diff options
Diffstat (limited to 'CAN-binder/low-can-binding/binding')
| -rw-r--r-- | CAN-binder/low-can-binding/binding/low-can-subscription.cpp | 59 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/binding/low-can-subscription.hpp | 26 |
2 files changed, 51 insertions, 34 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); |