diff options
| -rw-r--r-- | low-can-binding/binding/low-can-subscription.cpp | 70 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-subscription.hpp | 10 |
2 files changed, 59 insertions, 21 deletions
diff --git a/low-can-binding/binding/low-can-subscription.cpp b/low-can-binding/binding/low-can-subscription.cpp index 8e4429f5..eb3f6c37 100644 --- a/low-can-binding/binding/low-can-subscription.cpp +++ b/low-can-binding/binding/low-can-subscription.cpp @@ -224,22 +224,60 @@ 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 low_can_subscription_t::open_socket(low_can_subscription_t &subscription, const std::string& bus_name) { int ret = 0; - if(! socket_) + if(! subscription.socket_) { - if( signal_ != nullptr) - {ret = socket_->open(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(); + + #ifdef USE_FEATURE_J1939 + if((subscription.signal_ != nullptr || !bus_name.empty()) && subscription.signal_->get_message()->is_j1939()) + { + name_t name = J1939_NO_NAME; + pgn_t pgn = J1939_NO_PGN; + uint8_t addr = J1939_NO_ADDR; + pgn = subscription.signal_->get_message()->get_id(); + if( subscription.signal_ != nullptr) + { + std::shared_ptr<utils::socketcan_j1939_t> socket = std::make_shared<utils::socketcan_j1939_t>(); + ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(), name, pgn, addr); + subscription.socket_ = socket; + } + else if ( !bus_name.empty()) + { + std::shared_ptr<utils::socketcan_j1939_t> socket = std::make_shared<utils::socketcan_j1939_t>(); + ret = socket->open(bus_name, name, pgn, addr); + subscription.socket_ = socket; + } + subscription.index_ = (int)subscription.socket_->socket(); + } + else + { + #endif + if( subscription.signal_ != nullptr) + { + subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>(); + ret = subscription.socket_->open(subscription.signal_->get_message()->get_bus_device_name()); + } + else if (! subscription.diagnostic_message_ .empty()) + { + subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>(); + ret = subscription.socket_->open(application_t::instance().get_diagnostic_manager().get_bus_device_name()); + } + else if ( !bus_name.empty()) + { + subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>(); + ret = subscription.socket_->open(bus_name); + } + subscription.index_ = (int)subscription.socket_->socket(); + #ifdef USE_FEATURE_J1939 + } + #endif } return ret; } @@ -248,7 +286,7 @@ int low_can_subscription_t::open_socket(const std::string& bus_name) /// /// @returns a bcm_msg with the msg_head parts set and can_frame /// zeroed. -struct 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 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) { struct bcm_msg bcm_msg; ::memset(&bcm_msg, 0, sizeof(bcm_msg)); @@ -267,7 +305,7 @@ struct bcm_msg low_can_subscription_t::make_bcm_head(uint32_t opcode, uint32_t c /// @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 bcm_msg& bcm_msg) const +void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg) { struct can_frame cf; @@ -289,7 +327,7 @@ int low_can_subscription_t::create_rx_filter_j1939(low_can_subscription_t &subsc subscription.signal_= sig; // Make sure that socket is opened. - if(subscription.open_socket() < 0) + if(open_socket(subscription) < 0) { return -1; } @@ -382,13 +420,13 @@ int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_ int low_can_subscription_t::create_rx_filter_bcm(low_can_subscription_t &subscription, struct bcm_msg& bcm_msg) { // Make sure that socket is opened. - if(subscription.open_socket() < 0) + if(subscription.open_socket(subscription) < 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. - std::shared_ptr<message_t> msg = std::make_shared<can_message_t>(); + std::shared_ptr<can_message_t> msg = std::make_shared<can_message_t>(); msg->set_bcm_msg(bcm_msg); @@ -421,11 +459,11 @@ int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, struct struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cfd.can_id); subscription.add_one_bcm_frame(cfd, bcm_msg); - if(subscription.open_socket(bus_name) < 0) + if(subscription.open_socket(subscription, bus_name) < 0) {return -1;} - std::shared_ptr<message_t> msg = std::make_shared<can_message_t>(); + std::shared_ptr<can_message_t> msg = std::make_shared<can_message_t>(); msg->set_bcm_msg(bcm_msg); diff --git a/low-can-binding/binding/low-can-subscription.hpp b/low-can-binding/binding/low-can-subscription.hpp index 01264ff4..691eb881 100644 --- a/low-can-binding/binding/low-can-subscription.hpp +++ b/low-can-binding/binding/low-can-subscription.hpp @@ -15,7 +15,7 @@ * limitations under the License. */ - #pragma once +#pragma once #include <string> #include <cmath> @@ -89,16 +89,16 @@ public: void set_min(float min); void set_max(float max); - struct 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 bcm_msg& bcm_msg) const; + static struct 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}); + static void add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg); - int open_socket(const std::string& bus_name = ""); + static int open_socket(low_can_subscription_t &subscription, const std::string& bus_name = ""); int create_rx_filter(std::shared_ptr<signal_t> sig); int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig); static int create_rx_filter_can(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig); static int create_rx_filter_j1939(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig); - static int create_rx_filter_bcm(low_can_subscription_t &subscription, struct bcm_msg& bcm_msg); + static int create_rx_filter_bcm(low_can_subscription_t &subscription, bcm_msg& bcm_msg); static int tx_send(low_can_subscription_t &subscription, struct canfd_frame& cfd, const std::string& bus_name); }; |