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-rw-r--r--low-can-binding/binding/low-can-subscription.hpp75
1 files changed, 67 insertions, 8 deletions
diff --git a/low-can-binding/binding/low-can-subscription.hpp b/low-can-binding/binding/low-can-subscription.hpp
index 0807feef..8af0aa19 100644
--- a/low-can-binding/binding/low-can-subscription.hpp
+++ b/low-can-binding/binding/low-can-subscription.hpp
@@ -21,23 +21,82 @@
#include <cmath>
#include <utility>
-#include "low-can-socket.hpp"
#include "../can/can-signals.hpp"
#include "../diagnostic/diagnostic-message.hpp"
#include "../utils/socketcan-bcm.hpp"
-/// @brief The subscription class has a context that can handle all needed values to describe a subscription
-/// to the low-can binding. It can hold a CAN signal or a diagnostic message. A diagnostic message for OBD2 is
-/// special because there is only 1 listener to retrieve OBD2 requests. It is required that all diagnostic message
-/// subscriptions are in 1 object.
-class low_can_subscription_t : public low_can_socket_t
+#define OBDII_MAX_SIMULTANEOUS_RESPONSES 8
+
+/// @brief Filtering values. Theses values have to be tested in
+/// can_bus_t::apply_filter method.
+struct event_filter_t
+{
+ float frequency; ///< frequency - Maximum frequency which will be received and pushed to a subscribed event.
+ float min; ///< min - Minimum value that the signal doesn't have to go below to be pushed.
+ float max; ///< max - Maximum value that the signal doesn't have to go above to be pushed.
+
+ event_filter_t() : frequency{0}, min{-__FLT_MAX__}, max{__FLT_MAX__} {};
+ bool operator==(const event_filter_t& ext) const {
+ return frequency == ext.frequency && min == ext.min && max == ext.max;
+ }
+};
+
+/// @brief The object stores socket to CAN to be used to write on it.
+/// This is a simple access to a CAN bus device without any subscriptions attached
+class low_can_subscription_t
{
private:
+ int index_; ///< index_ - index number is the socket (int) casted
+ struct event_filter_t event_filter_;
afb_event_t event_; ///< event_ - application framework event used to push on client
+ /// Signal part
+ std::shared_ptr<can_signal_t> can_signal_; ///< can_signal_ - the CAN signal subscribed
+ std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_message_; ///< diagnostic_message_ - diagnostic messages meant to receive OBD2
+ /// responses. Normal diagnostic request and response are not tested for now.
+ utils::socketcan_bcm_t socket_; ///< socket_ - socket_ that receives CAN messages.
+
+ int set_event();
+
public:
- using low_can_socket_t::low_can_socket_t;
+ low_can_subscription_t();
+ low_can_subscription_t(struct event_filter_t event_filter);
+ low_can_subscription_t(const low_can_subscription_t& s) = delete;
+ low_can_subscription_t(low_can_subscription_t&& s);
+ ~low_can_subscription_t();
+
+ low_can_subscription_t& operator=(const low_can_subscription_t& s);
+ explicit operator bool() const;
afb_event_t get_event();
- void set_event(afb_event_t event);
+ int subscribe(afb_req_t request);
+ int unsubscribe(afb_req_t request);
+
+ int get_index() const;
+ const std::shared_ptr<can_signal_t> get_can_signal() const;
+ bool is_signal_subscription_corresponding(const std::shared_ptr<can_signal_t>, const struct event_filter_t& event_filter) const;
+ const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(uint32_t pid) const;
+ const std::vector<std::shared_ptr<diagnostic_message_t> > get_diagnostic_message() const;
+ const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(const std::string& name) const;
+ const std::string get_name() const;
+ const std::string get_name(uint32_t pid) const;
+ float get_frequency() const;
+ float get_min() const;
+ float get_max() const;
+ utils::socketcan_bcm_t& get_socket();
+
+ void set_frequency(float freq);
+ void set_min(float min);
+ void set_max(float max);
+
+ struct utils::bcm_msg make_bcm_head(uint32_t opcode, uint32_t can_id = 0, uint32_t flags = 0, const struct timeval& timeout = {0,0}, const struct timeval& frequency_thinning = {0,0}) const;
+ void add_one_bcm_frame(struct canfd_frame& cfd, struct utils::bcm_msg& bcm_msg) const;
+
+ int open_socket(const std::string& bus_name = "");
+
+ int create_rx_filter(std::shared_ptr<can_signal_t> sig);
+ int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig);
+ int create_rx_filter(utils::bcm_msg& bcm_msg);
+
+ int tx_send(struct canfd_frame& cfd, const std::string& bus_name);
};