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-rw-r--r--CAN-binder/low-can-binding/utils/config-parser.cpp84
-rw-r--r--CAN-binder/low-can-binding/utils/config-parser.hpp43
-rw-r--r--CAN-binder/low-can-binding/utils/openxc-utils.cpp282
-rw-r--r--CAN-binder/low-can-binding/utils/openxc-utils.hpp42
-rw-r--r--CAN-binder/low-can-binding/utils/signals.cpp76
-rw-r--r--CAN-binder/low-can-binding/utils/signals.hpp90
-rw-r--r--CAN-binder/low-can-binding/utils/socket.cpp89
-rw-r--r--CAN-binder/low-can-binding/utils/socket.hpp46
-rw-r--r--CAN-binder/low-can-binding/utils/timer.cpp102
-rw-r--r--CAN-binder/low-can-binding/utils/timer.hpp53
10 files changed, 907 insertions, 0 deletions
diff --git a/CAN-binder/low-can-binding/utils/config-parser.cpp b/CAN-binder/low-can-binding/utils/config-parser.cpp
new file mode 100644
index 00000000..e73b0f94
--- /dev/null
+++ b/CAN-binder/low-can-binding/utils/config-parser.cpp
@@ -0,0 +1,84 @@
+/*
+ * Copyright (C) 2015, 2016 ,2017 "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.
+ */
+
+namespace utils
+{
+ config_parser_t::config_parser_t(int conf_file)
+ : conf_file_{conf_file}, devices_name{}
+ {}
+
+ /// @brief read the conf_file_ and will parse json objects
+ /// in it searching for canbus objects devices name.
+ ///
+ /// @return Vector of can bus device name string.
+ void can_bus_t::read_conf()
+ {
+ FILE *fd = fdopen(conf_file_, "r");
+ if (fd)
+ {
+ std::fseek(fd, 0, SEEK_END);
+ config_content_.resize(std::ftell(fd));
+ std::rewind(fd);
+ std::fread(&config_content_[0], 1, config_content_.size(), fd);
+ std::fclose(fd);
+
+ DEBUG(binder_interface, "Configuration file content : %s", config_content_.c_str());
+ }
+ ERROR(binder_interface, "Problem at reading the conf file");
+ }
+
+ void parse_devices_name()
+ {
+ json_object *jo, *canbus;
+ const char* taxi;
+
+ jo = json_tokener_parse(config_content_.c_str());
+
+ if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
+ {
+ ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
+ devices_name_.clear();
+ }
+ else if (json_object_get_type(canbus) != json_type_array)
+ {
+ taxi = json_object_get_string(canbus);
+ DEBUG(binder_interface, "Can bus found: %s", taxi);
+ devices_name_.push_back(std::string(taxi));
+ }
+ else
+ {
+ int n, i;
+ n = json_object_array_length(canbus);
+ for (i = 0 ; i < n ; i++)
+ devices_name_.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
+ }
+ }
+
+ /// @brief Public method to access devices_name_ vector. If vector size equal 0
+ /// then it will parses the configuration file content to fill it. It could be empty even
+ /// after parsing if content file just don't have a correct "canbus" directive so you
+ /// have to test the returned value.
+ ///
+ /// @return A const vector with string of linux CAN devices.
+ const std::vector<std::string>& get_devices_name()
+ {
+ if(devices_name_.empty())
+ parse_devices_name();
+
+ return devices_name_;
+ }
+} \ No newline at end of file
diff --git a/CAN-binder/low-can-binding/utils/config-parser.hpp b/CAN-binder/low-can-binding/utils/config-parser.hpp
new file mode 100644
index 00000000..e6bd9d22
--- /dev/null
+++ b/CAN-binder/low-can-binding/utils/config-parser.hpp
@@ -0,0 +1,43 @@
+/*
+ * Copyright (C) 2015, 2016 ,2017 "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 <fcntl.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+#include <json-c/json.h>
+
+#include <string>
+
+namespace utils
+{
+ class config_parser_t
+ {
+ private:
+ int conf_file_; /*!< conf_file_ - file that handle the binding configuration file */
+ std::string config_content_; /*!< config_content_ - String that contains the content of config file */
+ std::vector<std::string> devices_name_; /*!< devices_name - Found devices name after reading configuration file */
+
+ void parse_devices_name();
+ public:
+ config_parser_t(int conf_file);
+
+ void read_conf();
+ std::vector<std::string> get_devices_name();
+ };
+}
diff --git a/CAN-binder/low-can-binding/utils/openxc-utils.cpp b/CAN-binder/low-can-binding/utils/openxc-utils.cpp
new file mode 100644
index 00000000..52b49d29
--- /dev/null
+++ b/CAN-binder/low-can-binding/utils/openxc-utils.cpp
@@ -0,0 +1,282 @@
+/*
+ * 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 "openxc-utils.hpp"
+
+#include "../configuration.hpp"
+
+///
+/// @brief Build a specific VehicleMessage containing a DiagnosticResponse.
