diff options
Diffstat (limited to 'CAN-binder/low-can-binding/binding')
| -rw-r--r-- | CAN-binder/low-can-binding/binding/application-generated.cpp | 564 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/binding/application.cpp | 78 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/binding/application.hpp | 104 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/binding/low-can-cb.cpp | 358 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/binding/low-can-hat.cpp | 73 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/binding/low-can-hat.hpp | 40 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/binding/low-can-subscription.cpp | 306 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/binding/low-can-subscription.hpp | 91 |
8 files changed, 0 insertions, 1614 deletions
diff --git a/CAN-binder/low-can-binding/binding/application-generated.cpp b/CAN-binder/low-can-binding/binding/application-generated.cpp deleted file mode 100644 index 60a21f51..00000000 --- a/CAN-binder/low-can-binding/binding/application-generated.cpp +++ /dev/null @@ -1,564 +0,0 @@ -#include "application.hpp" -#include "../can/can-decoder.hpp" - -application_t::application_t() - : can_bus_manager_{utils::config_parser_t{"/etc/dev-mapping.conf"}} - , can_message_set_{ - {std::make_shared<can_message_set_t>(can_message_set_t{0,"example", - { // beginning can_message_definition_ vector - {std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x3D9,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true, - { // beginning can_signals vector - {std::make_shared<can_signal_t> (can_signal_t{ - "engine.speed", - 16, - 16, - 0.250000f, - 0.00000, - 0, - 0, - frequency_clock_t(0.00000f), - true, - false, - { - }, - false, - nullptr, - nullptr, - false - })}, - {std::make_shared<can_signal_t> (can_signal_t{ - "fuel.level.low", - 55, - 1, - 1.00000f, - 0.00000, - 0, - 0, - frequency_clock_t(0.00000f), - true, - false, - { - }, - false, - decoder_t::booleanDecoder, - nullptr, - false - })}, - {std::make_shared<can_signal_t> (can_signal_t{ - "fuel.level", - 8, - 8, - 0.392157f, - 0.00000, - 0, - 0, - frequency_clock_t(0.00000f), - true, - false, - { - }, - false, - nullptr, - nullptr, - false - })} - } // end can_signals vector - })} // end can_message_definition entry -, {std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x3E9,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true, - { // beginning can_signals vector - {std::make_shared<can_signal_t> (can_signal_t{ - "vehicle.average.speed", - 0, - 15, - 0.0156250f, - 0.00000, - 0, - 0, - frequency_clock_t(0.00000f), - true, - false, - { - }, - false, - nullptr, - nullptr, - false - })} - } // end can_signals vector - })} // end can_message_definition entry -, {std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x4D1,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true, - { // beginning can_signals vector - {std::make_shared<can_signal_t> (can_signal_t{ - "engine.oil.temp", - 16, - 8, - 1.00000f, - 0.00000, - 0, - 0, - frequency_clock_t(0.00000f), - true, - false, - { - }, - false, - nullptr, - nullptr, - false - })}, - {std::make_shared<can_signal_t> (can_signal_t{ - "engine.oil.temp.high", - 7, - 1, - 1.00000f, - 0.00000, - 0, - 0, - frequency_clock_t(0.00000f), - true, - false, - { - }, - false, - decoder_t::booleanDecoder, - nullptr, - false - })} - } // end can_signals vector - })} // end can_message_definition entry -, {std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x620,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true, - { // beginning can_signals vector - {std::make_shared<can_signal_t> (can_signal_t{ - "doors.boot.open", - 47, - 1, - 1.00000f, - 0.00000, - 0, - 0, - frequency_clock_t(0.00000f), - true, - false, - { - }, - false, - decoder_t::booleanDecoder, - nullptr, - false - })}, - {std::make_shared<can_signal_t> (can_signal_t{ - "doors.front_left.open", - 43, - 1, - 1.00000f, - 0.00000, - 0, - 0, - frequency_clock_t(0.00000f), - true, - false, - { - }, - false, - decoder_t::booleanDecoder, - nullptr, - false - })}, - {std::make_shared<can_signal_t> (can_signal_t{ - "doors.front_right.open", - 44, - 1, - 1.00000f, - 0.00000, - 0, - 0, - frequency_clock_t(0.00000f), - true, - false, - { - }, - false, - decoder_t::booleanDecoder, - nullptr, - false - })}, - {std::make_shared<can_signal_t> (can_signal_t{ - "doors.rear_left.open", - 46, - 1, - 1.00000f, - 0.00000, - 0, - 0, - frequency_clock_t(0.00000f), - true, - false, - { - }, - false, - decoder_t::booleanDecoder, - nullptr, - false - })}, - {std::make_shared<can_signal_t> (can_signal_t{ - "doors.rear_right.open", - 45, - 4, - 