diff options
| -rw-r--r-- | CAN-binder/low-can-binding/CMakeLists.txt | 1 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/binding/low-can-cb.cpp | 273 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/binding/low-can-hat.cpp | 2 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/binding/low-can-subscription.cpp | 295 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/binding/low-can-subscription.hpp (renamed from CAN-binder/low-can-binding/binding/low-can-cb.hpp) | 0 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus.hpp | 2 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/utils/signals.hpp | 2 |
7 files changed, 299 insertions, 276 deletions
diff --git a/CAN-binder/low-can-binding/CMakeLists.txt b/CAN-binder/low-can-binding/CMakeLists.txt index 3c7ee2ac..6f6e11fd 100644 --- a/CAN-binder/low-can-binding/CMakeLists.txt +++ b/CAN-binder/low-can-binding/CMakeLists.txt @@ -24,6 +24,7 @@ PROJECT_TARGET_ADD(low-can) add_library(${TARGET_NAME} MODULE binding/${TARGET_NAME}-hat.cpp binding/${TARGET_NAME}-cb.cpp + binding/${TARGET_NAME}-subscription.cpp binding/application.cpp binding/application-generated.cpp can/can-bus.cpp diff --git a/CAN-binder/low-can-binding/binding/low-can-cb.cpp b/CAN-binder/low-can-binding/binding/low-can-cb.cpp index 5b7561f8..ce829b98 100644 --- a/CAN-binder/low-can-binding/binding/low-can-cb.cpp +++ b/CAN-binder/low-can-binding/binding/low-can-cb.cpp @@ -31,288 +31,15 @@ #include "../can/can-bus.hpp" #include "../can/can-signals.hpp" #include "../can/can-message.hpp" -#include "../utils/timer.hpp" #include "../utils/signals.hpp" #include "../diagnostic/diagnostic-message.hpp" #include "../utils/openxc-utils.hpp" -#include "canutil/write.h" extern "C" { #include <afb/afb-service-itf.h> }; -///****************************************************************************** -/// -/// low_can_subscription_t object -/// -///*******************************************************************************/ - -low_can_subscription_t::low_can_subscription_t() - : index_{-1}, - event_filter_{event_filter_t()}, - socket_{} -{} - -low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter) - : event_filter_{event_filter} -{} - -low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s) - : index_{s.index_}, - event_filter_{s.event_filter_}, - 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()) && afb_event_is_valid(event_)); -} - -struct afb_event& low_can_subscription_t::get_event() -{ - return 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_; -} - -const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_subscription_t::get_diagnostic_message() const -{ - return diagnostic_message_; -} - -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; -} - -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; -} - -const std::string low_can_subscription_t::get_name() const -{ - if (can_signal_ != nullptr) - return can_signal_->get_name(); - - return ""; -} - -const std::string low_can_subscription_t::get_name(uint32_t pid) const -{ - if (!diagnostic_message_.empty()) - return get_diagnostic_message(pid)->get_name() ; - - 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_event(struct afb_event event) -{ - event_ = event; -} - -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; -} - -int low_can_subscription_t::open_socket() -{ - 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());} - index_ = (int)socket_.socket(); - } - return ret; -} - -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; - - memset(&bcm_msg, 0, sizeof(bcm_msg)); - - bcm_msg.msg_head.opcode = RX_SETUP; - 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; -} - -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++) - { - if(cfd.data[i] != 0) - { - bcm_msg.msg_head.nframes = 1; - bcm_msg.frames = cfd; - return; - } - } -} - -/// @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. -/// -/// @return 0 if ok else -1 -int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig) -{ - can_signal_= sig; - - struct can_frame cfd; - memset(&cfd, 0, sizeof(cfd)); - - float val = (float)(1 << can_signal_->get_bit_size()) - 1; - bitfield_encode_float(val, - can_signal_->get_bit_position(), - can_signal_->get_bit_size(), - can_signal_->get_factor(), - can_signal_->get_offset(), - cfd.data, - CAN_MAX_DLEN); - - struct timeval freq, timeout = {0, 0}; - frequency_clock_t f = std::isnan(event_filter_.frequency) ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency); - freq = f.get_timeval_from_period(); - - utils::simple_bcm_msg bcm_msg = make_bcm_head(can_signal_->get_message()->get_id(), SETTIMER|RX_NO_AUTOTIMER, timeout, freq); - add_bcm_frame(cfd, bcm_msg); - - return create_rx_filter(bcm_msg); -} - -/// @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(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::simple_bcm_msg bcm_msg = make_bcm_head(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. -/// -/// @return 0 if ok else -1 -int low_can_subscription_t::create_rx_filter(utils::simple_bcm_msg& bcm_msg) -{ - // Make sure that socket has been opened. - if(open_socket() < 0) - {return -1;} - - // If it isn't 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; -} ///****************************************************************************** /// diff --git a/CAN-binder/low-can-binding/binding/low-can-hat.cpp b/CAN-binder/low-can-binding/binding/low-can-hat.cpp index 8713a2c8..ddaa5a24 100644 --- a/CAN-binder/low-can-binding/binding/low-can-hat.cpp +++ b/CAN-binder/low-can-binding/binding/low-can-hat.cpp @@ -17,7 +17,7 @@ */ #include "low-can-hat.hpp" -#include "low-can-cb.hpp" +#include "low-can-subscription.hpp" #include <map> #include <queue> diff --git a/CAN-binder/low-can-binding/binding/low-can-subscription.cpp b/CAN-binder/low-can-binding/binding/low-can-subscription.cpp new file mode 100644 index 00000000..648220d8 --- /dev/null +++ b/CAN-binder/low-can-binding/binding/low-can-subscription.cpp @@ -0,0 +1,295 @@ +/* + * 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-hat.hpp" + +#include "low-can-subscription.hpp" +#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()}, + socket_{} +{} + +low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter) + : event_filter_{event_filter} +{} + +low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s) + : index_{s.index_}, + event_filter_{s.event_filter_}, + 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()) && afb_event_is_valid(event_)); +} + +struct afb_event& low_can_subscription_t::get_event() +{ + return 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_; +} + +const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_subscription_t::get_diagnostic_message() const +{ + return diagnostic_message_; +} + +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; +} + +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; +} + +const std::string low_can_subscription_t::get_name() const +{ + if (can_signal_ != nullptr) + return can_signal_->get_name(); + + return ""; +} + +const std::string low_can_subscription_t::get_name(uint32_t pid) const +{ + if (!diagnostic_message_.empty()) + return get_diagnostic_message(pid)->get_name() ; + + 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_event(struct afb_event event) +{ + event_ = event; +} + +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; +} + +int low_can_subscription_t::open_socket() +{ + 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());} + index_ = (int)socket_.socket(); + } + return ret; +} + +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; + + memset(&bcm_msg, 0, sizeof(bcm_msg)); + + bcm_msg.msg_head.opcode = RX_SETUP; + 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; +} + +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++) + { + if(cfd.data[i] != 0) + { + bcm_msg.msg_head.nframes = 1; + bcm_msg.frames = cfd; + return; + } + } +} + +/// @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. +/// +/// @return 0 if ok else -1 +int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig) +{ + can_signal_= sig; + + struct can_frame cfd; + memset(&cfd, 0, sizeof(cfd)); + + float val = (float)(1 << can_signal_->get_bit_size()) - 1; + bitfield_encode_float(val, + can_signal_->get_bit_position(), + can_signal_->get_bit_size(), + can_signal_->get_factor(), + can_signal_->get_offset(), + cfd.data, + CAN_MAX_DLEN); + + struct timeval freq, timeout = {0, 0}; + frequency_clock_t f = std::isnan(event_filter_.frequency) ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency); + freq = f.get_timeval_from_period(); + + utils::simple_bcm_msg bcm_msg = make_bcm_head(can_signal_->get_message()->get_id(), SETTIMER|RX_NO_AUTOTIMER, timeout, freq); + add_bcm_frame(cfd, bcm_msg); + + return create_rx_filter(bcm_msg); +} + +/// @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(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::simple_bcm_msg bcm_msg = make_bcm_head(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. +/// +/// @return 0 if ok else -1 +int low_can_subscription_t::create_rx_filter(utils::simple_bcm_msg& bcm_msg) +{ + // Make sure that socket has been opened. + if(open_socket() < 0) + {return -1;} + + // If it isn't 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; +}
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/binding/low-can-cb.hpp b/CAN-binder/low-can-binding/binding/low-can-subscription.hpp index 0efde63a..0efde63a 100644 --- a/CAN-binder/low-can-binding/binding/low-can-cb.hpp +++ b/CAN-binder/low-can-binding/binding/low-can-subscription.hpp diff --git a/CAN-binder/low-can-binding/can/can-bus.hpp b/CAN-binder/low-can-binding/can/can-bus.hpp index 99d5a30f..dd67ca85 100644 --- a/CAN-binder/low-can-binding/can/can-bus.hpp +++ b/CAN-binder/low-can-binding/can/can-bus.hpp @@ -29,7 +29,7 @@ #include "can-message.hpp" #include "../utils/config-parser.hpp" #include "../binding/low-can-hat.hpp" -#include "../binding/low-can-cb.hpp" +#include "../binding/low-can-subscription.hpp" // TODO actual max is 32 but dropped to 24 for memory considerations #define MAX_ACCEPTANCE_FILTERS 24 diff --git a/CAN-binder/low-can-binding/utils/signals.hpp b/CAN-binder/low-can-binding/utils/signals.hpp index ffabe81b..ff914627 100644 --- a/CAN-binder/low-can-binding/utils/signals.hpp +++ b/CAN-binder/low-can-binding/utils/signals.hpp @@ -27,7 +27,7 @@ #include "../diagnostic/diagnostic-message.hpp" #include "../binding/low-can-hat.hpp" -#include "../binding/low-can-cb.hpp" +#include "../binding/low-can-subscription.hpp" namespace utils { |