diff options
Diffstat (limited to 'low-can-binding/binding')
| -rw-r--r-- | low-can-binding/binding/low-can-cb.cpp | 10 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-subscription.cpp | 133 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-subscription.hpp | 12 |
3 files changed, 101 insertions, 54 deletions
diff --git a/low-can-binding/binding/low-can-cb.cpp b/low-can-binding/binding/low-can-cb.cpp index 6b869073..9515424a 100644 --- a/low-can-binding/binding/low-can-cb.cpp +++ b/low-can-binding/binding/low-can-cb.cpp @@ -32,7 +32,7 @@ #include "../can/can-encoder.hpp" #include "../can/can-bus.hpp" #include "../can/can-signals.hpp" -#include "../can/can-message.hpp" +#include "../can/message/message.hpp" #include "../utils/signals.hpp" #include "../diagnostic/diagnostic-message.hpp" #include "../utils/openxc-utils.hpp" @@ -70,12 +70,12 @@ void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std s.erase(it); } -static void push_n_notify(std::shared_ptr<can_message_t> m) +static void push_n_notify(std::shared_ptr<message_t> m) { can_bus_t& cbm = application_t::instance().get_can_bus_manager(); { std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex()); - cbm.push_new_can_message(*m); + cbm.push_new_can_message(m); } cbm.get_new_can_message_cv().notify_one(); } @@ -88,7 +88,7 @@ int read_message(sd_event_source *event_source, int fd, uint32_t revents, void * if ((revents & EPOLLIN) != 0) { std::shared_ptr<utils::socketcan_t> s = can_subscription->get_socket(); - std::shared_ptr<can_message_t> message = s->read_message(); + 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) @@ -413,7 +413,7 @@ static int send_frame(struct canfd_frame& cfd, const std::string& bus_name) if( cd.count(bus_name) == 0) {cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t());} - return cd[bus_name]->tx_send(cfd, bus_name); + return cd[bus_name]->tx_send(*cd[bus_name], cfd, bus_name); } static void write_raw_frame(afb_req_t request, const std::string& bus_name, json_object *json_value) diff --git a/low-can-binding/binding/low-can-subscription.cpp b/low-can-binding/binding/low-can-subscription.cpp index 09e9b807..27f4ebba 100644 --- a/low-can-binding/binding/low-can-subscription.cpp +++ b/low-can-binding/binding/low-can-subscription.cpp @@ -19,6 +19,11 @@ #include "low-can-subscription.hpp" #include "application.hpp" #include "canutil/write.h" +#include "../utils/socketcan-bcm.hpp" + +#ifdef USE_FEATURE_J1939 + #include "../utils/socketcan-j1939.hpp" +#endif low_can_subscription_t::low_can_subscription_t() : index_{-1}, @@ -243,9 +248,9 @@ int low_can_subscription_t::open_socket(const std::string& bus_name) /// /// @returns a bcm_msg with the msg_head parts set and can_frame /// zeroed. -struct utils::bcm_msg low_can_subscription_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 bcm_msg low_can_subscription_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; + struct bcm_msg bcm_msg; ::memset(&bcm_msg, 0, sizeof(bcm_msg)); bcm_msg.msg_head.opcode = opcode; @@ -262,7 +267,7 @@ struct utils::bcm_msg low_can_subscription_t::make_bcm_head(uint32_t opcode, uin /// @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_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct utils::bcm_msg& bcm_msg) const +void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg) const { struct can_frame cf; @@ -278,17 +283,31 @@ void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct u bcm_msg.msg_head.nframes++; } +#ifdef USE_FEATURE_J1939 +int low_can_subscription_t::create_rx_filter_j1939(low_can_subscription_t &subscription, std::shared_ptr<can_signal_t> sig) +{ + subscription.can_signal_= sig; + + // Make sure that socket is opened. + if(subscription.open_socket() < 0) + { + return -1; + } + return 0; +} +#endif + /// @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_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig) +int low_can_subscription_t::create_rx_filter_can(low_can_subscription_t &subscription, 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; + subscription.can_signal_= sig; if (sig->get_message()->is_fd()) { @@ -300,45 +319,83 @@ int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig) flags = SETTIMER|RX_NO_AUTOTIMER; cfd.len = CAN_MAX_DLEN; } - val = (float)(1 << can_signal_->get_bit_size()) - 1; + val = (float)(1 << subscription.can_signal_->get_bit_size()) - 1; if(! bitfield_encode_float(val, - can_signal_->get_bit_position(), - can_signal_->get_bit_size(), + subscription.can_signal_->get_bit_position(), + subscription.can_signal_->get_bit_size(), 1, - can_signal_->get_offset(), + subscription.