, regardless of the frequency, it will send CAN - * message if it has changed when using raw passthrough.*/ - std::vector<uint8_t> last_value_; /*!< last_value_ - The last received value of the message. Defaults to undefined. - * This is required for the forceSendChanged functionality, as the stack - * needs to compare an incoming CAN message with the previous frame.*/ - std::vector<std::shared_ptr<can_signal_t> > can_signals_; /*!< can_signals_ - Vector holding can_signal_t object which share the same arbitration ID */ + can_message_set_t* parent_; ///< parent_ - Pointer to the CAN message set holding this CAN message definition */ + std::string bus_; ///< bus_ - Address of CAN bus device. */ + uint32_t id_; ///< id_ - The ID of the message.*/ + can_message_format_t format_; ///< format_ - the format of the message's ID.*/ + frequency_clock_t frequency_clock_; ///< clock_ - an optional frequency clock to control the output of this + /// message, if sent raw, or simply to mark the max frequency for custom + /// handlers to retrieve.*/ + bool force_send_changed_; ///< force_send_changed_ - If true, regardless of the frequency, it will send CAN + /// message if it has changed when using raw passthrough.*/ + std::vector<uint8_t> last_value_; ///< last_value_ - The last received value of the message. Defaults to undefined. + /// This is required for the forceSendChanged functionality, as the stack + /// needs to compare an incoming CAN message with the previous frame.*/ + std::vector<std::shared_ptr<can_signal_t> > can_signals_; ///< can_signals_ - Vector holding can_signal_t object which share the same arbitration ID */ public: //can_message_definition_t(const can_message_definition_t& b); diff --git a/CAN-binder/low-can-binding/can/can-message-set.cpp b/CAN-binder/low-can-binding/can/can-message-set.cpp index a41f0085..c31dec62 100644 --- a/CAN-binder/low-can-binding/can/can-message-set.cpp +++ b/CAN-binder/low-can-binding/can/can-message-set.cpp @@ -52,6 +52,7 @@ std::vector<std::shared_ptr<can_signal_t> > can_message_set_t::get_all_can_signa return can_signals; } +/// @brief Return vector holding all diagnostic messages definitions handled by this message set. std::vector<std::shared_ptr<diagnostic_message_t> >& can_message_set_t::get_diagnostic_messages() { return diagnostic_messages_; diff --git a/CAN-binder/low-can-binding/can/can-message-set.hpp b/CAN-binder/low-can-binding/can/can-message-set.hpp index c763de6d..2a7cb53c 100644 --- a/CAN-binder/low-can-binding/can/can-message-set.hpp +++ b/CAN-binder/low-can-binding/can/can-message-set.hpp @@ -27,8 +27,8 @@ class can_signal_t; class can_message_definition_t; class diagnostic_message_t; -/// @brief A parent wrapper for a particular set of CAN messages and associated -/// CAN buses(e.g. a vehicle or program). +/// @brief A parent wrapper for a particular set of CAN messages and diagnostic messages +/// (e.g. a vehicle or program). class can_message_set_t { private: diff --git a/CAN-binder/low-can-binding/can/can-message.cpp b/CAN-binder/low-can-binding/can/can-message.cpp index 93894947..10b3232c 100644 --- a/CAN-binder/low-can-binding/can/can-message.cpp +++ b/CAN-binder/low-can-binding/can/can-message.cpp @@ -84,7 +84,7 @@ bool can_message_t::get_rtr_flag_() const /// /// @brief Retrieve format_ member value. /// -/// @return format_ class member +/// @return format_ class member. Default to INVALID. /// can_message_format_t can_message_t::get_format() const { @@ -149,12 +149,10 @@ void can_message_t::set_timestamp(uint64_t timestamp) timestamp_ = timestamp; } -/// /// @brief Control whether the object is correctly initialized /// to be sent over the CAN bus /// -/// @return true if object correctly initialized and false if not. -/// +/// @return True if object correctly initialized and false if not. bool can_message_t::is_correct_to_send() { if (id_ != 0 && length_ != 0 && format_ != can_message_format_t::INVALID) @@ -167,14 +165,12 @@ bool can_message_t::is_correct_to_send() return false; } -/// /// @brief Set format_ member value. /// /// Preferred