+///
+/// @param[in] request - Original request use to retrieve decoder and callback
+/// @param[in] response - Response to the request that will be decoded if decoder set
+/// and put into the DiagnosticResponse of the VehicleMessage.
+/// @param[in] parsed_value - raw parsed value of the payload from CAN message
+///
+/// @return a vehicle message including simple message that will be convert into
+/// a JSON object before being pushed to the subscribers
+///
+openxc_VehicleMessage build_VehicleMessage(active_diagnostic_request_t* request, const DiagnosticResponse& response, float parsed_value)
+{
+ openxc_VehicleMessage message;
+
+ message.has_type = true;
+ message.type = openxc_VehicleMessage_Type::openxc_VehicleMessage_Type_DIAGNOSTIC;
+ message.has_diagnostic_response = true;
+ message.diagnostic_response.has_bus = true;
+ message.diagnostic_response.bus = configuration_t::instance().get_diagnostic_manager().get_can_bus_dev()->get_address();
+ message.diagnostic_response.has_message_id = true;
+
+ if(request->get_id() != OBD2_FUNCTIONAL_BROADCAST_ID)
+ {
+ message.diagnostic_response.message_id = response.arbitration_id
+ - DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET;
+ }
+ else
+ {
+ // must preserve responding arb ID for responses to functional broadcast
+ // requests, as they are the actual module address and not just arb ID +
+ // 8.
+ message.diagnostic_response.message_id = response.arbitration_id;
+ }
+
+ message.diagnostic_response.has_mode = true;
+ message.diagnostic_response.mode = response.mode;
+ message.diagnostic_response.has_pid = response.has_pid;
+ if(message.diagnostic_response.has_pid)
+ message.diagnostic_response.pid = response.pid;
+ message.diagnostic_response.has_success = true;
+ message.diagnostic_response.success = response.success;
+ message.diagnostic_response.has_negative_response_code = !response.success;
+ message.diagnostic_response.negative_response_code =
+ response.negative_response_code;
+
+ if(response.payload_length > 0)
+ {
+ if(request->get_decoder() != nullptr)
+ {
+ message.diagnostic_response.has_value = true;
+ message.diagnostic_response.value = parsed_value;
+ }
+ else
+ {
+ message.diagnostic_response.has_payload = true;
+ ::memcpy(message.diagnostic_response.payload.bytes, response.payload,
+ response.payload_length);
+ message.diagnostic_response.payload.size = response.payload_length;
+ }
+ }
+
+ return message;
+}
+
+///
+/// @brief Build a specific VehicleMessage containing a SimpleMessage.
+///
+/// @param[in] message - simple message to include into openxc_VehicleMessage
+///
+/// @return a vehicle message including simple message that will be convert into
+/// a JSON object before being pushed to the subscribers
+///
+openxc_VehicleMessage build_VehicleMessage(const openxc_SimpleMessage& message)
+{
+ openxc_VehicleMessage v;
+
+ v.has_type = true,
+ v.type = openxc_VehicleMessage_Type::openxc_VehicleMessage_Type_SIMPLE;
+ v.has_simple_message = true;
+ v.simple_message = message;
+ v.has_timestamp = true;
+ v.timestamp = system_time_ms();
+
+ return v;
+}
+
+///
+/// @brief Build an empty VehicleMessage that isn't usable by at least the struct
+/// is initialized for the most part and can be use to check a false return value.
+///
+/// @return A VehicleMessage with all boolean value to false.
