diff options
Diffstat (limited to 'CAN-binder/low-can-binding/can')
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus.cpp | 40 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus.hpp | 9 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-message.cpp | 22 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-message.hpp | 3 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-signals.cpp | 46 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-signals.hpp | 4 |
6 files changed, 47 insertions, 77 deletions
diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp index a35eecdf..0ce6dc6a 100644 --- a/CAN-binder/low-can-binding/can/can-bus.cpp +++ b/CAN-binder/low-can-binding/can/can-bus.cpp @@ -72,9 +72,9 @@ int can_bus_t::process_can_signals(const can_message_t& can_message) for(const auto& sig : signals.can_signals) { std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); - std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals(); + std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s = sm.get_subscribed_signals(); - if( s.find(sig->get_name()) != s.end() && afb_event_is_valid(s[sig->get_name()])) + if( s.find(can_message.get_sub_id()) != s.end() && afb_event_is_valid(s[can_message.get_sub_id()].second)) { bool send = true; decoded_message = decoder_t::translateSignal(*sig, can_message, conf.get_all_can_signals(), &send); @@ -82,10 +82,10 @@ int can_bus_t::process_can_signals(const can_message_t& can_message) if(send) { openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message); - vehicle_message = build_VehicleMessage(s_message); + vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp()); std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(vehicle_message); + push_new_vehicle_message(std::make_pair(can_message.get_sub_id(), vehicle_message)); } processed_signals++; } @@ -110,14 +110,14 @@ int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const c 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<std::string, struct afb_event>& s = sm.get_subscribed_signals(); + std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s = sm.get_subscribed_signals(); openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message); if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) && - (s.find(vehicle_message.simple_message.name) != s.end() && afb_event_is_valid(s[vehicle_message.simple_message.name]))) + (s.find(can_message.get_sub_id()) != s.end() && afb_event_is_valid(s[can_message.get_sub_id()].second))) { std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(vehicle_message); + push_new_vehicle_message(std::make_pair(can_message.get_sub_id(), vehicle_message)); processed_signals++; } @@ -138,8 +138,6 @@ int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const c /// TODO: make diagnostic messages parsing optionnal. void can_bus_t::can_decode_message() { - can_message_t can_message; - while(is_decoding_) { { @@ -147,10 +145,10 @@ void can_bus_t::can_decode_message() new_can_message_cv_.wait(can_message_lock); while(!can_message_q_.empty()) { - can_message = next_can_message(); + const can_message_t can_message = next_can_message(); - if(configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message)) - process_diagnostic_signals(configuration_t::instance().get_diagnostic_manager(), can_message); + if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message)) + process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), can_message); else process_can_signals(can_message); } @@ -163,7 +161,7 @@ void can_bus_t::can_decode_message() /// which are events that has to be pushed. void can_bus_t::can_event_push() { - openxc_VehicleMessage v_message; + std::pair<int, openxc_VehicleMessage> v_message; openxc_SimpleMessage s_message; json_object* jo; utils::signals_manager_t& sm = utils::signals_manager_t::instance(); @@ -176,15 +174,15 @@ void can_bus_t::can_event_push() { v_message = next_vehicle_message(); - s_message = get_simple_message(v_message); + s_message = get_simple_message(v_message.second); { std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); - std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals(); - if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)])) + std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s = sm.get_subscribed_signals(); + if(s.find(v_message.first) != s.end() && afb_event_is_valid(s[v_message.first].second)) { jo = json_object_new_object(); jsonify_simple(s_message, jo); - if(afb_event_push(s[std::string(s_message.name)], jo) == 0) + if(afb_event_push(s[v_message.first].second, jo) == 0) on_no_clients(std::string(s_message.name)); } } @@ -235,7 +233,7 @@ std::mutex& can_bus_t::get_can_message_mutex() /// @brief Return first can_message_t on the queue /// /// @return a can_message_t -can_message_t can_bus_t::next_can_message() +const can_message_t can_bus_t::next_can_message() { can_message_t can_msg; @@ -262,9 +260,9 @@ void can_bus_t::push_new_can_message(const can_message_t& can_msg) /// @brief Return first openxc_VehicleMessage on the queue /// /// @return a openxc_VehicleMessage containing a decoded can message -openxc_VehicleMessage can_bus_t::next_vehicle_message() +std::pair<int, openxc_VehicleMessage> can_bus_t::next_vehicle_message() { - openxc_VehicleMessage v_msg; + std::pair<int, openxc_VehicleMessage> v_msg; if(! vehicle_message_q_.empty()) { @@ -280,7 +278,7 @@ openxc_VehicleMessage can_bus_t::next_vehicle_message() /// @brief Push a openxc_VehicleMessage into the queue /// /// @param[in] v_msg - const reference openxc_VehicleMessage object to push into the queue -void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg) +void can_bus_t::push_new_vehicle_message(const std::pair<int, openxc_VehicleMessage>& v_msg) { vehicle_message_q_.push(v_msg); } diff --git a/CAN-binder/low-can-binding/can/can-bus.hpp