diff options
Diffstat (limited to 'low-can-binding/binding/low-can-cb.cpp')
| -rw-r--r-- | low-can-binding/binding/low-can-cb.cpp | 116 |
1 files changed, 81 insertions, 35 deletions
diff --git a/low-can-binding/binding/low-can-cb.cpp b/low-can-binding/binding/low-can-cb.cpp index c677b172..2c6e2be3 100644 --- a/low-can-binding/binding/low-can-cb.cpp +++ b/low-can-binding/binding/low-can-cb.cpp @@ -334,6 +334,12 @@ static event_filter_t generate_filter(json_object* args) 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);} + if (json_object_object_get_ex(filter, "rx_id", &obj) + && (json_object_is_type(obj, json_type_int))) + {event_filter.rx_id = (canid_t) json_object_get_int(obj);} + if (json_object_object_get_ex(filter, "tx_id", &obj) + && (json_object_is_type(obj, json_type_int))) + {event_filter.tx_id = (canid_t) json_object_get_int(obj);} } return event_filter; } @@ -515,7 +521,7 @@ static int send_frame(struct canfd_frame& cfd, const std::string& bus_name, sock } } */ -static int send_message(message_t *message, const std::string& bus_name, uint32_t flags) +static int send_message(message_t *message, const std::string& bus_name, uint32_t flags, event_filter_t &event_filter, std::shared_ptr<signal_t> signal) { if(bus_name.empty()) { @@ -526,14 +532,22 @@ static int send_message(message_t *message, const std::string& bus_name, uint32_ if( cd.count(bus_name) == 0) { - cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t()); + cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter)); } + cd[bus_name]->set_signal(signal); + if(flags&BCM_PROTOCOL) { return low_can_subscription_t::tx_send(*cd[bus_name], message, bus_name); } +#ifdef USE_FEATURE_ISOTP + else if(flags&ISOTP_PROTOCOL) + { + return low_can_subscription_t::isotp_send(*cd[bus_name], message, bus_name); + } +#endif #ifdef USE_FEATURE_J1939 else if(flags&J1939_PROTOCOL) { @@ -547,7 +561,8 @@ static int send_message(message_t *message, const std::string& bus_name, uint32_ } -static void write_raw_frame(afb_req_t request, const std::string& bus_name, message_t *message, struct json_object *can_data, uint32_t flags) +static void write_raw_frame(afb_req_t request, const std::string& bus_name, message_t *message, + struct json_object *can_data, uint32_t flags, event_filter_t &event_filter) { struct utils::signals_found sf; @@ -570,17 +585,22 @@ static void write_raw_frame(afb_req_t request, const std::string& bus_name, mess AFB_DEBUG("CAN_MAX_DLEN"); message->set_maxdlen(CAN_MAX_DLEN); } + + if(sf.signals[0]->get_message()->is_isotp()) + { + flags = ISOTP_PROTOCOL; + message->set_maxdlen(MAX_ISOTP_FRAMES * message->get_maxdlen()); + } + } + +#ifdef USE_FEATURE_J1939 + if(flags&J1939_PROTOCOL) + { + message->set_maxdlen(J1939_MAX_DLEN); } +#endif - if((message->get_length()> 0 && ( - ((flags&BCM_PROTOCOL) && ( - (message->get_length() <= CANFD_MAX_DLEN * MAX_BCM_CAN_FRAMES && message->get_flags() & CAN_FD_FRAME) - || (message->get_length() <= CAN_MAX_DLEN * MAX_BCM_CAN_FRAMES && !(message->get_flags() & CAN_FD_FRAME)) - )) - #ifdef USE_FEATURE_J1939 - || (message->get_length() <= J1939_MAX_DLEN && flags&J1939_PROTOCOL) - #endif - ))) + if(message->get_length() > 0 && message->get_length() <= message->get_maxdlen()) { std::vector<uint8_t> data; for (int i = 0 ; i < message->get_length() ; i++) @@ -601,6 +621,10 @@ static void write_raw_frame(afb_req_t request, const std::string& bus_name, mess { afb_req_fail(request, "Invalid", "Frame J1939"); } + else if(flags&ISOTP_PROTOCOL) + { + afb_req_fail(request, "Invalid", "Frame ISOTP"); + } else { afb_req_fail(request, "Invalid", "Frame"); @@ -608,7 +632,7 @@ static void write_raw_frame(afb_req_t request, const std::string& bus_name, mess return; } - if(! send_message(message, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name),flags)) + if(! send_message(message, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name), flags, event_filter, sf.signals[0])) { afb_req_success(request, nullptr, "Message correctly sent"); } @@ -624,7 +648,7 @@ static void write_raw_frame(afb_req_t request, const std::string& bus_name, mess } -static void write_frame(afb_req_t request, const std::string& bus_name, json_object *json_value) +static void write_frame(afb_req_t request, const std::string& bus_name, json_object *json_value, event_filter_t &event_filter) { message_t *message; int id; @@ -640,7 +664,7 @@ static void write_frame(afb_req_t request, const std::string& bus_name, json_obj "can_data", &can_data)) { message = new can_message_t(0,(uint32_t)id,(uint32_t)length,false,0,data,0); - write_raw_frame(request,bus_name,message,can_data,BCM_PROTOCOL); + write_raw_frame(request,bus_name,message,can_data,BCM_PROTOCOL,event_filter); } #ifdef USE_FEATURE_J1939 else if(!wrap_json_unpack(json_value, "{si, si, so !