aboutsummaryrefslogtreecommitdiffstats
path: root/CAN-binder
diff options
context:
space:
mode:
Diffstat (limited to 'CAN-binder')
-rw-r--r--CAN-binder/low-can-binding/binding/low-can-cb.cpp101
-rw-r--r--CAN-binder/low-can-binding/binding/low-can-cb.hpp18
2 files changed, 28 insertions, 91 deletions
diff --git a/CAN-binder/low-can-binding/binding/low-can-cb.cpp b/CAN-binder/low-can-binding/binding/low-can-cb.cpp
index abcd69b8..dad1438f 100644
--- a/CAN-binder/low-can-binding/binding/low-can-cb.cpp
+++ b/CAN-binder/low-can-binding/binding/low-can-cb.cpp
@@ -50,13 +50,7 @@ extern "C"
low_can_subscription_t::low_can_subscription_t()
: index_{-1},
- sig_name_{},
- bus_name_{""},
- can_id_{0},
- bit_position_{0},
- bit_size_{0},
- factor_{-1.0},
- offset_{-1},
+ event_filter_{event_filter_t()},
socket_{}
{}
@@ -66,13 +60,6 @@ low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filte
low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
: index_{s.index_},
- sig_name_{s.sig_name_},
- bus_name_{s.bus_name_},
- can_id_{s.can_id_},
- bit_position_{s.bit_position_},
- bit_size_{s.bit_size_},
- factor_{s.factor_},
- offset_{s.offset_},
event_filter_{s.event_filter_},
socket_{std::move(s.socket_)}
{}
@@ -93,9 +80,14 @@ 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::string low_can_subscription_t::get_sig_name() const
{
- return sig_name_;
+ return can_signal_->get_name();
}
float low_can_subscription_t::get_frequency() const
@@ -136,53 +128,10 @@ void low_can_subscription_t::set_max(float max)
/// @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(const std::string& bus_name, const std::string& sig_name, uint32_t can_id, uint8_t bit_position, uint8_t bit_size, float factor, float offset)
+int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
{
- // Make sure that socket has been opened.
- if(! socket_)
- {
- socket_.open(bus_name);
- index_ = (int)socket_.socket();
- }
-
- sig_name_ = sig_name;
- bus_name_ = bus_name;
- can_id_ = can_id;
- bit_position_ = bit_position;
- bit_size_ = bit_size;
- factor_ = factor;
- offset_ = offset;
-
- 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_clock_t f(event_filter_.frequency);
- freq = f.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;
+ can_signal_= sig;
+ return create_rx_filter();
}
/// @brief Create a RX_SETUP receive job used by the BCM socket.
@@ -193,7 +142,7 @@ int low_can_subscription_t::create_rx_filter()
// Make sure that socket has been opened.
if(! socket_)
{
- socket_.open(bus_name_);
+ socket_.open(can_signal_->get_message()->get_bus_device_name());
index_ = (int)socket_.socket();
}
@@ -202,25 +151,25 @@ int low_can_subscription_t::create_rx_filter()
memset(&cfd, 0, sizeof(cfd));
memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
- float val = (float)(1 << bit_size_) - 1;
+ float val = (float)(1 << can_signal_->get_bit_size()) - 1;
struct timeval freq;
frequency_clock_t f(event_filter_.frequency);
freq = f.get_timeval_from_period();
bcm_msg.msg_head.opcode = RX_SETUP;
- bcm_msg.msg_head.can_id = can_id_;
+ bcm_msg.msg_head.can_id = can_signal_->get_message()->get_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);
+ can_signal_->get_bit_position(),
+ can_signal_->get_bit_size(),
+ can_signal_->get_factor(),
+ can_signal_->get_offset(),
+ cfd.data,
+ CAN_MAX_DLEN);
bcm_msg.frames = cfd;
@@ -421,26 +370,20 @@ static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe,
for(const auto& sig: signals.can_signals)
{
std::shared_ptr<low_can_subscription_t> can_subscription(new low_can_subscription_t(event_filter));
- if(can_subscription->create_rx_filter(sig->get_message()->get_bus_device_name(),
- sig->get_name(),
- sig->get_message()->get_id(),
- sig->get_bit_position(),
- sig->get_bit_size(),
- sig->get_factor(),
- sig->get_offset()) < 0)
+ if(can_subscription->create_rx_filter(sig) < 0)
{return -1;}
else if(subscribe_unsubscribe_signal(request, subscribe, can_subscription) < 0)
{return -1;}
struct sd_event_source* e_source;
- sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &e_source, can_subscription->get_socket().socket(), EPOLLIN, read_message, sig.get());
+ sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &e_source, can_subscription->get_socket().socket(), EPOLLIN, read_message, can_subscription.get());
rets++;
DEBUG(binder_interface, "%s: signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
}
return rets;
}
-static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const char *tag, struct json_object *event)
+static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const std::string& tag, struct json_object *event)
{
int ret = 0;
struct event_filter_t event_filter;
diff --git a/CAN-binder/low-can-binding/binding/low-can-cb.hpp b/CAN-binder/low-can-binding/binding/low-can-cb.hpp
index 6490fdc6..6dc2221d 100644
--- a/CAN-binder/low-can-binding/binding/low-can-cb.hpp
+++ b/CAN-binder/low-can-binding/binding/low-can-cb.hpp
@@ -17,6 +17,9 @@
#include <string>
#include <cmath>
+#include <utility>
+
+#include "../can/can-signals.hpp"
#include "../utils/socketcan-bcm.hpp"
struct event_filter_t
@@ -33,17 +36,7 @@ private:
int index_;
/// Signal part
- std::string sig_name_;
- std::string bus_name_;
- uint32_t can_id_;
- uint8_t bit_position_; /*!< bitPosition_ - The starting bit of the signal in its CAN message (assuming
- * non-inverted bit numbering, i.e. the most significant bit of
- * each byte is 0) */
- uint8_t bit_size_; /*!< bit_size_ - The width of the bit field in the CAN message. */
- float factor_; /*!< factor_ - The final value will be multiplied by this factor. Use 1 if you
- * don't need a factor. */
- float offset_; /*!< offset_ - The final value will be added to this offset. Use 0 if you
- * don't need an offset. */
+ std::shared_ptr<can_signal_t> can_signal_;
/// Filtering part
struct event_filter_t event_filter_;
@@ -59,6 +52,7 @@ public:
explicit operator bool() const;
int get_index() const;
+ const std::shared_ptr<can_signal_t> get_can_signal() const;
const std::string get_sig_name() const;
float get_frequency() const;
float get_min() const;
@@ -70,5 +64,5 @@ public:
void set_max(float max);
int create_rx_filter();
- int create_rx_filter(const std::string& bus_name, const std::string& sig_name, uint32_t can_id, uint8_t bit_position, uint8_t bit_size, float factor, float offset);
+ int create_rx_filter(std::shared_ptr<can_signal_t> sig);
};