way to initialize these members by using /// convert_from_canfd_frame method. /// /// @param[in] new_format - class member -/// void can_message_t::set_format(const can_message_format_t new_format) { if(new_format == can_message_format_t::STANDARD || new_format == can_message_format_t::EXTENDED || new_format == can_message_format_t::INVALID) @@ -191,7 +187,6 @@ void can_message_t::set_format(const can_message_format_t new_format) /// @param[in] nbytes - bytes read from socket read operation. /// /// @return A can_message_t object fully initialized with canfd_frame values. -/// can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp) { uint8_t maxdlen, length, flags = (uint8_t)NULL; @@ -272,6 +267,14 @@ can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame, return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp); } +/// @brief Take a can_frame struct to initialize class members +/// +/// This is the preferred way to initialize class members. +/// +/// @param[in] frame - can_frame to convert coming from a read of CAN socket +/// @param[in] nbytes - bytes read from socket read operation. +/// +/// @return A can_message_t object fully initialized with can_frame values. can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, size_t nbytes, uint64_t timestamp) { uint8_t maxdlen, length, flags = (uint8_t)NULL; @@ -343,13 +346,11 @@ can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, s return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp); } -/// /// @brief Take all initialized class's members and build an /// canfd_frame struct that can be use to send a CAN message over /// the bus. /// /// @return canfd_frame struct built from class members. -/// struct canfd_frame can_message_t::convert_to_canfd_frame() { canfd_frame frame; @@ -366,6 +367,11 @@ struct canfd_frame can_message_t::convert_to_canfd_frame() return frame; } +/// @brief Take all initialized class's members and build an +/// can_frame struct that can be use to send a CAN message over +/// the bus. +/// +/// @return can_frame struct built from class members. struct can_frame can_message_t::convert_to_can_frame() { can_frame frame; diff --git a/CAN-binder/low-can-binding/can/can-message.hpp b/CAN-binder/low-can-binding/can/can-message.hpp index ced2602a..b206ebdb 100644 --- a/CAN-binder/low-can-binding/can/can-message.hpp +++ b/CAN-binder/low-can-binding/can/can-message.hpp @@ -31,28 +31,26 @@ * @brief The ID format for a CAN message. */ enum class can_message_format_t { - STANDARD, /*!< STANDARD - standard 11-bit CAN arbitration ID. */ - EXTENDED, /*!< EXTENDED - an extended frame, with a 29-bit arbitration ID. */ - INVALID, /*!< INVALID - INVALID code used at initialization to signify that it isn't usable'*/ + STANDARD, ///< STANDARD - standard 11-bit CAN arbitration ID. */ + EXTENDED, ///< EXTENDED - an extended frame, with a 29-bit arbitration ID. */ + INVALID, ///< INVALID - INVALID code used at initialization to signify that it isn't usable'*/ }; -/** - * @class can_message_t - * - * @brief A compact representation of a single CAN message, meant to be used in in/out - * buffers. - */ +/// @class can_message_t +/// +/// @brief A compact representation of a single CAN message, meant to be used in in/out +/// buffers. It is a wrapper of a can_frame struct with some sugar around it for binding purposes. class can_message_t { private: - uint8_t maxdlen_; /*!< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/ - uint32_t id_; /*!< id_ - The ID of the message. */ - uint8_t length_; /*!< length_ - the length of the data array (max 8). */ - can_message_format_t format_; /*!< format_ - the format of the message's ID.*/ - bool rtr_flag_; /*!< rtr_flag_ - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/ - uint8_t flags_; /*!< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/ - std::vector<uint8_t> data_; /*!< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/ - uint64_t timestamp_; /*!< timestamp_ - timestamp of the received message*/ - int sub_id_; /*!