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-rw-r--r--low-can-binding/binding/application-generated.cpp48
-rw-r--r--low-can-binding/binding/low-can-cb.cpp63
-rw-r--r--low-can-binding/binding/low-can-socket.cpp75
-rw-r--r--low-can-binding/binding/low-can-socket.hpp10
4 files changed, 125 insertions, 71 deletions
diff --git a/low-can-binding/binding/application-generated.cpp b/low-can-binding/binding/application-generated.cpp
index 5a67d86e..1b0a3506 100644
--- a/low-can-binding/binding/application-generated.cpp
+++ b/low-can-binding/binding/application-generated.cpp
@@ -7,7 +7,13 @@ application_t::application_t()
, can_message_set_{
{std::make_shared<can_message_set_t>(can_message_set_t{0,"AGL Virtual Car",
{ // beginning can_message_definition_ vector
- {std::make_shared<can_message_definition_t>(can_message_definition_t{"ls",0x30,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true,
+ {std::make_shared<can_message_definition_t>(can_message_definition_t{
+ "ls",
+ 0x30,
+ false,
+ can_message_format_t::EXTENDED,
+ frequency_clock_t(5.00000f),
+ true,
{ // beginning can_signals vector
{std::make_shared<can_signal_t> (can_signal_t{
"hvac.fan.speed",
@@ -83,7 +89,13 @@ application_t::application_t()
})}
} // end can_signals vector
})} // end can_message_definition entry
-, {std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x3D9,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true,
+, {std::make_shared<can_message_definition_t>(can_message_definition_t{
+ "hs",
+ 0x3D9,
+ true,
+ can_message_format_t::STANDARD,
+ frequency_clock_t(5.00000f),
+ true,
{ // beginning can_signals vector
{std::make_shared<can_signal_t> (can_signal_t{
"engine.speed",
@@ -141,7 +153,13 @@ application_t::application_t()
})}
} // end can_signals vector
})} // end can_message_definition entry
-, {std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x3E9,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true,
+, {std::make_shared<can_message_definition_t>(can_message_definition_t{
+ "hs",
+ 0x3E9,
+ false,
+ can_message_format_t::EXTENDED,
+ frequency_clock_t(5.00000f),
+ true,
{ // beginning can_signals vector
{std::make_shared<can_signal_t> (can_signal_t{
"vehicle.average.speed",
@@ -163,7 +181,13 @@ application_t::application_t()
})}
} // end can_signals vector
})} // end can_message_definition entry
-, {std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x4D1,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true,
+, {std::make_shared<can_message_definition_t>(can_message_definition_t{
+ "hs",
+ 0x4D1,
+ false,
+ can_message_format_t::STANDARD,
+ frequency_clock_t(5.00000f),
+ true,
{ // beginning can_signals vector
{std::make_shared<can_signal_t> (can_signal_t{
"engine.oil.temp",
@@ -203,7 +227,13 @@ application_t::application_t()
})}
} // end can_signals vector
})} // end can_message_definition entry
-, {std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x620,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true,
+, {std::make_shared<can_message_definition_t>(can_message_definition_t{
+ "hs",
+ 0x620,
+ false,
+ can_message_format_t::STANDARD,
+ frequency_clock_t(5.00000f),
+ true,
{ // beginning can_signals vector
{std::make_shared<can_signal_t> (can_signal_t{
"doors.boot.open",
@@ -297,7 +327,13 @@ application_t::application_t()
})}
} // end can_signals vector
})} // end can_message_definition entry
-, {std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x799,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true,
+, {std::make_shared<can_message_definition_t>(can_message_definition_t{
+ "hs",
+ 0x799,
+ false,
+ can_message_format_t::STANDARD,
+ frequency_clock_t(5.00000f),