1.00000f, - 0.00000, - 0, - 0, - frequency_clock_t(0.00000f), - true, - false, - { - }, - false, - decoder_t::booleanDecoder, - nullptr, - false - })} - } // end can_signals vector - })} // end can_message_definition entry -, {std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x799,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true, - { // beginning can_signals vector - {std::make_shared<can_signal_t> (can_signal_t{ - "windows.front_left.open", - 43, - 1, - 1.00000f, - 0.00000, - 0, - 0, - frequency_clock_t(0.00000f), - true, - false, - { - }, - false, - decoder_t::booleanDecoder, - nullptr, - false - })}, - {std::make_shared<can_signal_t> (can_signal_t{ - "windows.front_right.open", - 44, - 1, - 1.00000f, - 0.00000, - 0, - 0, - frequency_clock_t(0.00000f), - true, - false, - { - }, - false, - decoder_t::booleanDecoder, - nullptr, - false - })}, - {std::make_shared<can_signal_t> (can_signal_t{ - "windows.rear_left.open", - 46, - 1, - 1.00000f, - 0.00000, - 0, - 0, - frequency_clock_t(0.00000f), - true, - false, - { - }, - false, - decoder_t::booleanDecoder, - nullptr, - false - })}, - {std::make_shared<can_signal_t> (can_signal_t{ - "windows.rear_right.open", - 45, - 4, - 1.00000f, - 0.00000, - 0, - 0, - frequency_clock_t(0.00000f), - true, - false, - { - }, - false, - decoder_t::booleanDecoder, - nullptr, - false - })} - } // end can_signals vector - })} // end can_message_definition entry - - }, // end can_message_definition vector - { // beginning diagnostic_messages_ vector - {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ - 4, - "engine.load", - 0, - 0, - UNIT::INVALID, - 5.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - })} -, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ - 5, - "engine.coolant.temperature", - 0, - 0, - UNIT::INVALID, - 1.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - })} -, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ - 10, - "fuel.pressure", - 0, - 0, - UNIT::INVALID, - 1.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - })} -, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ - 11, - "intake.manifold.pressure", - 0, - 0, - UNIT::INVALID, - 1.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - })} -, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ - 12, - "engine.speed", - 0, - 0, - UNIT::INVALID, - 5.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - })} -, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ - 13, - "vehicle.speed", - 0, - 0, - UNIT::INVALID, - 5.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - })} -, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ - 15, - "intake.air.temperature", - 0, - 0, - UNIT::INVALID, - 1.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - })} -, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ - 16, - "mass.airflow", - 0, - 0, - UNIT::INVALID, - 5.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - })} -, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ - 17, - "throttle.position", - 0, - 0, - UNIT::INVALID, - 5.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - })} -, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ - 31, - "running.time", - 0, - 0, - UNIT::INVALID, - 1.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - })} -, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ - 45, - "EGR.error", - 0, - 0, - UNIT::INVALID, - 0.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - })} -, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ - 47, - "fuel.level", - 0, - 0, - UNIT::INVALID, - 1.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - })} -, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ - 51, - "barometric.pressure", - 0, - 0, - UNIT::INVALID, - 1.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - })} -, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ - 70, - "ambient.air.temperature", - 0, - 0, - UNIT::INVALID, - 1.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - })} -, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ - 76, - "commanded.throttle.position", - 0, - 0, - UNIT::INVALID, - 1.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - })} -, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ - 82, - "ethanol.fuel.percentage", - 0, - 0, - UNIT::INVALID, - 1.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - })} -, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ - 90, - "accelerator.pedal.position", - 0, - 0, - UNIT::INVALID, - 5.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - })} -, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ - 91, - "hybrid.battery-pack.remaining.life", - 0, - 0, - UNIT::INVALID, - 5.