diff options
Diffstat (limited to 'low-can-binding/binding')
| -rw-r--r-- | low-can-binding/binding/application.cpp | 19 | ||||
| -rw-r--r-- | low-can-binding/binding/application.hpp | 16 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-cb.cpp | 92 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-subscription.cpp | 119 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-subscription.hpp | 4 |
5 files changed, 202 insertions, 48 deletions
diff --git a/low-can-binding/binding/application.cpp b/low-can-binding/binding/application.cpp index f0f008c5..d93bf0cf 100644 --- a/low-can-binding/binding/application.cpp +++ b/low-can-binding/binding/application.cpp @@ -154,3 +154,22 @@ bool application_t::isEngineOn() return engine_on; } + +#ifdef USE_FEATURE_J1939 +std::shared_ptr<utils::socketcan_t> application_t::get_socket_address_claiming() +{ + return subscription_address_claiming_->get_socket(); +} + +std::shared_ptr<low_can_subscription_t> application_t::get_subscription_address_claiming() +{ + return subscription_address_claiming_; +} + + +void application_t::set_subscription_address_claiming(std::shared_ptr<low_can_subscription_t> new_subscription) +{ + subscription_address_claiming_ = new_subscription; +} + +#endif
\ No newline at end of file diff --git a/low-can-binding/binding/application.hpp b/low-can-binding/binding/application.hpp index b73ace71..a5d2285c 100644 --- a/low-can-binding/binding/application.hpp +++ b/low-can-binding/binding/application.hpp @@ -26,6 +26,10 @@ #include "../can/message-set.hpp" #include "../can/signals.hpp" #include "../diagnostic/diagnostic-manager.hpp" +#ifdef USE_FEATURE_J1939 + #include "../utils/socketcan-j1939/socketcan-j1939-data.hpp" + #include "../utils/socketcan-j1939/socketcan-j1939-addressclaiming.hpp" +#endif /// /// @brief Class represents a configuration attached to the binding. @@ -48,7 +52,10 @@ class application_t std::vector<std::shared_ptr<message_set_t> > message_set_; ///< Vector holding all message set from JSON signals description file std::map<std::string, std::shared_ptr<low_can_subscription_t> > can_devices_; ///< Map containing all independant opened CAN sockets, key is the socket int value. - +#ifdef USE_FEATURE_J1939 + std::shared_ptr<low_can_subscription_t> subscription_address_claiming_; ///< Subscription holding the socketcan J1939 which is in charge of handling the address claiming protocol + //std::shared_ptr<utils::socketcan_j1939_addressclaiming_t> socket_address_claiming_; +#endif application_t(); ///< Private constructor with implementation generated by the AGL generator. public: @@ -84,6 +91,13 @@ class application_t void set_active_message_set(uint8_t id); +#ifdef USE_FEATURE_J1939 + std::shared_ptr<utils::socketcan_t> get_socket_address_claiming(); + + std::shared_ptr<low_can_subscription_t> get_subscription_address_claiming(); + + void set_subscription_address_claiming(std::shared_ptr<low_can_subscription_t> new_subscription); +#endif /* /// TODO: implement this function as method into can_bus class /// @brief Pre initialize actions made before CAN bus initialization diff --git a/low-can-binding/binding/low-can-cb.cpp b/low-can-binding/binding/low-can-cb.cpp index 9c21b675..5fdd961e 100644 --- a/low-can-binding/binding/low-can-cb.cpp +++ b/low-can-binding/binding/low-can-cb.cpp @@ -26,7 +26,6 @@ #include <thread> #include <wrap-json.h> #include <systemd/sd-event.h> - #include "openxc.pb.h" #include "application.hpp" #include "../can/can-encoder.hpp" @@ -37,6 +36,10 @@ #include "../diagnostic/diagnostic-message.hpp" #include "../utils/openxc-utils.hpp" +#ifdef USE_FEATURE_J1939 + #include "../can/message/j1939-message.hpp" + #include <linux/can/j1939.h> +#endif ///****************************************************************************** /// /// SystemD event loop Callbacks @@ -82,18 +85,27 @@ static void push_n_notify(std::shared_ptr<message_t> m) int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata) { + low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata; if ((revents & EPOLLIN) != 0) { - std::shared_ptr<utils::socketcan_t> s = can_subscription->get_socket(); - std::shared_ptr<message_t> message = s->read_message(); - - // Sure we got a valid CAN message ? - if (! message->get_id() == 0 && ! message->get_length() == 0) + utils::signals_manager_t& sm = utils::signals_manager_t::instance(); + std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); + if(can_subscription->get_index() != -1) { - push_n_notify(message); + std::shared_ptr<utils::socketcan_t> s = can_subscription->get_socket(); + if(s->socket() && s->socket() != -1) + { + std::shared_ptr<message_t> message = s->read_message(); + + // Sure we got a valid CAN message ? + if (! message->get_id() == 0 && ! message->get_length() == 0 && message->get_msg_format() != message_format_t::INVALID) + { + push_n_notify(message); + } + } } } @@ -164,8 +176,8 @@ static int subscribe_unsubscribe_signal(afb_req_t request, if( (ret = s[sub_index]->unsubscribe(request)) < 0) return