diff options
Diffstat (limited to 'low-can-binding/binding/low-can-subscription.hpp')
| -rw-r--r-- | low-can-binding/binding/low-can-subscription.hpp | 75 |
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); }; |