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - })} -, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ - 92, - "engine.oil.temperature", - 0, - 0, - UNIT::INVALID, - 1.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - })} -, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ - 94, - "engine.fuel.rate", - 0, - 0, - UNIT::INVALID, - 1.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - })} -, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ - 99, - "engine.torque", - 0, - 0, - UNIT::INVALID, - 1.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - })} - - } // end diagnostic_messages_ vector - })} // end can_message_set entry - } // end can_message_set vector -{ - for(auto& cms: can_message_set_) - { - std::vector<std::shared_ptr<can_message_definition_t> >& can_messages_definition = cms->get_can_message_definition(); - for(auto& cmd : can_messages_definition) - { - cmd->set_parent(cms.get()); - std::vector<std::shared_ptr<can_signal_t> >& can_signals = cmd->get_can_signals(); - for(auto& sig: can_signals) - { - sig->set_parent(cmd.get()); - } - } - - std::vector<std::shared_ptr<diagnostic_message_t> >& diagnostic_messages = cms->get_diagnostic_messages(); - for(auto& dm : diagnostic_messages) - { - dm->set_parent(cms.get()); - } - } - } - -const std::string application_t::get_diagnostic_bus() const -{ - return "hs"; -} - - diff --git a/CAN-binder/low-can-binding/binding/application.cpp b/CAN-binder/low-can-binding/binding/application.cpp deleted file mode 100644 index 6e6353b8..00000000 --- a/CAN-binder/low-can-binding/binding/application.cpp +++ /dev/null @@ -1,78 +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. - */ - -#include "application.hpp" - -#include "../utils/signals.hpp" -#include "../utils/openxc-utils.hpp" - -/// @brief Return singleton instance of configuration object. -application_t& application_t::instance() -{ - static application_t config; - return config; -} - -can_bus_t& application_t::get_can_bus_manager() -{ - return can_bus_manager_; -} - -diagnostic_manager_t& application_t::get_diagnostic_manager() -{ - return diagnostic_manager_; -} - -uint8_t application_t::get_active_message_set() const -{ - return active_message_set_; -} - -std::vector<std::shared_ptr<can_message_set_t> > application_t::get_can_message_set() -{ - return can_message_set_; -} - -std::vector<std::shared_ptr<can_signal_t> > application_t::get_all_can_signals() -{ - return can_message_set_[active_message_set_]->get_all_can_signals(); -} - -std::vector<std::shared_ptr<diagnostic_message_t> >& application_t::get_diagnostic_messages() -{ - return can_message_set_[active_message_set_]->get_diagnostic_messages(); -} - -std::vector<std::shared_ptr<can_message_definition_t> >& application_t::get_can_message_definition() -{ - return can_message_set_[active_message_set_]->get_can_message_definition(); -} - -uint32_t application_t::get_signal_id(diagnostic_message_t& sig) const -{ - return sig.get_pid(); -} - -uint32_t application_t::get_signal_id(can_signal_t& sig) const -{ - return sig.get_message()->get_id(); -} - -void application_t::set_active_message_set(uint8_t id) -{ - active_message_set_ = id; -} diff --git a/CAN-binder/low-can-binding/binding/application.hpp b/CAN-binder/low-can-binding/binding/application.hpp deleted file mode 100644 index 5fa64782..00000000 --- a/CAN-binder/low-can-binding/binding/application.hpp +++ /dev/null @@ -1,104 +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 <map> -#include <vector> -#include <string> -#include <memory> - -#include "../can/can-bus.hpp" -#include "../can/can-message-set.hpp" -#include "../can/can-signals.hpp" -#include "../diagnostic/diagnostic-manager.hpp" - -#include "low-can-hat.hpp" - -/// -/// @brief Class representing a configuration attached to the binding. -/// -/// It regroups all needed objects instance from other class -/// that will be used along the binding life. It gets a global vision -/// on which signals are implemented for that binding. -/// Here, it is only the definition of the class with predefined accessors -/// methods used in the binding. -/// -/// It will be the reference point to needed objects. -/// -class application_t -{ - private: - can_bus_t can_bus_manager_; ///< instanciate the CAN bus manager. It's the one in charge of initialize the CAN bus devices. - diagnostic_manager_t diagnostic_manager_; ///< Diagnostic manager use to manage diagnostic message communication. - uint8_t active_message_set_ = 0; ///< Which is the active message set ? Default to 0. - - std::vector<std::shared_ptr<can_message_set_t> > can_message_set_; ///< Vector holding all message