+///
+openxc_VehicleMessage build_VehicleMessage()
+{
+ openxc_VehicleMessage v;
+
+ ::memset(&v, 0, sizeof(openxc_VehicleMessage));
+ return v;
+}
+
+bool is_valid(const openxc_VehicleMessage& v)
+{
+ if (v.has_type == false &&
+ v.has_can_message == false &&
+ v.has_simple_message == false &&
+ v.has_diagnostic_response == false &&
+ v.has_control_command == false &&
+ v.has_command_response == false &&
+ v.has_timestamp == false)
+ return false;
+ return true;
+}
+
+///
+/// @brief Build an openxc_SimpleMessage associating a name to an openxc_DynamicField
+///
+/// @param[in] name - const string reference name to assign to the created SimpleMessage
+/// this will set has_name member to true and assign name to the name member. Maximum size for name is
+/// set to 100 char.
+/// @param[in] value - const reference with DynamicField to assign to SimpleMessage
+/// value.
+///
+/// @return an openxc_SimpleMessage struct initialized with name and value provided.
+///
+openxc_SimpleMessage build_SimpleMessage(const std::string& name, const openxc_DynamicField& value)
+{
+ openxc_SimpleMessage s;
+
+ s.has_name = true;
+ ::strncpy(s.name, name.c_str(), 100);
+ s.has_value = true;
+ s.value = value;
+
+ return s;
+}
+
+///
+/// @brief Build an openxc_DynamicField with a string value
+///
+/// @param[in] value - const string reference value to assign to builded
+/// openxc_DynamicField.
+///
+/// @return openxc_DynamicField initialized with a string value.
+///
+openxc_DynamicField build_DynamicField(const std::string& value)
+{
+ openxc_DynamicField d;
+ d.has_type = true;
+ d.type = openxc_DynamicField_Type_STRING;
+
+ d.has_string_value = true;
+ d.has_numeric_value = false;
+ d.has_boolean_value = false;
+ ::strncpy(d.string_value, value.c_str(), 100);
+
+ return d;
+}
+
+///
+/// @fn openxc_DynamicField build_DynamicField(double value);
+///
+/// @brief Build an openxc_DynamicField with a double value
+///
+/// @param[in] value - double value to assign to builded openxc_DynamicField.
+///
+/// @return openxc_DynamicField initialized with a double value.
+///
+openxc_DynamicField build_DynamicField(double value)
+{
+ openxc_DynamicField d;
+ d.has_type = true;
+ d.type = openxc_DynamicField_Type_NUM;
+
+ d.has_string_value = false;
+ d.has_numeric_value = true;
+ d.has_boolean_value = false;
+ d.numeric_value = value;
+
+ return d;
+}
+
+///
+/// @brief Build an openxc_DynamicField with a boolean value
+///
+/// @param[in] value - boolean value to assign to builded openxc_DynamicField.
+///
+/// @return openxc_DynamicField initialized with a boolean value.
+///
+openxc_DynamicField build_DynamicField(bool value)
+{
+ openxc_DynamicField d;
+ d.has_type = true;
+ d.type = openxc_DynamicField_Type_BOOL;
+
+ d.has_string_value = false;
+ d.has_numeric_value = false;
+ d.has_boolean_value = true;
+ d.boolean_value = value;
+
+ return d;
+}
+
+///
+/// @brief Extract the simple message value from an openxc_VehicleMessage
+/// and return it. If there isn't SimpleMessage in the VehicleMessage then
+/// returned value will be a SimpleMessage with all field set at false.
+/// DynamicField from SimpleMessage will be boolean DynamicField set to false too.
+///
+/// @param[in] v_msg - const reference to openxc_VehicleMessage
+///
+/// @return A simpleMessage from the provided VehicleMessage.
+///
+openxc_SimpleMessage get_simple_message(const openxc_VehicleMessage& v_msg)
+{
+ if (v_msg.has_simple_message)
+ return v_msg.simple_message;
+
+ openxc_SimpleMessage s_msg = { false, "", false, build_DynamicField(false), false, build_DynamicField(false)};
+ return s_msg;
+}
+
+///
+/// @brief Make a JSON object from a DynamicField
+///
+/// @param[in] field - openxc_DynamicField struct to convert into
+/// a json object.
