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Diffstat (limited to 'low-can-binding/binding/low-can-socket.cpp')
| -rw-r--r-- | low-can-binding/binding/low-can-socket.cpp | 336 |
1 files changed, 0 insertions, 336 deletions
diff --git a/low-can-binding/binding/low-can-socket.cpp b/low-can-binding/binding/low-can-socket.cpp deleted file mode 100644 index cd827b6b..00000000 --- a/low-can-binding/binding/low-can-socket.cpp +++ /dev/null @@ -1,336 +0,0 @@ -/* - * 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 "low-can-subscription.hpp" -#include "application.hpp" -#include "canutil/write.h" - -low_can_socket_t::low_can_socket_t() - : index_{-1}, - event_filter_{}, - socket_{} -{} - -low_can_socket_t::low_can_socket_t(struct event_filter_t event_filter) - : event_filter_{event_filter} - {} - -low_can_socket_t::low_can_socket_t( low_can_socket_t&& s) - : index_{s.index_}, - event_filter_{s.event_filter_}, - socket_{std::move(s.socket_)} -{} - -low_can_socket_t& low_can_socket_t::operator=(const low_can_socket_t& s) -{ - socket_ = std::move(s.socket_); - return *this; -} - -low_can_socket_t::~low_can_socket_t() -{ - socket_.close(); -} - -low_can_socket_t::operator bool() const -{ - return ((can_signal_ != nullptr || ! diagnostic_message_.empty()) && ! socket_); -} - -int low_can_socket_t::get_index() const -{ - return index_; -} - -const std::shared_ptr<can_signal_t> low_can_socket_t::get_can_signal() const -{ - return can_signal_; -} - -bool low_can_socket_t::is_signal_subscription_corresponding(const std::shared_ptr<can_signal_t> can_signal, const struct event_filter_t& event_filter) const -{ - return can_signal_ == can_signal && event_filter_ == event_filter; -} - -const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_socket_t::get_diagnostic_message() const -{ - return diagnostic_message_; -} - -/// @brief Retrieve a diagnostic_message subscribed from a pid -/// -/// @param[in] pid - Diagnostic messages PID to search for -/// -/// @return shared_ptr diagnostic_message_ if found and nullptr if not found -const std::shared_ptr<diagnostic_message_t> low_can_socket_t::get_diagnostic_message(uint32_t pid) const -{ - for(const auto& diag: diagnostic_message_) - { - if(diag->get_pid() == pid) - { - return diag; - } - } - return nullptr; -} - -/// @brief Retrieve a diagnostic message search from its name -/// -/// @return shared_ptr diagnostic_message_ if found and nullptr if not found -const std::shared_ptr<diagnostic_message_t> low_can_socket_t::get_diagnostic_message(const std::string& name) const -{ - for(const auto& diag: diagnostic_message_) - { - if(diag->get_name() == name) - { - return diag; - } - } - return nullptr; -} - -/// @brief Return the CAN signal name and empty string if not found -/// or no CAN signal subscribed -const std::string low_can_socket_t::get_name() const -{ - if (can_signal_ != nullptr) - return can_signal_->get_name(); - else if (!diagnostic_message_.empty()) - return "diagnostic_messages"; - - AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported."); - return ""; -} - -/// @brief Return name from a diagnostic message from a PID -/// -/// @param[in] pid - Diagnostic message PID -const std::string low_can_socket_t::get_name(uint32_t pid) const -{ - if (!diagnostic_message_.empty()) - return get_diagnostic_message(pid)->get_name() ; - - AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported."); - return ""; -} - -float low_can_socket_t::get_frequency() const -{ - return event_filter_.frequency; -} - -float low_can_socket_t::get_min() const -{ - return event_filter_.min; -} - -float low_can_socket_t::get_max() const -{ - return event_filter_.max; -} - -utils::socketcan_bcm_t& low_can_socket_t::get_socket() -{ - return socket_; -} - -void low_can_socket_t::set_frequency(float freq) -{ - event_filter_.frequency = freq; -} - -void low_can_socket_t::set_min(float min) -{ - event_filter_.min = min; -} - -void low_can_socket_t::set_max(float max) -{ - event_filter_.max = max; -} -/// @brief Based upon which object is a subscribed CAN signal or diagnostic message -/// it will open the socket with the required CAN bus device name. -/// -/// @return INVALID_SOCKET on failure, else positive integer -int low_can_socket_t::open_socket(const std::string& bus_name) -{ - int ret = 0; - if(! socket_) - { - if( can_signal_ != nullptr) - {ret = socket_.open(can_signal_->get_message()->get_bus_device_name());} - else if (! diagnostic_message_ .empty()) - {ret = socket_.open(application_t::instance().get_diagnostic_manager().get_bus_device_name());} - else if ( ! bus_name.empty()) - { ret = socket_.open(bus_name);} - index_ = (int)socket_.socket(); - } - return ret; -} - -/// @brief Builds a BCM message head but doesn't set can_frame. -/// -/// @returns a bcm_msg with the msg_head parts set and can_frame -/// zeroed. -struct utils::bcm_msg low_can_socket_t::make_bcm_head(uint32_t opcode, uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const -{ - struct utils::bcm_msg bcm_msg; - ::memset(&bcm_msg, 0, sizeof(bcm_msg)); - - bcm_msg.msg_head.opcode = opcode; - bcm_msg.msg_head.can_id = can_id; - bcm_msg.msg_head.flags = flags; - bcm_msg.msg_head.ival1.tv_sec = timeout.tv_sec ; - bcm_msg.msg_head.ival1.tv_usec = timeout.tv_usec; - bcm_msg.msg_head.ival2.tv_sec = frequency_thinning.tv_sec ; - bcm_msg.msg_head.ival2.tv_usec = frequency_thinning.tv_usec; - - return bcm_msg; -} - -/// @brief Take an existing bcm_msg struct and add a can_frame. -/// Currently only 1 uniq can_frame can be added, it's not possible to build -/// a multiplexed message with several can_frame. -void low_can_socket_t::add_one_bcm_frame(struct canfd_frame& cfd, struct utils::bcm_msg& bcm_msg) const -{ - struct can_frame cf; - - if (bcm_msg.msg_head.flags & CAN_FD_FRAME) - bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cfd; - else - { - cf.can_id = cfd.can_id; - cf.can_dlc = cfd.len; - ::memcpy(&cf.data, cfd.data, cfd.len); - bcm_msg.frames[bcm_msg.msg_head.nframes] = cf; - } - bcm_msg.msg_head.nframes++; -} - -/// @brief Create a RX_SETUP receive job to be used by the BCM socket for a CAN signal -/// subscription -/// -/// @return 0 if ok else -1 -int low_can_socket_t::create_rx_filter(std::shared_ptr<can_signal_t> sig) -{ - uint32_t flags; - float val; - struct timeval freq, timeout = {0, 0}; - struct canfd_frame cfd; - can_signal_= sig; - - if (sig->get_message()->is_fd()) - { - flags = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME; - cfd.len = CANFD_MAX_DLEN; - } - else - { - flags = SETTIMER|RX_NO_AUTOTIMER; - cfd.len = CAN_MAX_DLEN; - } - val = (float)(1 << can_signal_->get_bit_size()) - 1; - if(! bitfield_encode_float(val, - can_signal_->get_bit_position(), - can_signal_->get_bit_size(), - 1, - can_signal_->get_offset(), - cfd.data, - cfd.len)) - return -1; - - frequency_clock_t f = event_filter_.frequency == 0 ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency); - freq = f.get_timeval_from_period(); - - utils::bcm_msg bcm_msg = make_bcm_head(RX_SETUP, can_signal_->get_message()->get_id(), flags, timeout, freq); - add_one_bcm_frame(cfd, bcm_msg); - - return create_rx_filter(bcm_msg); -} - -/// @brief Create a RX_SETUP receive job to be used by the BCM socket for a -/// diagnostic message subscription. -/// -/// @return 0 if ok else -1 -int low_can_socket_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig) -{ - diagnostic_message_.push_back(sig); - - struct timeval freq = frequency_clock_t(event_filter_.frequency).get_timeval_from_period(); - //struct timeval timeout = frequency_clock_t(10).get_timeval_from_period(); - struct timeval timeout = {0,0}; - - utils::bcm_msg bcm_msg = make_bcm_head(RX_SETUP, OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq); - return create_rx_filter(bcm_msg); -} - -/// @brief Create a RX_SETUP receive job used by the BCM socket directly from -/// a bcm_msg. The method should not be used directly but rather through the -/// two previous method with can_signal_t or diagnostic_message_t object. -/// -/// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed -/// to the 8 classics OBD2 functional response ID -/// -/// @return 0 if ok else -1 -int low_can_socket_t::create_rx_filter(utils::bcm_msg& bcm_msg) -{ - // Make sure that socket is opened. - if(open_socket() < 0) - {return -1;} - - // If it's not an OBD2 CAN ID then just add a simple RX_SETUP job - // else monitor all standard 8 CAN OBD2 ID response. - if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID) - { - socket_ << bcm_msg; - if(! socket_) - return -1; - } - else - { - for(uint8_t i = 0; i < 8; i++) - { - bcm_msg.msg_head.can_id = OBD2_FUNCTIONAL_RESPONSE_START + i; - - socket_ << bcm_msg; - if(! socket_) - return -1; - } - } - - return 0; -} - -/// @brief Creates a TX_SEND job that is used by the BCM socket to -/// send a message -/// -/// @return 0 if ok else -1 -int low_can_socket_t::tx_send(struct canfd_frame& cfd, const std::string& bus_name) -{ - utils::bcm_msg bcm_msg = make_bcm_head(TX_SEND, cfd.can_id); - add_one_bcm_frame(cfd, bcm_msg); - - if(open_socket(bus_name) < 0) - {return -1;} - - socket_ << bcm_msg; - if(! socket_) - return -1; - - return 0; -} |