set from JSON signals description file - - application_t(); ///< Private constructor with implementation generated by the AGL generator. - - public: - static application_t& instance(); - - can_bus_t& get_can_bus_manager(); - - const std::string get_diagnostic_bus() const; - - diagnostic_manager_t& get_diagnostic_manager() ; - - uint8_t get_active_message_set() const; - - std::vector<std::shared_ptr<can_message_set_t> > get_can_message_set(); - - std::vector<std::shared_ptr<can_signal_t> > get_all_can_signals(); - - std::vector<std::shared_ptr<diagnostic_message_t> >& get_diagnostic_messages(); - - const std::vector<std::string>& get_signals_prefix() const; - - std::vector<std::shared_ptr<can_message_definition_t> >& get_can_message_definition(); - - uint32_t get_signal_id(diagnostic_message_t& sig) const; - - uint32_t get_signal_id(can_signal_t& sig) const; - - void set_active_message_set(uint8_t id); - -/* - /// TODO: implement this function as method into can_bus class - /// @brief Pre initialize actions made before CAN bus initialization - /// @param[in] bus A CanBus struct defining the bus's metadata - /// @param[in] writable Configure the controller in a writable mode. If false, it will be configured as "listen only" and will not allow writes or even CAN ACKs. - /// @param[in] buses An array of all CAN buses. - void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount); - /// TODO: implement this function as method into can_bus class - /// @brief Post-initialize actions made after CAN bus initialization - /// @param[in] bus A CanBus struct defining the bus's metadata - /// @param[in] writable Configure the controller in a writable mode. If false, it will be configured as "listen only" and will not allow writes or even CAN ACKs. - /// @param[in] buses An array of all CAN buses. - void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount); - /// TODO: implement this function as method into can_bus class - /// @brief Check if the device is connected to an active CAN bus, i.e. it's received a message in the recent past. - /// @return true if a message was received on the CAN bus within CAN_ACTIVE_TIMEOUT_S seconds. - void logBusStatistics(can_bus_dev_t* buses, const int busCount); - /// TODO: implement this function as method into can_bus class - /// @brief Log transfer statistics about all active CAN buses to the debug log. - /// @param[in] buses An array of active CAN buses. - bool isBusActive(can_bus_dev_t* bus); - */ -}; - diff --git a/CAN-binder/low-can-binding/binding/low-can-cb.cpp b/CAN-binder/low-can-binding/binding/low-can-cb.cpp deleted file mode 100644 index 97b6d206..00000000 --- a/CAN-binder/low-can-binding/binding/low-can-cb.cpp +++ /dev/null @@ -1,358 +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-hat.hpp" - -#include <map> -#include <queue> -#include <mutex> -#include <vector> -#include <thread> -#include <json-c/json.h> -#include <systemd/sd-event.h> - -#include "openxc.pb.h" -#include "application.hpp" -#include "../can/can-bus.hpp" -#include "../can/can-signals.hpp" -#include "../can/can-message.hpp" -#include "../utils/signals.hpp" -#include "../diagnostic/diagnostic-message.hpp" -#include "../utils/openxc-utils.hpp" - - -///****************************************************************************** -/// -/// SystemD event loop Callbacks -/// -///*******************************************************************************/ - -void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid, std::map<int, std::shared_ptr<low_can_subscription_t> >& s) -{ - if( ! can_subscription->get_diagnostic_message().empty() && can_subscription->get_diagnostic_message(pid) != nullptr) - { - DiagnosticRequest diag_req = can_subscription->get_diagnostic_message(pid)->build_diagnostic_request(); - active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req); - if( adr != nullptr) - application_t::instance().get_diagnostic_manager().cleanup_request(adr, true); - } - - on_no_clients(can_subscription, s); -} - -void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s) -{ - auto it = s.find(can_subscription->get_index()); - s.erase(it); -} - -static void push_n_notify(const can_message_t& cm) -{ - can_bus_t& cbm = application_t::instance().get_can_bus_manager(); - { - std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex()); - cbm.push_new_can_message(cm); - } - cbm.get_new_can_message_cv().notify_one(); -} - -int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata) -{ - low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata; - if ((revents & EPOLLIN) != 0) - { - can_message_t cm; - utils::socketcan_bcm_t& s = can_subscription->get_socket(); - s >> cm; - - // Sure we got a valid CAN message ? - if(! cm.get_id() == 0 && ! cm.get_length() == 0) - {push_n_notify(cm);} - } - - // check if error or hangup - if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0) - { - sd_event_source_unref(event_source); - can_subscription->get_socket().close(); - } - return 0; -} - -///****************************************************************************** -/// -/// Subscription and unsubscription -/// -///*******************************************************************************/ - -static int make_subscription_unsubscription(struct afb_req 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 (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[can_subscription->get_index()]->get_event())) < 0) - { - 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())) - { - ERROR("Can't create an event for %s, something goes wrong.", can_subscription->get_name().c_str()); - return -1; - } - return 0; -} - -/// @brief Will determine if it is needed or not to create the event handle and checks it to be sure that -/// we got a valid afb_event to get subscribe or unsubscribe. Then launch the subscription or unsubscription -/// against the application framework using that event handle. -static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, std::shared_ptr<low_can_subscription_t>& can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s) -{ - int ret = -1; - int sub_index = can_subscription->get_index(); - - if (can_subscription && s.find(sub_index) != s.end()) - { - if (!afb_event_is_valid(s[sub_index]->get_event()) && !subscribe) - { - NOTICE("Event isn't valid, no need to unsubscribed."); - ret = -1; - } - ret = 0; - } - else - { - /* Event doesn't exist , so let's create it */ - can_subscription->set_event({nullptr, nullptr}); - s[sub_index] = can_subscription; - ret = create_event_handle(can_subscription, s); - } - - // Check whether or not the event handler has been correctly created and - // make the subscription/unsubscription operation is so. - if (ret < 0) - return ret; - return make_subscription_unsubscription(request, can_subscription, s, subscribe); -} - -static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription) -{ - struct sd_event_source* event_source = nullptr; - return ( sd_event_add_io(afb_daemon_get_event_loop(), - &event_source, - can_subscription->get_socket().socket(), - EPOLLIN, - read_message, - can_subscription.get())); -} - -static int subscribe_unsubscribe_diagnostic_messages(struct afb_req request, bool subscribe, std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages, struct event_filter_t& event_filter, std::map<int, std::shared_ptr<low_can_subscription_t> >& s) -{ - int rets = 0; - application_t& app = application_t::instance(); - diagnostic_manager_t& diag_m = app.get_diagnostic_manager(); - - for(const auto& sig : diagnostic_messages) - { - DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request()); - event_filter.frequency = std::isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency; - std::shared_ptr<low_can_subscription_t> can_subscription; - - auto it = std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub){ return (! sub.second->get_diagnostic_message().empty());}); - can_subscription = it != s.end() ? - it->second : - std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter)); - // If the requested diagnostic message isn't supported by the car then unsubcribe it - // no matter what we want, worse case will be a fail unsubscription but at least we don't - // poll a PID for nothing. - //TODO: Adding callback requesting ignition status: diag_req, sig.c_str(), false, diagnostic_message_t::decode_obd2_response, diagnostic_message_t::check_ignition_status, frequency); - if(sig->get_supported() && subscribe) - { - diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), event_filter.frequency); - if(can_subscription->create_rx_filter(sig) < 0) - {return -1;} - DEBUG("Signal: %s subscribed", sig->get_name().c_str()); - if(it == s.end() && add_to_event_loop(can_subscription) < 0) - { - diag_m.cleanup_request( - diag_m.find_recurring_request(*diag_req), true); - WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str()); - return -1; - } - } - else - { - if(sig->get_supported()) - {DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());} - else - { - WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str()); - return -1; - } - } - int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s); - if(ret < 0) - return ret; - - rets++; - } - - return rets; -} - -static int subscribe_unsubscribe_can_signals(struct