+/// @param[out] value - pointer to the object to set up.
+///
+void jsonify_DynamicField(const openxc_DynamicField& field, json_object* value)
+{
+ if(field.has_numeric_value)
+ json_object_object_add(value, "value", json_object_new_double(field.numeric_value));
+ else if(field.has_boolean_value)
+ json_object_object_add(value, "value", json_object_new_boolean(field.boolean_value));
+ else if(field.has_string_value)
+ json_object_object_add(value, "value", json_object_new_string(field.string_value));
+}
+
+///
+/// @brief Make a JSON object from a SimpleMessage
+///
+/// @param[in] s_msg - const reference to an openxc_SimpleMessage
+/// struct to convert into a json object.
+/// @param[out] json - pointer with the DynamicField converted into json object
+///
+/// @return True if SimpleMessage has been transformed into json object
+/// and false if not. In such case, a json object is returned { "error": "error msg"}
+///
+bool jsonify_simple(const openxc_SimpleMessage& s_msg, json_object* json)
+{
+ if(s_msg.has_name)
+ {
+ json_object_object_add(json, "name", json_object_new_string(s_msg.name));
+ jsonify_DynamicField(s_msg.value, json);
+ return true;
+ }
+ json_object_object_add(json, "error", json_object_new_string("openxc_SimpleMessage doesn't have name'"));
+ return false;
+} \ No newline at end of file
diff --git a/CAN-binder/low-can-binding/utils/openxc-utils.hpp b/CAN-binder/low-can-binding/utils/openxc-utils.hpp
new file mode 100644
index 00000000..d36b359b
--- /dev/null
+++ b/CAN-binder/low-can-binding/utils/openxc-utils.hpp
@@ -0,0 +1,42 @@
+/*
+ * 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 <string>
+#include <json-c/json.h>
+#include <sys/timeb.h>
+
+#include "openxc.pb.h"
+#include "../diagnostic/active-diagnostic-request.hpp"
+
+openxc_VehicleMessage build_VehicleMessage(active_diagnostic_request_t* request, const DiagnosticResponse& response, float parsed_value);
+openxc_VehicleMessage build_VehicleMessage(const openxc_SimpleMessage& message);
+openxc_VehicleMessage build_VehicleMessage();
+bool is_valid(const openxc_VehicleMessage& v);
+
+openxc_SimpleMessage build_SimpleMessage(const std::string& name, const openxc_DynamicField& value);
+openxc_DynamicField build_DynamicField(const std::string& value);
+openxc_DynamicField build_DynamicField(double value);
+openxc_DynamicField build_DynamicField(bool value);
+
+openxc_SimpleMessage get_simple_message(const openxc_VehicleMessage& v_msg);
+
+void jsonify_DynamicField(const openxc_DynamicField& field, json_object* value);
+
+bool jsonify_simple(const openxc_SimpleMessage& s_msg, json_object* json); \ No newline at end of file
diff --git a/CAN-binder/low-can-binding/utils/signals.cpp b/CAN-binder/low-can-binding/utils/signals.cpp
new file mode 100644
index 00000000..2e14a98f
--- /dev/null
+++ b/CAN-binder/low-can-binding/utils/signals.cpp
@@ -0,0 +1,76 @@
+/*
+ * 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 "signals.hpp"
+
+///
+/// @brief Can signal event map making access to afb_event
+/// externaly to an openxc existing structure.
+///
+/// Event map is making relation between can_signal_t generic name
+/// and the afb_event struct used by application framework to pushed
+/// to the subscriber.
+///
+std::map<std::string, struct afb_event> subscribed_signals;
+
+///
+/// @brief Mutex allowing safe manipulation on subscribed_signals map.
+/// To ensure that the map object isn't modified when we read it, you
+/// have to set this mutex before use subscribed_signals map object.
+///
+std::mutex subscribed_signals_mutex;
+
+std::mutex& get_subscribed_signals_mutex()
+{
+ return subscribed_signals_mutex;
+}
+
+std::map<std::string, struct afb_event>& get_subscribed_signals()
+{
+ return subscribed_signals;
+}
+
+///
+/// @fn std::vector<std::string> find_signals(const openxc_DynamicField &key)
+/// @brief return signals name found searching through CAN_signals and OBD2 pid
+///
+/// @param[in] key : can contain numeric or string value in order to search against
+/// can signals or obd2 signals name.
