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-rw-r--r--low-can-binding/binding/low-can-cb.cpp10
-rw-r--r--low-can-binding/binding/low-can-subscription.cpp133
-rw-r--r--low-can-binding/binding/low-can-subscription.hpp12
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);
};