afb_req request, bool subscribe, std::vector<std::shared_ptr<can_signal_t> > can_signals, struct event_filter_t& event_filter, std::map<int, std::shared_ptr<low_can_subscription_t> >& s) -{ - int rets = 0; - for(const auto& sig: can_signals) - { - auto it = std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub){ return sub.second->get_can_signal() == sig; }); - std::shared_ptr<low_can_subscription_t> can_subscription; - if(it != s.end()) - { - can_subscription = it->second; - } - else - { - can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter)); - if(can_subscription->create_rx_filter(sig) < 0) - {return -1;} - if(add_to_event_loop(can_subscription) < 0) - {return -1;} - } - - if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0) - {return -1;} - - rets++; - DEBUG("signal: %s subscribed", sig->get_name().c_str()); - } - return rets; -} - -/// -/// @brief subscribe to all signals in the vector signals -/// -/// @param[in] afb_req request : contain original request use to subscribe or unsubscribe -/// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription -/// @param[in] signals - struct containing vectors with can_signal_t and diagnostic_messages to subscribe -/// -/// @return Number of correctly subscribed signal -/// -static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals, struct event_filter_t& event_filter) -{ - int rets = 0; - utils::signals_manager_t& sm = utils::signals_manager_t::instance(); - - std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); - std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals(); - - rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s); - rets += subscribe_unsubscribe_can_signals(request, subscribe, signals.can_signals, event_filter, s); - - return rets; -} - -static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const std::string& tag, json_object* args) -{ - int ret = 0; - struct event_filter_t event_filter; - struct json_object *filter, *obj; - struct utils::signals_found sf; - - // computes the filter - if (json_object_object_get_ex(args, "filter", &filter)) - { - if (json_object_object_get_ex(filter, "frequency", &obj) - && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int))) - { - event_filter.frequency = (float)json_object_get_double(obj); - ret += 1; - } - if (json_object_object_get_ex(filter, "min", &obj) - && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int))) - { - event_filter.min = (float)json_object_get_double(obj); - ret += 2; - } - if (json_object_object_get_ex(filter, "max", &obj) - && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int))) - { - event_filter.max = (float)json_object_get_double(obj); - ret += 4; - } - } - - // subscribe or unsubscribe - openxc_DynamicField search_key = build_DynamicField(tag); - sf = utils::signals_manager_t::instance().find_signals(search_key); - if (sf.can_signals.empty() && sf.diagnostic_messages.empty()) - NOTICE("No signal(s) found for %s.", tag.c_str()); - else - ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter); - - return ret; -} - -static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe) -{ - int i, n, rc, rc2; - struct json_object *args, *event, *x; - - args = afb_req_json(request); - if (args == NULL || !json_object_object_get_ex(args, "event", &event)) - { - rc = one_subscribe_unsubscribe(request, subscribe, "*", args); - } - else if (json_object_get_type(event) != json_type_array) - { - rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), args); - } - else - { - rc = 0; - n = json_object_array_length(event); - for (i = 0 ; i < n ; i++) - { - x = json_object_array_get_idx(event, i); - rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), args); - if (rc >= 0) - rc = rc2 >= 0 ? rc + rc2 : rc2; - } - } - - if (rc >= 0) - afb_req_success(request, NULL, NULL); - else - afb_req_fail(request, "error", NULL); -} - -void subscribe(struct afb_req request) -{ - do_subscribe_unsubscribe(request, true); -} - -void unsubscribe(struct afb_req request) -{ - do_subscribe_unsubscribe(request, false); -} diff --git a/CAN-binder/low-can-binding/binding/low-can-hat.cpp b/CAN-binder/low-can-binding/binding/low-can-hat.cpp deleted file mode 100644 index 7113b69a..00000000 --- a/CAN-binder/low-can-binding/binding/low-can-hat.cpp +++ /dev/null @@ -1,73 +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-hat.hpp" -#include "low-can-subscription.hpp" - -#include <map> -#include <queue> -#include <mutex> -#include <vector> -#include <json-c/json.h> - -#include "application.hpp" -#include "../can/can-bus.hpp" - -extern "C" -{ - static int initv2(); - - static const struct afb_verb_v2 