diff options
Diffstat (limited to 'low-can-binding/binding/low-can-subscription.cpp')
| -rw-r--r-- | low-can-binding/binding/low-can-subscription.cpp | 119 |
1 files changed, 85 insertions, 34 deletions
diff --git a/low-can-binding/binding/low-can-subscription.cpp b/low-can-binding/binding/low-can-subscription.cpp index b31fe48e..bb488887 100644 --- a/low-can-binding/binding/low-can-subscription.cpp +++ b/low-can-binding/binding/low-can-subscription.cpp @@ -20,9 +20,8 @@ #include "application.hpp" #include "canutil/write.h" #include "../utils/socketcan-bcm.hpp" - #ifdef USE_FEATURE_J1939 - #include "../utils/socketcan-j1939.hpp" +#include "../utils/socketcan-j1939/socketcan-j1939-data.hpp" #endif low_can_subscription_t::low_can_subscription_t() @@ -226,40 +225,24 @@ void low_can_subscription_t::set_max(float max) event_filter_.max = max; } +void low_can_subscription_t::set_index(int index) +{ + index_ = index; +} + /// @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_subscription_t::open_socket(low_can_subscription_t &subscription, const std::string& bus_name) +int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, const std::string& bus_name, socket_type type) { - int ret = 0; + int ret = -1; if(! subscription.socket_) { - - #ifdef USE_FEATURE_J1939 - if((subscription.signal_ != nullptr || !bus_name.empty()) && subscription.signal_->get_message()->is_j1939()) + switch (type) { - name_t name = J1939_NO_NAME; - pgn_t pgn = J1939_NO_PGN; - uint8_t addr = J1939_NO_ADDR; - pgn = subscription.signal_->get_message()->get_id(); - if( subscription.signal_ != nullptr) - { - std::shared_ptr<utils::socketcan_j1939_t> socket = std::make_shared<utils::socketcan_j1939_t>(); - ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(), name, pgn, addr); - subscription.socket_ = socket; - } - else if ( !bus_name.empty()) + case socket_type::BCM: { - std::shared_ptr<utils::socketcan_j1939_t> socket = std::make_shared<utils::socketcan_j1939_t>(); - ret = socket->open(bus_name, name, pgn, addr); - subscription.socket_ = socket; - } - subscription.index_ = (int)subscription.socket_->socket(); - } - else - { - #endif if( subscription.signal_ != nullptr) { subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>(); @@ -276,13 +259,56 @@ int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, co ret = subscription.socket_->open(bus_name); } subscription.index_ = (int)subscription.socket_->socket(); - #ifdef USE_FEATURE_J1939 + break; + } +#ifdef USE_FEATURE_J1939 + case socket_type::J1939_ADDR_CLAIM: + { + pgn_t pgn = J1939_NO_PGN; + if(!bus_name.empty()) + { + std::shared_ptr<utils::socketcan_j1939_addressclaiming_t> socket = std::make_shared<utils::socketcan_j1939_addressclaiming_t>(); + ret = socket->open(bus_name, pgn); + subscription.socket_ = socket; + } + subscription.index_ = (int)subscription.socket_->socket(); + break; + } + case socket_type::J1939: + { + pgn_t pgn = J1939_NO_PGN; + if(subscription.signal_ != nullptr) + { + pgn = subscription.signal_->get_message()->get_id(); + std::shared_ptr<utils::socketcan_j1939_data_t> socket = std::make_shared<utils::socketcan_j1939_data_t>(); + ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(), pgn); + subscription.socket_ = socket; + } + else if(!bus_name.empty()) + { + std::shared_ptr<utils::socketcan_j1939_data_t> socket = std::make_shared<utils::socketcan_j1939_data_t>(); + ret = socket->open(bus_name, pgn); + subscription.socket_ = socket; + } + subscription.index_ = (int)subscription.socket_->socket(); + break; + } +#endif + default: + { + AFB_ERROR("Socket format not supported"); + return INVALID_SOCKET; + break; + } } - #endif + } + else{ + ret = subscription.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 @@ -328,7 +354,7 @@ int low_can_subscription_t::create_rx_filter_j1939(low_can_subscription_t &subsc subscription.signal_= sig; // Make sure that socket is opened. - if(open_socket(subscription) < 0) + if(open_socket(subscription,"",socket_type::J1939) < 0) { return -1; } @@ -421,7 +447,7 @@ int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_ int low_can_subscription_t::create_rx_filter_bcm(low_can_subscription_t &subscription, struct bcm_msg& bcm_msg) { // Make sure that socket is opened. - if(subscription.open_socket(subscription) < 0) + if(subscription.open_socket(subscription,"",socket_type::BCM) < 0) {return -1;} // If it's not an OBD2 CAN ID then just add a simple RX_SETUP job @@ -463,8 +489,10 @@ int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, messag canfd_frame cfd = cm->convert_to_canfd_frame(); subscription.add_one_bcm_frame(cfd, bcm_msg); - if(subscription.open_socket(subscription, bus_name) < 0) - {return -1;} + if(subscription.open_socket(subscription, bus_name,socket_type::BCM) < 0) + { + return -1; + } cm->set_bcm_msg(bcm_msg); subscription.socket_->write_message(*cm); @@ -474,4 +502,27 @@ int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, messag } return 0; -}
\ No newline at end of file +} + +#ifdef USE_FEATURE_J1939 +int low_can_subscription_t::j1939_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name) +{ + //struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cfd.can_id); + //subscription.add_one_bcm_frame(cfd, bcm_msg); + + if(subscription.open_socket(subscription, bus_name, socket_type::J1939) < 0) + { + return -1; + } + + j1939_message_t *jm = static_cast<j1939_message_t*>(message); + jm->set_sockname(jm->get_pgn(),J1939_NO_NAME,J1939_NO_ADDR); + if(subscription.socket_->write_message(*jm) < 0) + { + AFB_ERROR("Error write j1939 message"); + return -1; + } + + return 0; +} +#endif
\ No newline at end of file |