ret; + s.find(sub_index)->second->set_index(-1); s.erase(sub_index); - return ret; } @@ -227,7 +239,9 @@ static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request, else { if(sig->get_supported()) - {AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());} + { + AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str()); + } else { AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str()); @@ -240,7 +254,6 @@ static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request, rets++; } - return rets; } @@ -493,6 +506,10 @@ static int send_frame(struct canfd_frame& cfd, const std::string& bus_name, sock { return low_can_subscription_t::tx_send(*cd[bus_name], cfd, bus_name); } + else if(type == socket_type::J1939) + { + return low_can_subscription_t::j1939_send(*cd[bus_name], cfd, bus_name); + } else{ return -1; } @@ -517,6 +534,12 @@ static int send_message(message_t *message, const std::string& bus_name, socket_ { return low_can_subscription_t::tx_send(*cd[bus_name], message, bus_name); } +#ifdef USE_FEATURE_J1939 + else if(type == socket_type::J1939) + { + return low_can_subscription_t::j1939_send(*cd[bus_name], message, bus_name); + } +#endif else { return -1; @@ -548,6 +571,10 @@ static void write_raw_frame(afb_req_t request, const std::string& bus_name, mess { afb_req_fail(request, "Invalid", "Data array must hold 1 to 8 values."); } + else if(type == socket_type::J1939) + { + afb_req_fail(request, "Invalid", "Data array too large"); + } else { afb_req_fail(request, "Invalid", "Invalid socket type"); @@ -583,6 +610,16 @@ static void write_frame(afb_req_t request, const std::string& bus_name, json_obj message = new can_message_t(CANFD_MAX_DLEN,(uint32_t)id,(uint32_t)length,message_format_t::STANDARD,false,0,data,0); write_raw_frame(request,bus_name,message,can_data,socket_type::BCM); } +#ifdef USE_FEATURE_J1939 + else if(!wrap_json_unpack(json_value, "{si, si, so !}", + "pgn", &id, + "length", &length, + "data", &can_data)) + { + message = new j1939_message_t(J1939_MAX_DLEN,(uint32_t)length,message_format_t::J1939,data,0,J1939_NO_NAME,(pgn_t)id,J1939_NO_ADDR); + write_raw_frame(request,bus_name,message,can_data,socket_type::J1939); + } +#endif else { afb_req_fail(request, "Invalid", "Frame object malformed"); @@ -800,8 +837,9 @@ void list(afb_req_t request) /// @return Exit code, zero if success. int init_binding(afb_api_t api) { - uint32_t ret = 1; - can_bus_t& can_bus_manager = application_t::instance().get_can_bus_manager(); + int ret = 1; + application_t& application = application_t::instance(); + can_bus_t& can_bus_manager = application.get_can_bus_manager(); can_bus_manager.set_can_devices(); can_bus_manager.start_threads(); @@ -829,8 +867,38 @@ int init_binding(afb_api_t api) subscribe_unsubscribe_diagnostic_messages(request, true, sf.diagnostic_messages, event_filter, s, true); } + +#ifdef USE_FEATURE_J1939 + std::vector<std::shared_ptr<message_definition_t>> current_messages_definition = application.get_messages_definition(); + for(std::shared_ptr<message_definition_t> message_definition: current_messages_definition) + { + if(message_definition->is_j1939()) + { + std::shared_ptr<low_can_subscription_t> low_can_j1939 = std::make_shared<low_can_subscription_t>(); + + application.set_subscription_address_claiming(low_can_j1939); + + ret = low_can_subscription_t::open_socket(*low_can_j1939, + message_definition->get_bus_device_name(), + socket_type::J1939_ADDR_CLAIM); + if(ret < 0) + { + AFB_ERROR("Error open socket address claiming for j1939 protocol"); + return -1; + } + +// std::shared_ptr<low_can_subscription_t> saddrclaim = application.get_subscription_address_claiming(); + + add_to_event_loop(low_can_j1939); + break; + } + } +#endif + if(ret) + { AFB_ERROR("There was something wrong with CAN device Initialization."); + } return ret; } 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 diff --git a/low-can-binding/binding/low-can-subscription.hpp b/low-can-binding/binding/low-can-subscription.hpp index 5ea1cf17..d0462ecb 100644 --- a/low-can-binding/binding/low-can-subscription.hpp +++ b/low-can-binding/binding/low-can-subscription.hpp @@ -89,11 +89,12 @@ public: void set_frequency(float freq); void set_min(float min); void set_max(float max); + void set_index(int index); static struct 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}); static void add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg); - static int open_socket(low_can_subscription_t &subscription, const std::string& bus_name = ""); + static int open_socket(low_can_subscription_t &subscription, const std::string& bus_name = "", socket_type type = socket_type::INVALID); int create_rx_filter(std::shared_ptr<signal_t> sig); int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig); @@ -102,4 +103,5 @@ public: static int create_rx_filter_bcm(low_can_subscription_t &subscription, bcm_msg& bcm_msg); static int tx_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name); + static int j1939_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name); }; |