verbs[]= - { - { .verb= "subscribe", .callback= subscribe, .auth= NULL, .session= AFB_SESSION_NONE}, - { .verb= "unsubscribe", .callback= unsubscribe, .auth= NULL, .session= AFB_SESSION_NONE}, - { .verb= NULL, .callback= NULL, .auth= NULL, .session= 0} - }; - - const struct afb_binding_v2 afbBindingV2 { - .api = "low-can", - .specification = NULL, - .verbs = verbs, - .preinit = NULL, - .init = initv2, - .onevent = NULL, - .noconcurrency = 0 - }; - - /// @brief Initialize the binding. - /// - /// @param[in] service Structure which represent the Application Framework Binder. - /// - /// @return Exit code, zero if success. - static int initv2() - { - can_bus_t& can_bus_manager = application_t::instance().get_can_bus_manager(); - - can_bus_manager.set_can_devices(); - can_bus_manager.start_threads(); - - /// Initialize Diagnostic manager that will handle obd2 requests. - /// We pass by default the first CAN bus device to its Initialization. - /// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus. - if(application_t::instance().get_diagnostic_manager().initialize()) - return 0; - - ERROR("There was something wrong with CAN device Initialization."); - return 1; - } -}; diff --git a/CAN-binder/low-can-binding/binding/low-can-hat.hpp b/CAN-binder/low-can-binding/binding/low-can-hat.hpp deleted file mode 100644 index cf3d999e..00000000 --- a/CAN-binder/low-can-binding/binding/low-can-hat.hpp +++ /dev/null @@ -1,40 +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. - */ - -#pragma once - -#include <cstddef> -#include <map> -#include <string> -#include <memory> -#include <systemd/sd-event.h> - -extern "C" -{ - #define AFB_BINDING_VERSION 2 - #include <afb/afb-binding.h> -}; - -class low_can_subscription_t; - -void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s); -void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid, std::map<int, std::shared_ptr<low_can_subscription_t> >& s); -int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata); - -void subscribe(struct afb_req request); -void unsubscribe(struct afb_req request);
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/binding/low-can-subscription.cpp b/CAN-binder/low-can-binding/binding/low-can-subscription.cpp deleted file mode 100644 index 5488cc53..00000000 --- a/CAN-binder/low-can-binding/binding/low-can-subscription.cpp +++ /dev/null @@ -1,306 +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-hat.hpp" - -#include "low-can-subscription.hpp" -#include "application.hpp" -#include "canutil/write.h" - -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_; -} - -/// @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(); - - 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() ; - - 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; -} - -/// @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; - 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; -} - -/// @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; - - 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; -} - -/// @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++) - { - 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 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) -{ - 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 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::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 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) -{ - // 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-subscription.hpp b/CAN-binder/low-can-binding/binding/low-can-subscription.hpp deleted file mode 100644 index 0ad7e3a2..00000000 --- a/CAN-binder/low-can-binding/binding/low-can-subscription.hpp +++ /dev/null @@ -1,91 +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" - -/// @brief Filtering values. Theses values has to be tested into -/// can_bus_t::apply_filter method. -struct event_filter_t -{ - 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_; ///< 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_; ///< 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_; ///< event_filter_ - filtering values applied to a subscription - - 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); - 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; - - int get_index() const; - struct afb_event& get_event(); - const std::shared_ptr<can_signal_t> get_can_signal() 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(struct afb_event event); - void set_frequency(float freq); - void set_min(float min); - void set_max(float max); - - 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(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); -}; |