+///
+/// @return Vector of signals name found.
+///
+std::vector<std::string> find_signals(const openxc_DynamicField &key)
+{
+ std::vector<std::string> found_signals_name;
+
+ switch(key.type)
+ {
+ case openxc_DynamicField_Type::openxc_DynamicField_Type_STRING:
+ lookup_signals_by_name(key.string_value, configuration_t::instance().get_can_signals(), found_signals_name);
+ lookup_signals_by_name(key.string_value, configuration_t::instance().get_diagnostic_messages(), found_signals_name);
+ break;
+ case openxc_DynamicField_Type::openxc_DynamicField_Type_NUM:
+ lookup_signals_by_id(key.numeric_value, configuration_t::instance().get_can_signals(), found_signals_name);
+ lookup_signals_by_id(key.numeric_value, configuration_t::instance().get_diagnostic_messages(), found_signals_name);
+ break;
+ default:
+ ERROR(binder_interface, "find_signals: wrong openxc_DynamicField specified. Use openxc_DynamicField_Type_NUM or openxc_DynamicField_Type_STRING type only.");
+ break;
+ }
+ DEBUG(binder_interface, "find_signals: Found %d signal(s)", (int)found_signals_name.size());
+ return found_signals_name;
+}
diff --git a/CAN-binder/low-can-binding/utils/signals.hpp b/CAN-binder/low-can-binding/utils/signals.hpp
new file mode 100644
index 00000000..e9417569
--- /dev/null
+++ b/CAN-binder/low-can-binding/utils/signals.hpp
@@ -0,0 +1,90 @@
+/*
+ * 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 <vector>
+#include <string>
+#include <fnmatch.h>
+
+#include "openxc.pb.h"
+#include "../configuration.hpp"
+#include "../can/can-signals.hpp"
+#include "../diagnostic/diagnostic-message.hpp"
+
+#include "../low-can-binding.hpp"
+
+extern std::mutex subscribed_signals_mutex;
+std::mutex& get_subscribed_signals_mutex();
+
+/**
+ * @brief return the subscribed_signals map.
+ *
+ * return Map of subscribed signals.
+ */
+extern std::map<std::string, struct afb_event> subscribed_signals;
+std::map<std::string, struct afb_event>& get_subscribed_signals();
+
+template <typename T>
+void lookup_signals_by_name(const std::string& key, std::vector<T>& signals, std::vector<T*>& found_signals)
+{
+ for(T& s : signals)
+ {
+ if(::fnmatch(key.c_str(), s.get_generic_name().c_str(), FNM_CASEFOLD) == 0)
+ found_signals.push_back(&s);
+ if(::fnmatch(key.c_str(), s.get_name().c_str(), FNM_CASEFOLD) == 0)
+ found_signals.push_back(&s);
+ }
+}
+
+template <typename T>
+void lookup_signals_by_name(const std::string& key, std::vector<T>& signals, std::vector<std::string>& found_signals_name)
+{
+ for(T& s : signals)
+ {
+ if(::fnmatch(key.c_str(), s.get_generic_name().c_str(), FNM_CASEFOLD) == 0)
+ found_signals_name.push_back(s.get_name());
+ if(::fnmatch(key.c_str(), s.get_name().c_str(), FNM_CASEFOLD) == 0)
+ found_signals_name.push_back(s.get_name());
+ }
+}
+
+template <typename T>
+void lookup_signals_by_id(const double key, std::vector<T>& signals, std::vector<T*>& found_signals)
+{
+ for(T& s : signals)
+ {
+ if(configuration_t::instance().get_signal_id(s) == key)
+ {
+ found_signals.push_back(&s);
+ }
+ }
+}
+
+template <typename T>
+void lookup_signals_by_id(const double key, std::vector<T>& signals, std::vector<std::string>& found_signals_name)
+{
+ for(T& s : signals)
+ {
+ if(configuration_t::instance().get_signal_id(s) == key)
+ {
+ found_signals_name.push_back(s.get_name());
+ }
+ }
+}
+
+std::vector<std::string> find_signals(const openxc_DynamicField &key);
diff --git a/CAN-binder/low-can-binding/utils/socket.cpp b/CAN-binder/low-can-binding/utils/socket.cpp
new file mode 100644
index 00000000..e75e27f2
--- /dev/null
+++ b/CAN-binder/low-can-binding/utils/socket.cpp
@@ -0,0 +1,89 @@
+/*
+ * Copyright (C) 2015, 2016 ,2017 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loïc 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 <unistd.h>
+#include "socket.hpp"
+
+namespace utils
+{
+ /// @brief Construct a default, invalid, socket.
