diff options
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus-dev.cpp | 34 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus-dev.hpp | 1 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus.cpp | 9 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus.hpp | 2 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-signals.cpp | 51 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-signals.hpp | 10 |
6 files changed, 58 insertions, 49 deletions
diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.cpp b/CAN-binder/low-can-binding/can/can-bus-dev.cpp index 601881db..0a2cd308 100644 --- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp +++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp @@ -124,40 +124,6 @@ can_message_t can_bus_dev_t::read() return can_message_t::convert_from_frame(cfd, nbytes); } -/// @brief Create a RX_SETUP receive job using the BCM socket. -/// -/// @return 0 if ok else -1 -int can_bus_dev_t::create_rx_filter(const can_signal_t& s) -{ - uint32_t can_id = s.get_message().get_id(); - - struct utils::simple_bcm_msg bcm_msg; - struct can_frame cfd; - - memset(&cfd, 0, sizeof(cfd)); - memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head)); - uint8_t bit_size = s.get_bit_size(); - float val = (float)(1 << bit_size)-1; - - bcm_msg.msg_head.opcode = RX_SETUP; - bcm_msg.msg_head.can_id = can_id; - bcm_msg.msg_head.flags = 0; - bcm_msg.msg_head.nframes = 1; - bitfield_encode_float(val, - s.get_bit_position(), - bit_size, - s.get_factor(), - s.get_offset(), - cfd.data, - CAN_MAX_DLEN); - - bcm_msg.frames = cfd; - - if(can_socket_ << bcm_msg) - return 0; - return -1; -} - /// @brief start reading threads and set flag is_running_ /// @param[in] can_bus reference can_bus_t. it will be passed to the thread to allow using can_bus_t queue. void can_bus_dev_t::start_reading(can_bus_t& can_bus) diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.hpp b/CAN-binder/low-can-binding/can/can-bus-dev.hpp index e9c2d207..2ddc1ff0 100644 --- a/CAN-binder/low-can-binding/can/can-bus-dev.hpp +++ b/CAN-binder/low-can-binding/can/can-bus-dev.hpp @@ -58,7 +58,6 @@ public: void stop_reading(); can_message_t read(); - int create_rx_filter(const can_signal_t& s); int send(can_message_t& can_msg); bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size); diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp index d9703f2e..bca9d031 100644 --- a/CAN-binder/low-can-binding/can/can-bus.cpp +++ b/CAN-binder/low-can-binding/can/can-bus.cpp @@ -391,15 +391,6 @@ void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg) vehicle_message_q_.push(v_msg); } -/// @brief Create a RX_SETUP receive job for the BCM socket of a CAN signal. -/// -/// @return 0 if ok -1 if not. - int can_bus_t::create_rx_filter(const can_signal_t& s) - { - const std::string& bus = s.get_message().get_bus_name(); - return can_bus_t::can_devices_[bus]->create_rx_filter(s); - } - /// @brief Return a map with the can_bus_dev_t initialized /// /// @return map can_bus_dev_m_ map diff --git a/CAN-binder/low-can-binding/can/can-bus.hpp b/CAN-binder/low-can-binding/can/can-bus.hpp index f6a3745e..94fa0a58 100644 --- a/CAN-binder/low-can-binding/can/can-bus.hpp +++ b/CAN-binder/low-can-binding/can/can-bus.hpp @@ -94,8 +94,6 @@ public: openxc_VehicleMessage next_vehicle_message(); void push_new_vehicle_message(const openxc_VehicleMessage& v_msg); - int create_rx_filter(const can_signal_t& signal); - const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& get_can_devices() const; static std::shared_ptr<can_bus_dev_t> get_can_device(std::string bus); }; diff --git a/CAN-binder/low-can-binding/can/can-signals.cpp b/CAN-binder/low-can-binding/can/can-signals.cpp index 82c62853..48c919da 100644 --- a/CAN-binder/low-can-binding/can/can-signals.cpp +++ b/CAN-binder/low-can-binding/can/can-signals.cpp @@ -22,7 +22,10 @@ #include "../binding/configuration.hpp" #include "../utils/signals.hpp" #include "can-decoder.hpp" +#include "can-message.hpp" +#include "can-bus.hpp" #include "../diagnostic/diagnostic-message.hpp" +#include "canutil/write.h" std::string can_signal_t::prefix_ = "messages"; @@ -63,6 +66,10 @@ can_signal_t::can_signal_t(std::uint8_t message_set_id, , last_value_{.0f} {} +utils::socketcan_bcm_t can_signal_t::get_socket() const +{ + return socket_; +} const can_message_definition_t& can_signal_t::get_message() const { @@ -184,3 +191,47 @@ void can_signal_t::set_last_value(float val) { last_value_ = val; } + +/// @brief Create a RX_SETUP receive job using the BCM socket. +/// +/// @return 0 if ok else -1 +int can_signal_t::create_rx_filter() +{ + // Make sure that socket has been opened. + if(! socket_) + socket_.open( + get_message().get_bus_name()); + + uint32_t can_id = get_message().get_id(); + + struct utils::simple_bcm_msg bcm_msg; + struct can_frame cfd; + + memset(&cfd, 0, sizeof(cfd)); + memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head)); + float val = (float)(1 << bit_size_)-1; + float freq = frequency_.frequency_to_period(); + if(freq <= 0) + freq = 0.000001f; + + bcm_msg.msg_head.opcode = RX_SETUP; + bcm_msg.msg_head.can_id = can_id; + bcm_msg.msg_head.flags = SETTIMER; + bcm_msg.msg_head.ival2.tv_sec = long(freq); + bcm_msg.msg_head.ival2.tv_usec = (freq - (long)freq) * 1000000; + bcm_msg.msg_head.nframes = 1; + bitfield_encode_float(val, + bit_position_, + bit_size_, + factor_, + offset_, + cfd.data, + CAN_MAX_DLEN); + + bcm_msg.frames = cfd; + + if(socket_ << bcm_msg) + return 0; + return -1; +} + diff --git a/CAN-binder/low-can-binding/can/can-signals.hpp b/CAN-binder/low-can-binding/can/can-signals.hpp index 50eb4ec5..f21cab49 100644 --- a/CAN-binder/low-can-binding/can/can-signals.hpp +++ b/CAN-binder/low-can-binding/can/can-signals.hpp @@ -25,6 +25,7 @@ #include "openxc.pb.h" #include "../utils/timer.hpp" +#include "../utils/socketcan-bcm.hpp" #include "can-message.hpp" #include "can-message-definition.hpp" #include "../diagnostic/diagnostic-message.hpp" @@ -75,15 +76,16 @@ typedef uint64_t (*SignalEncoder)(can_signal_t* signal, class can_signal_t { private: - std::uint8_t message_set_id_; - std::uint8_t message_id_; + utils::socketcan_bcm_t socket_; /*!< socket_ - Specific BCM socket that filter the signal read from CAN device */ + std::uint8_t message_set_id_; ///< message_set_id_ - Index number to the message_set_id container object + std::uint8_t message_id_; ///< message_id_ - Index number to the message_definition_t container object std::string generic_name_; /*!< generic_name_ - The name of the signal to be output.*/ static std::string prefix_; /*!< prefix_ - generic_name_ will be prefixed with it. It has to reflect the used protocol. * which make easier to sort message when the come in.*/ uint8_t bit_position_; /*!< bitPosition_ - The starting bit of the signal in its CAN message (assuming * non-inverted bit numbering, i.e. the most significant bit of * each byte is 0) */ - uint8_t bit_size_; /*!< bitSize_ - The width of the bit field in the CAN message. */ + uint8_t bit_size_; /*!< bit_size_ - The width of the bit field in the CAN message. */ float factor_; /*!< factor_ - The final value will be multiplied by this factor. Use 1 if you * don't need a factor. */ float offset_; /*!< offset_ - The final value will be added to this offset. Use 0 if you @@ -129,6 +131,7 @@ public: SignalEncoder encoder, bool received); + utils::socketcan_bcm_t get_socket() const; const can_message_definition_t& get_message() const; const std::string& get_generic_name() const; const std::string get_name() const; @@ -154,4 +157,5 @@ public: void set_prefix(std::string val); void set_received(bool r); void set_last_value(float val); + int create_rx_filter(); };
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