}", @@ -649,7 +673,7 @@ static void write_frame(afb_req_t request, const std::string& bus_name, json_obj "data", &can_data)) { message = new j1939_message_t((uint32_t)length,data,0,J1939_NO_NAME,(pgn_t)id,J1939_NO_ADDR); - write_raw_frame(request,bus_name,message,can_data,J1939_PROTOCOL); + write_raw_frame(request,bus_name,message,can_data,J1939_PROTOCOL, event_filter); } #endif else @@ -660,7 +684,7 @@ static void write_frame(afb_req_t request, const std::string& bus_name, json_obj delete message; } -static void write_signal(afb_req_t request, const std::string& name, json_object *json_value) +static void write_signal(afb_req_t request, const std::string& name, json_object *json_value, event_filter_t &event_filter) { struct canfd_frame cfd; struct utils::signals_found sf; @@ -679,7 +703,7 @@ static void write_signal(afb_req_t request, const std::string& name, json_object return; } - std::shared_ptr<signal_t>& sig = sf.signals[0]; + std::shared_ptr<signal_t> sig = sf.signals[0]; if(! sig->get_writable()) { afb_req_fail_f(request, "%s isn't writable. Message not sent.", sig->get_name().c_str()); @@ -696,6 +720,10 @@ static void write_signal(afb_req_t request, const std::string& name, json_object { flags = J1939_PROTOCOL; } + else if(sig->get_message()->is_isotp()) + { + flags = ISOTP_PROTOCOL; + } else { flags = BCM_PROTOCOL; @@ -704,7 +732,7 @@ static void write_signal(afb_req_t request, const std::string& name, json_object // cfd = encoder_t::build_frame(sig, value); message_t *message = encoder_t::build_message(sig,value,false,false); - if(! send_message(message, sig->get_message()->get_bus_device_name(), flags) && send) + if(! send_message(message, sig->get_message()->get_bus_device_name(), flags, event_filter, sig) && send) { afb_req_success(request, nullptr, "Message correctly sent"); } @@ -727,25 +755,43 @@ static void write_signal(afb_req_t request, const std::string& name, json_object void write(afb_req_t request) { - struct json_object* args = nullptr, *json_value = nullptr; - const char *name = nullptr; - + struct json_object* args = nullptr, *json_value = nullptr, *name = nullptr; args = afb_req_json(request); - // Process about Raw CAN message on CAN bus directly - if (args != NULL && ! wrap_json_unpack(args, "{ss, so !}", - "bus_name", &name, - "frame", &json_value)) - write_frame(request, name, json_value); - - // Search signal then encode value. - else if(args != NULL && - ! wrap_json_unpack(args, "{ss, so !}", - "signal_name", &name, - "signal_value", &json_value)) - write_signal(request, std::string(name), json_value); + if(args != NULL) + { + event_filter_t event_filter = generate_filter(args); + + if(json_object_object_get_ex(args,"bus_name",&name)) + { + if(json_object_object_get_ex(args,"frame",&json_value)) + { + write_frame(request, (std::string)json_object_get_string(name), json_value, event_filter); + } + else + { + afb_req_fail(request, "Error", "Request argument malformed"); + } + } + else if(json_object_object_get_ex(args,"signal_name",&name)) + { + if(json_object_object_get_ex(args,"signal_value",&json_value)) + { + write_signal(request, (std::string)json_object_get_string(name), json_value, event_filter); + } + else + { + afb_req_fail(request, "Error", "Request argument malformed"); + } + } + else { + afb_req_fail(request, "Error", "Request argument malformed"); + } + } else - afb_req_fail(request, "Error", "Request argument malformed"); + { + afb_req_fail(request, "Error", "Request argument null"); + } } static struct json_object *get_signals_value(const std::string& name) |