< sub_id_ - Subscription index. */ + uint8_t maxdlen_; ///< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/ + uint32_t id_; ///< id_ - The ID of the message. */ + uint8_t length_; ///< length_ - the length of the data array (max 8). */ + can_message_format_t format_; ///< format_ - the format of the message's ID.*/ + bool rtr_flag_; ///< rtr_flag_ - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/ + uint8_t flags_; ///< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/ + std::vector<uint8_t> data_; ///< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/ + uint64_t timestamp_; ///< timestamp_ - timestamp of the received message*/ + int sub_id_; ///< sub_id_ - Subscription index. */ public: can_message_t(); diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp index 7dab7495..cfabfeaf 100644 --- a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp +++ b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp @@ -72,9 +72,8 @@ void diagnostic_manager_t::reset() cleanup_active_requests(true); } -/// @brief send function use by diagnostic library. Only one bus used for now -/// so diagnostic request is sent using the default diagnostic bus not matter of -/// which is specified in the diagnostic message definition. +/// @brief send function use by diagnostic library. It will open a BCM CAN socket TX_SETUP type. +/// That socket will send cyclic messages configured from a diagnostic request. /// /// @param[in] arbitration_id - CAN arbitration ID to use when send message. OBD2 broadcast ID /// is 0x7DF by example. @@ -163,15 +162,6 @@ DiagnosticShims& diagnostic_manager_t::get_shims() return shims_; } -bool diagnostic_manager_t::is_active_requests_running() -{ - if(non_recurring_requests_.empty() && recurring_requests_.empty()) - { - return true; - } - return false; -} - /// @brief Search for a specific active diagnostic request in the provided requests list /// and erase it from the vector. This is useful at unsubscription to clean up the list otherwize /// all received CAN messages will be passed to DiagnosticRequestHandle of all active diagnostic request @@ -186,7 +176,7 @@ void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, st requests_list.erase(i); } -// @brief TODO: implement cancel_request if needed... Don't know. +/// @brief Free memory allocated on active_diagnostic_request_t object and close the socket. void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry) { entry->get_socket().close(); @@ -259,7 +249,7 @@ active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(Diagno return nullptr; } -/// @brief Add and send a new one-time diagnostic request. +/// @brief Add and send a new one-time diagnostic request. DON'T USED AT THIS TIME /// /// A one-time (aka non-recurring) request can existing in parallel with a /// recurring request for the same PID or mode, that's not a problem. @@ -320,6 +310,12 @@ active_diagnostic_request_t* diagnostic_manager_t::add_request(DiagnosticRequest return entry; } +/// @brief Validate frequency asked don't get higher than the maximum of a classical +/// CAN bus OBD2 request. +/// +/// @param[in] frequencyHz - frequency asked for sending diagnostic requests. +/// +/// @return True if frequency is below the Maximum false if not. bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz) { if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) { @@ -334,32 +330,7 @@ bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyH /// /// At most one recurring request can be active for the same arbitration ID, mode /// and (if set) PID on the same bus at one time. If you try and call -/// addRecurringRequest with the same key, it will return an error. -/// -/// TODO: This also adds any neccessary CAN acceptance filters so we can receive the -/// response. If the request is to the functional broadcast ID (0x7df) filters -/// are added for all functional addresses (0x7e8 to 0x7f0). -/// -/// Example: -/// -/// // Creating a functional broadcast, mode 1 request for PID 2. -/// DiagnosticRequest request = { -/// arbitration_id: 0x7df, -/// mode: 1, -/// has_pid: true, -/// pid: 2 -/// }; -/// -/// // Add a recurring