+ socket_t::socket_t()
+ : socket_{INVALID_SOCKET}
+ {
+ }
+
+ /// @brief Construct a socket by moving an existing one.
+ socket_t::socket_t(socket_t&& s)
+ : socket_{s.socket_}
+ {
+ s.socket_ = INVALID_SOCKET;
+ }
+
+ /// @brief Destruct the socket.
+ socket_t::~socket_t()
+ {
+ if(socket_ != INVALID_SOCKET)
+ ::close(socket_);
+ }
+
+ /// @brief Test if socket is valid.
+ /// @return true if valid, false otherwise.
+ socket_t::operator bool() const
+ {
+ return socket_ != INVALID_SOCKET;
+ }
+
+ /// @brief Open the socket.
+ /// @param[in] domain Specifies the communications domain in which a socket is to be created.
+ /// @param[in] type Specifies the type of socket to be created.
+ /// @param[in] protocol Specifies a particular protocol to be used with the socket. Specifying a protocol of 0 causes socket() to use an unspecified default protocol appropriate for the requested socket type.
+ /// @return Upon successful completion, shall return a non-negative integer, the socket file descriptor. Otherwise, a value of -1 shall be returned and errno set to indicate the error.
+ int socket_t::open(int domain, int type, int protocol)
+ {
+ close();
+ socket_ = ::socket(domain, type, protocol);
+ return socket_;
+ }
+
+ /// @brief Close the socket.
+ /// @return 0 if success.
+ int socket_t::close()
+ {
+ return socket_ != INVALID_SOCKET ? ::close(socket_) : 0;
+ }
+
+ /// @brief Set socket option.
+ /// @return 0 if success.
+ int socket_t::setopt(int level, int optname, const void* optval, socklen_t optlen)
+ {
+ return socket_ != INVALID_SOCKET ? ::setsockopt(socket_, level, optname, optval, optlen) : 0;
+ }
+
+ /// @brief Bind the socket.
+ /// @return 0 if success.
+ int socket_t::bind(const struct sockaddr* addr, socklen_t len)
+ {
+ return socket_ != INVALID_SOCKET ? ::bind(socket_, addr, len) : 0;
+ }
+
+ /// @brief Get the file descriptor.
+ /// @return The socket's file descriptor
+ int socket_t::socket() const
+ {
+ return socket_;
+ }
+}
diff --git a/CAN-binder/low-can-binding/utils/socket.hpp b/CAN-binder/low-can-binding/utils/socket.hpp
new file mode 100644
index 00000000..b42eee6a
--- /dev/null
+++ b/CAN-binder/low-can-binding/utils/socket.hpp
@@ -0,0 +1,46 @@
+#pragma once
+
+/*
+ * Copyright (C) 2015, 2016 ,2017 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loïc 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 <sys/socket.h>
+
+#define INVALID_SOCKET -1
+
+namespace utils
+{
+ class socket_t
+ {
+ public:
+ socket_t();
+ socket_t(const socket_t&) = delete;
+ socket_t(socket_t&&);
+ ~socket_t();
+
+ explicit operator bool() const;
+
+ int open(int domain, int type, int protocol);
+ int close();
+ int setopt(int level, int optname, const void* optval, socklen_t optlen);
+ int socket() const;
+ int bind(const struct sockaddr* addr, socklen_t len);
+
+ private:
+ int socket_;
+ };
+}
+
diff --git a/CAN-binder/low-can-binding/utils/timer.cpp b/CAN-binder/low-can-binding/utils/timer.cpp
new file mode 100644
index 00000000..a35a3e9f
--- /dev/null
+++ b/CAN-binder/low-can-binding/utils/timer.cpp
@@ -0,0 +1,102 @@
+/*
+ * 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 <time.h>
+#include <stdlib.h>
+
+#include "timer.hpp"
+
+long long int system_time_us()
+{
+ struct timespec t_usec;
+ long long int timestamp_usec;
+
