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-rw-r--r--low-can-binding/binding/low-can-cb.cpp94
1 files changed, 64 insertions, 30 deletions
diff --git a/low-can-binding/binding/low-can-cb.cpp b/low-can-binding/binding/low-can-cb.cpp
index a7e4396c..5910f6a2 100644
--- a/low-can-binding/binding/low-can-cb.cpp
+++ b/low-can-binding/binding/low-can-cb.cpp
@@ -28,6 +28,7 @@
#include "openxc.pb.h"
#include "application.hpp"
+#include "../can/can-encoder.hpp"
#include "../can/can-bus.hpp"
#include "../can/can-signals.hpp"
#include "../can/can-message.hpp"
@@ -372,54 +373,87 @@ void swrite(struct afb_req request)
int rc = 0;
struct can_frame cf;
struct utils::signals_found sf;
- struct json_object *args, *json_can_socket, *json_can_id, *json_can_dlc, *json_can_data;
+ struct json_object* args = nullptr,
+ *json_name = nullptr,
+ *json_value = nullptr;
+ std::map<std::string, std::shared_ptr<low_can_socket_t> >& cd = application_t::instance().get_can_devices();
::memset(&cf, 0, sizeof(cf));
args = afb_req_json(request);
- if (args == NULL || (
- ((!json_object_object_get_ex(args, "canbus_name", &json_can_socket)) && json_object_get_type(json_can_socket) == json_type_string) &&
- ((!json_object_object_get_ex(args, "can_id", &json_can_id)) && json_object_get_type(json_can_id) == json_type_int) &&
- ((!json_object_object_get_ex(args, "can_dlc", &json_can_dlc)) && json_object_get_type(json_can_dlc) == json_type_int)))
- {
- cf.can_id = json_object_get_int(json_can_id);
- cf.can_dlc = (uint8_t)json_object_get_int(json_can_dlc);
- openxc_DynamicField search_key = build_DynamicField((double)cf.can_id);
- sf = utils::signals_manager_t::instance().find_signals(search_key);
- }
- if((args == NULL || !json_object_object_get_ex(args, "can_data", &json_can_data)) && json_object_get_type(json_can_data) == json_type_array)
+ // Process about Raw CAN message on CAN bus directly
+ if (args != NULL &&
+ (json_object_object_get_ex(args, "bus_name", &json_name) && json_object_is_type(json_name, json_type_string) ) &&
+ (json_object_object_get_ex(args, "frame", &json_value) && json_object_is_type(json_value, json_type_object) ))
{
- struct json_object *x;
+ struct json_object* json_can_id = nullptr,
+ *json_can_dlc = nullptr,
+ *json_can_data = nullptr;
- int n = json_object_array_length(json_can_data);
- if(n < 8)
+ if( (json_object_object_get_ex(json_value, "can_id", &json_can_id) && (json_object_is_type(json_can_id, json_type_double) || json_object_is_type(json_can_id, json_type_int))) &&
+ (json_object_object_get_ex(json_value, "can_dlc", &json_can_dlc) && (json_object_is_type(json_can_dlc, json_type_double) || json_object_is_type(json_can_dlc, json_type_int))) &&
+ (json_object_object_get_ex(json_value, "can_data", &json_can_data) && json_object_is_type(json_can_data, json_type_array) ))
{
- for (int i = 0 ; i < n ; i++)
+ cf.can_id = json_object_get_int(json_can_id);
+ cf.can_dlc = (uint8_t)json_object_get_int(json_can_dlc);
+
+ struct json_object *x;
+ int n = json_object_array_length(json_can_data);
+ if(n <= 8)
{
- x = json_object_array_get_idx(json_can_data, i);
- cf.data[i] = json_object_get_type(x) == json_type_int ? (uint8_t)json_object_get_int(x) : 0;
+ for (int i = 0 ; i < n ; i++)
+ {
+ x = json_object_array_get_idx(json_can_data, i);
+ cf.data[i] = json_object_get_type(x) == json_type_int ? (uint8_t)json_object_get_int(x) : 0;
+ }
}
- }
- }
- if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
- {
- AFB_WARNING("No signal(s) found for id %d. Message not sent.", cf.can_id);
- rc = -1;
+ const std::string bus_name = json_object_get_string(json_name);
+ const std::string found_device = application_t::instance().get_can_bus_manager().get_can_device_name(bus_name);
+ if( ! found_device.empty())
+ {
+ if( cd.count(bus_name) == 0)
+ {cd[bus_name] = std::make_shared<low_can_socket_t>(low_can_socket_t());}
+ rc = cd[bus_name]->tx_send(cf, found_device);
+ }
+ }
+ else
+ {
+ AFB_ERROR("Frame object malformed (must be \n \"frame\": {\"can_id\": int, \"can_dlc\": int, \"can_data\": [ int, int , int, int ,int , int ,int ,int]}");
+ rc = -1;
+ }
}
- else
+ // Search signal then encode value.
+ else if(args != NULL &&
+ (json_object_object_get_ex(args, "signal_name", &json_name) && json_object_is_type(json_name, json_type_string)) &&
+ (json_object_object_get_ex(args, "signal_value", &json_value) && (json_object_is_type(json_value, json_type_double) || json_object_is_type(json_value, json_type_int))))
{
- std::map<std::string, std::shared_ptr<low_can_socket_t> >& cd = application_t::instance().get_can_devices();
- const char* can_socket = json_object_get_string(json_can_socket);
- for(const auto& sig: sf.can_signals)
+ openxc_DynamicField search_key = build_DynamicField(json_object_get_string(json_name));
+ sf = utils::signals_manager_t::instance().find_signals(search_key);
+
+ if (sf.can_signals.empty())
+ {
+ AFB_WARNING("No signal(s) found for id %d. Message not sent.", cf.can_id);
+ rc = -1;
+ }
+ else
{
- if (sig->get_message()->get_bus_name().c_str() == can_socket)
+ for(const auto& sig: sf.can_signals)
{
- rc = cd[can_socket]->tx_send(cf, sig);
+ cf = encoder_t::build_frame(sig, (uint64_t)json_object_get_double(json_value));
+ const std::string bus_name = sig->get_message()->get_bus_name();
+ if( cd.count(bus_name) == 0)
+ {cd[bus_name] = std::make_shared<low_can_socket_t>(low_can_socket_t());}
+ rc = cd[bus_name]->tx_send(cf, sig);
}
}
}
+ else
+ {
+ AFB_ERROR("Request argument malformed. Please use the following syntax:");
+ rc = -1;
+ }
if (rc >= 0)
afb_req_success(request, NULL, NULL);