b/CAN-binder/low-can-binding/can/can-bus.hpp index 16d8cf6a..934b45d5 100644 --- a/CAN-binder/low-can-binding/can/can-bus.hpp +++ b/CAN-binder/low-can-binding/can/can-bus.hpp @@ -18,6 +18,7 @@ #pragma once +#include <utility> #include <mutex> #include <queue> #include <thread> @@ -67,7 +68,7 @@ private: std::condition_variable new_decoded_can_message_; ///< condition_variable use to wait until there is a new vehicle message to read from the queue vehicle_message_q_ std::mutex decoded_can_message_mutex_; ///< mutex protecting the vehicle_message_q_ queue. - std::queue <openxc_VehicleMessage> vehicle_message_q_; ///< queue that'll store openxc_VehicleMessage to pushed + std::queue <std::pair<int, openxc_VehicleMessage> > vehicle_message_q_; ///< queue that'll store openxc_VehicleMessage to pushed std::vector<std::pair<std::string, std::string> > can_devices_; public: @@ -81,11 +82,11 @@ public: void start_threads(); void stop_threads(); - can_message_t next_can_message(); + const can_message_t next_can_message(); void push_new_can_message(const can_message_t& can_msg); std::mutex& get_can_message_mutex(); std::condition_variable& get_new_can_message_cv(); - openxc_VehicleMessage next_vehicle_message(); - void push_new_vehicle_message(const openxc_VehicleMessage& v_msg); + std::pair<int, openxc_VehicleMessage> next_vehicle_message(); + void push_new_vehicle_message(const std::pair<int, openxc_VehicleMessage>& v_msg); }; diff --git a/CAN-binder/low-can-binding/can/can-message.cpp b/CAN-binder/low-can-binding/can/can-message.cpp index abfbfdb0..93894947 100644 --- a/CAN-binder/low-can-binding/can/can-message.cpp +++ b/CAN-binder/low-can-binding/can/can-message.cpp @@ -27,7 +27,14 @@ /// Constructor about can_message_t class. /// can_message_t::can_message_t() - : maxdlen_{0}, id_{0}, length_{0}, format_{can_message_format_t::INVALID}, rtr_flag_{false}, flags_{0}, timestamp_{0} + : maxdlen_{0}, + id_{0}, + length_{0}, + format_{can_message_format_t::INVALID}, + rtr_flag_{false}, + flags_{0}, + timestamp_{0}, + sub_id_{-1} {} can_message_t::can_message_t(uint8_t maxdlen, @@ -45,7 +52,8 @@ can_message_t::can_message_t(uint8_t maxdlen, rtr_flag_{rtr_flag}, flags_{flags}, data_{data}, - timestamp_{timestamp} + timestamp_{timestamp}, + sub_id_{-1} {} /// @@ -58,6 +66,11 @@ uint32_t can_message_t::get_id() const return id_; } +int can_message_t::get_sub_id() const +{ + return sub_id_; +} + /// /// @brief Retrieve RTR flag member. /// @@ -121,6 +134,11 @@ uint8_t can_message_t::get_length() const return length_; } +void can_message_t::set_sub_id(int sub_id) +{ + sub_id_ = sub_id; +} + uint64_t can_message_t::get_timestamp() const { return timestamp_; diff --git a/CAN-binder/low-can-binding/can/can-message.hpp b/CAN-binder/low-can-binding/can/can-message.hpp index 1ce1c7a5..ced2602a 100644 --- a/CAN-binder/low-can-binding/can/can-message.hpp +++ b/CAN-binder/low-can-binding/can/can-message.hpp @@ -52,12 +52,14 @@ private: uint8_t flags_; /*!< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/ std::vector<uint8_t> data_; /*!< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/ uint64_t timestamp_; /*!< timestamp_ - timestamp of the received message*/ + int sub_id_; /*!< sub_id_ - Subscription index. */ public: can_message_t(); can_message_t(uint8_t maxdlen, uint32_t id, uint8_t length, can_message_format_t format, bool rtr_flag_, uint8_t flags, std::vector<uint8_t>& data, uint64_t timestamp); uint32_t get_id() const; + int get_sub_id() const; bool get_rtr_flag_() const; can_message_format_t get_format() const; uint8_t get_flags() const; @@ -66,6 +68,7 @@ public: uint8_t get_length() const; uint64_t get_timestamp() const; + void set_sub_id(int sub_id); void set_timestamp(uint64_t timestamp); void set_format(const can_message_format_t new_format); diff --git a/CAN-binder/low-can-binding/can/can-signals.cpp b/CAN-binder/low-can-binding/can/can-signals.cpp index 324cecc7..362e3582 100644 --- a/CAN-binder/low-can-binding/can/can-signals.cpp +++ b/CAN-binder/low-can-binding/can/can-signals.cpp @@ -83,12 +83,6 @@ can_signal_t::can_signal_t( , received_{b.received_} , last_value_{b.last_value_} {}*/ - -utils::socketcan_bcm_t can_signal_t::get_socket() const -{ - return socket_; -} - can_message_definition_t* can_signal_t::get_message() const { return parent_; @@ -220,43 +214,3 @@ void can_signal_t::set_timestamp(uint64_t timestamp) frequency_.tick(timestamp); } -/// @brief Create a RX_SETUP receive job used by 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_device_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; - struct timeval freq = frequency_.get_timeval_from_period(); - - bcm_msg.msg_head.opcode = RX_SETUP; - bcm_msg.msg_head.can_id = can_id; - bcm_msg.msg_head.flags = SETTIMER|RX_NO_AUTOTIMER; - bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec ; - bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec; - 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 b8fbe4ef..2d67f273 100644 --- a/CAN-binder/low-can-binding/can/can-signals.hpp +++ b/CAN-binder/low-can-binding/can/can-signals.hpp @@ -76,7 +76,6 @@ class can_signal_t { private: can_message_definition_t* parent_; /*!< parent_ - pointer to the parent message definition holding this signal*/ - utils::socketcan_bcm_t socket_; /*!< socket_ - Specific BCM socket that filter the signal read from CAN device */ 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.*/ @@ -127,7 +126,6 @@ public: SignalEncoder encoder, bool received); - utils::socketcan_bcm_t get_socket() const; can_message_definition_t* get_message() const; const std::string get_generic_name() const; const std::string get_name() const; @@ -155,6 +153,4 @@ public: void set_received(bool r); void set_last_value(float val); void set_timestamp(uint64_t timestamp); - - int create_rx_filter(); }; |