+ if(!::clock_gettime(CLOCK_MONOTONIC, &t_usec))
+ timestamp_usec = (t_usec.tv_nsec / 1000ll) + (t_usec.tv_sec* 1000000ll);
+ return timestamp_usec;
+}
+
+long long int system_time_ms()
+{
+ struct timespec t_msec;
+ long long int timestamp_msec;
+
+ if(!::clock_gettime(CLOCK_MONOTONIC, &t_msec))
+ timestamp_msec = (t_msec.tv_nsec / 1000000ll) + (t_msec.tv_sec* 1000ll);
+ return timestamp_msec;
+}
+
+long long int system_time_s()
+{
+ struct timespec t_sec;
+ long long int timestamp_sec;
+
+ if(!::clock_gettime(CLOCK_MONOTONIC, &t_sec))
+ timestamp_sec = t_sec.tv_sec;
+ return timestamp_sec;
+}
+
+frequency_clock_t::frequency_clock_t()
+ : unit_{1000000}, frequency_{10.0}, last_tick_{0}, time_function_{nullptr}
+{}
+
+
+frequency_clock_t::frequency_clock_t(float frequency)
+ : unit_{1000000}, frequency_{frequency}, last_tick_{0}, time_function_{nullptr}
+{}
+
+/// @brief Return the period in ms given the frequency in hertz.
+/// @param[in] frequency - Frequency to convert, in hertz
+float frequency_clock_t::frequency_to_period()
+{
+ return 1 / frequency_ * unit_;
+}
+
+bool frequency_clock_t::started()
+{
+ return last_tick_ != 0;
+}
+
+time_function_t frequency_clock_t::get_time_function()
+{
+ return time_function_ != nullptr ? time_function_ : system_time_us;
+}
+
+bool frequency_clock_t::elapsed(bool stagger)
+{
+ float period = frequency_to_period();
+ float elapsed_time = 0;
+ if(!started() && stagger)
+ last_tick_ = get_time_function()() - (rand() % int(period));
+
+ // Make sure it ticks the the first call
+ elapsed_time = !started() ? period : get_time_function()() - last_tick_;
+
+ return frequency_ == 0 || elapsed_time >= period;
+}
+
+float frequency_clock_t::get_frequency() const
+{
+ return frequency_;
+}
+
+/// @brief Force the clock to tick, regardless of it its time has actually
+/// elapsed.
+void frequency_clock_t::tick()
+{
+ last_tick_ = get_time_function()();
+} \ No newline at end of file
diff --git a/CAN-binder/low-can-binding/utils/timer.hpp b/CAN-binder/low-can-binding/utils/timer.hpp
new file mode 100644
index 00000000..f5659044
--- /dev/null
+++ b/CAN-binder/low-can-binding/utils/timer.hpp
@@ -0,0 +1,53 @@
+/*
+ * 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
+
+/// @brief return epoch in milliseconds
+///
+/// @return long long int epoch in milliseconds
+typedef long long int (*time_function_t)();
+
+long long int system_time_us();
+long long int system_time_ms();
+long long int system_time_s();
+
+
+/// @brief A frequency counting clock.
+/// Utility class allowing some time function.
+class frequency_clock_t
+{
+private:
+ float unit_; ///< unit_ - multiplicator to make operation to be in the right unit (milli, micro, nano, etc)
+ float frequency_; ///< the clock frequency in Hz.
+ unsigned long last_tick_; ///< the last time (in milliseconds since startup) that the clock ticked.
+ time_function_t time_function_; ///< a function returning current time
+
+public:
+ frequency_clock_t();
+ frequency_clock_t(float frequency);
+ frequency_clock_t(float frequency, unsigned long last_tick, time_function_t time_function);
+
+ float get_frequency() const;
+
+ float frequency_to_period();
+ bool started();
+ time_function_t get_time_function();
+ bool elapsed(bool stagger);
+
+ void tick();
+}; \ No newline at end of file