request, to be sent at 1Hz, and published with the -/// // name "my_pid_request" -/// addRecurringRequest(&getConfiguration()->diagnosticsManager, -/// canBus, -/// &request, -/// "my_pid_request", -/// false, -/// NULL, -/// NULL, -/// 1); +/// add_recurring_request with the same key, it will return an error. /// /// @param[in] request - The parameters for the request. /// @param[in] name - An optional human readable name this response, to be used when diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp index 4c023c67..05a67c81 100644 --- a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp +++ b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp @@ -67,7 +67,6 @@ public: const std::string get_bus_device_name() const; active_diagnostic_request_t* get_last_recurring_requests() const; DiagnosticShims& get_shims(); - bool is_active_requests_running(); void find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list); void cancel_request(active_diagnostic_request_t* entry); diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-message.hpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-message.hpp index 8217614d..99c48110 100644 --- a/CAN-binder/low-can-binding/diagnostic/diagnostic-message.hpp +++ b/CAN-binder/low-can-binding/diagnostic/diagnostic-message.hpp @@ -41,9 +41,7 @@ enum UNIT { class can_message_set_t; -/// /// @brief - A representation of an OBD-II PID. -/// class diagnostic_message_t { private: diff --git a/CAN-binder/low-can-binding/utils/signals.hpp b/CAN-binder/low-can-binding/utils/signals.hpp index ff914627..555c5dd6 100644 --- a/CAN-binder/low-can-binding/utils/signals.hpp +++ b/CAN-binder/low-can-binding/utils/signals.hpp @@ -37,11 +37,15 @@ namespace utils std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages; }; + /// @brief Signal manager singleton hold subscription object with attached afb_event and its mutex + /// to read and write it safely. + /// It can be used to browse CAN signals and Diagnostic messages vectors and find a particular signal to + /// subscribe to. class signals_manager_t { private: std::mutex subscribed_signals_mutex_; - std::map<int, std::shared_ptr<low_can_subscription_t> > subscribed_signals_; + std::map<int, std::shared_ptr<low_can_subscription_t> > subscribed_signals_; ///< Map containing all subscribed signals, key is the socket int value. signals_manager_t(); ///< Private constructor to make singleton class. diff --git a/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp index 76bc6acc..5ee4b1aa 100644 --- a/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp +++ b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp @@ -67,6 +67,9 @@ namespace utils return socket_; } + /// Read the socket to retrieve the associated CAN message. All the hard work is do into + /// convert_from_frame method and if there isn't CAN message retrieve, only BCM head struct, + /// then CAN message will be zeroed and must be handled later. socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm) { struct utils::simple_bcm_msg msg; diff --git a/CAN-binder/low-can-binding/utils/socketcan-bcm.hpp b/CAN-binder/low-can-binding/utils/socketcan-bcm.hpp index 2e4547ba..97f093df 100644 --- a/CAN-binder/low-can-binding/utils/socketcan-bcm.hpp +++ b/CAN-binder/low-can-binding/utils/socketcan-bcm.hpp @@ -35,6 +35,7 @@ namespace utils canfd_bcm_msg() { msg_head.flags |= CAN_FD_FRAME; } }; + /// @brief derivated socketcan class specialized for BCM CAN socket. class socketcan_bcm_t : public socketcan_t { public: diff --git a/CAN-binder/low-can-binding/utils/timer.cpp b/CAN-binder/low-can-binding/utils/timer.cpp index 70f0856e..f3cdd5e7 100644 --- a/CAN-binder/low-can-binding/utils/timer.cpp +++ b/CAN-binder/low-can-binding/utils/timer.cpp @@ -76,6 +76,8 @@ float frequency_clock_t::frequency_to_period() const return frequency_ == 0 ? 0 : 1 / frequency_; } +/// @brief Return a timeval struct based on the frequency_ member. used to +/// specified CAN BCM timers. const struct timeval frequency_clock_t::get_timeval_from_period() const { struct timeval freq = {0, 0}; |