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); + frequency_clock_t f = subscription.event_filter_.frequency == 0 ? subscription.can_signal_->get_frequency() : frequency_clock_t(subscription.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); + struct bcm_msg bcm_msg = subscription.make_bcm_head(RX_SETUP, subscription.can_signal_->get_message()->get_id(), flags, timeout, freq); + subscription.add_one_bcm_frame(cfd, bcm_msg); - return create_rx_filter(bcm_msg); + return create_rx_filter_bcm(subscription, bcm_msg); +} + +int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig) +{ + #ifdef USE_FEATURE_J1939 + if(sig->get_message()->is_j1939()) + { + return low_can_subscription_t::create_rx_filter_j1939(*this, sig); + } + else + { + #endif + return low_can_subscription_t::create_rx_filter_can(*this, sig); + #ifdef USE_FEATURE_J1939 + } + #endif +} + + +/// @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_subscription_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}; + + struct 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(*this, 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. +/// two previous method with 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_subscription_t::create_rx_filter(utils::bcm_msg& bcm_msg) +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(open_socket() < 0) + if(subscription.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. + + std::shared_ptr<message_t> msg = std::make_shared<can_message_t>(); + + msg->set_bcm_msg(bcm_msg); + if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID) { - socket_->write_message(bcm_msg); - if(! socket_) + subscription.socket_->write_message(msg); + if(! subscription.socket_) return -1; } else @@ -346,46 +403,34 @@ int low_can_subscription_t::create_rx_filter(utils::bcm_msg& bcm_msg) for(uint8_t i = 0; i < 8; i++) { bcm_msg.msg_head.can_id = OBD2_FUNCTIONAL_RESPONSE_START + i; - - socket_->write_message(bcm_msg); - if(! socket_) + msg->set_bcm_msg(bcm_msg); + subscription.socket_->write_message(msg); + if(! subscription.socket_) return -1; } } - return 0; } -/// @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_subscription_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 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_subscription_t::tx_send(struct canfd_frame& cfd, const std::string& bus_name) +int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, struct canfd_frame& cfd, const std::string& bus_name) { - struct utils::bcm_msg bcm_msg = make_bcm_head(TX_SEND, cfd.can_id); - add_one_bcm_frame(cfd, bcm_msg); + struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cfd.can_id); + subscription.add_one_bcm_frame(cfd, bcm_msg); - if(open_socket(bus_name) < 0) + if(subscription.open_socket(bus_name) < 0) {return -1;} - socket_->write_message(bcm_msg); - if(! socket_) + + std::shared_ptr<message_t> msg = std::make_shared<can_message_t>(); + + msg->set_bcm_msg(bcm_msg); + + subscription.socket_->write_message(msg); + if(! subscription.socket_.get()) return -1; return 0; diff --git a/low-can-binding/binding/low-can-subscription.hpp b/low-can-binding/binding/low-can-subscription.hpp index ded600c5..c9cd2e3f 100644 --- a/low-can-binding/binding/low-can-subscription.hpp +++ b/low-can-binding/binding/low-can-subscription.hpp @@ -54,7 +54,7 @@ private: 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. - std::shared_ptr<utils::socketcan_bcm_t> socket_; ///< socket_ - socket_ that receives CAN messages. + std::shared_ptr<utils::socketcan_t> socket_; ///< socket_ - socket_ that receives CAN messages. int set_event(); @@ -89,14 +89,16 @@ public: 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; + 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}) const; + void add_one_bcm_frame(struct canfd_frame& cfd, struct 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); + static int create_rx_filter_can(low_can_subscription_t &subscription, std::shared_ptr<can_signal_t> sig); + static int create_rx_filter_j1939(low_can_subscription_t &subscription, std::shared_ptr<can_signal_t> sig); + static int create_rx_filter_bcm(low_can_subscription_t &subscription, struct bcm_msg& bcm_msg); - int tx_send(struct canfd_frame& cfd, const std::string& bus_name); + static int tx_send(low_can_subscription_t &subscription, struct canfd_frame& cfd, const std::string& bus_name); }; |