+ true,
{ // beginning can_signals vector
{std::make_shared<can_signal_t> (can_signal_t{
"windows.front_left.open",
diff --git a/low-can-binding/binding/low-can-cb.cpp b/low-can-binding/binding/low-can-cb.cpp
index 3cb61c6c..098f0715 100644
--- a/low-can-binding/binding/low-can-cb.cpp
+++ b/low-can-binding/binding/low-can-cb.cpp
@@ -407,7 +407,7 @@ void unsubscribe(afb_req_t request)
do_subscribe_unsubscribe(request, false);
}
-static int send_frame(const std::string& bus_name, const struct can_frame& cf)
+static int send_frame(struct canfd_frame& cfd, const std::string& bus_name)
{
if(bus_name.empty()) {
return -1;
@@ -418,57 +418,54 @@ static int send_frame(const std::string& bus_name, const struct can_frame& cf)
if( cd.count(bus_name) == 0)
{cd[bus_name] = std::make_shared<low_can_socket_t>(low_can_socket_t());}
- return cd[bus_name]->tx_send(cf, bus_name);
+ return cd[bus_name]->tx_send(cfd, bus_name);
}
static void write_raw_frame(afb_req_t request, const std::string& bus_name, json_object *json_value)
{
- struct can_frame cf;
- struct json_object *json_can_data = nullptr;
+ struct canfd_frame cfd;
+ struct json_object *can_data = nullptr;
- ::memset(&cf, 0, sizeof(cf));
+ ::memset(&cfd, 0, sizeof(cfd));
- if(! wrap_json_unpack(json_value, "{sF, sF, so !}",
- "can_id", &cf.can_id,
- "can_dlc", &cf.can_dlc,
- "can_data", &json_can_data))
+ if(wrap_json_unpack(json_value, "{si, si, so !}",
+ "can_id", &cfd.can_id,
+ "can_dlc", &cfd.len,
+ "can_data", &can_data))
{
- struct json_object *one_can_data;
- size_t n = json_object_array_length(json_can_data);
+ afb_req_fail(request, "Invalid", "Frame object malformed");
+ return;
+ }
- if(n <= 8 && n > 0)
- {
- for (int i = 0 ; i < n ; i++)
- {
- one_can_data = json_object_array_get_idx(json_can_data, i);
- cf.data[i] = json_object_get_type(one_can_data) == json_type_int ? (uint8_t)json_object_get_int(one_can_data) : 0;
- }
- }
- else
+ if(cfd.len <= 8 && cfd.len > 0)
+ {
+ for (int i = 0 ; i < cfd.len ; i++)
{
- afb_req_fail(request, "Error", "Data array must hold 1 to 8 values.");
- return;
+ struct json_object *one_can_data = json_object_array_get_idx(can_data, i);
+ cfd.data[i] = (json_object_is_type(one_can_data, json_type_int)) ?
+ (uint8_t)json_object_get_int(one_can_data) : 0;
}
-
- if(! send_frame(application_t::instance().get_can_bus_manager().get_can_device_name(bus_name), cf))
- afb_req_success(request, nullptr, "Message correctly sent");
- else
- afb_req_fail(request, "Error", "sending the message. See the log for more details.");
-
+ }
+ else
+ {
+ afb_req_fail(request, "Invalid", "Data array must hold 1 to 8 values.");
return;
}
- afb_req_fail(request, "Error", "Frame object malformed (must be \n \"frame\": {\"can_id\": int, \"can_dlc\": int, \"can_data\": [ int, int , int, int ,int , int ,int ,int]}");
+ if(! send_frame(cfd, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name)))
+ afb_req_success(request, nullptr, "Message correctly sent");
+ else
+ afb_req_fail(request, "Error", "sending the message. See the log for more details.");
}
static void write_signal(afb_req_t request, const std::string& name, json_object *json_value)
{
- struct can_frame cf;
+ struct canfd_frame cfd;
struct utils::signals_found sf;
signal_encoder encoder = nullptr;
bool send = true;
- ::memset(&cf, 0, sizeof(cf));
+ ::memset(&cfd, 0, sizeof(cfd));
openxc_DynamicField search_key = build_DynamicField(name);
sf = utils::signals_manager_t::instance().find_signals(search_key);
@@ -491,8 +488,8 @@ static void write_signal(afb_req_t request, const std::string& name, json_object
encoder(*sig, dynafield_value, &send) :
encoder_t::encode_DynamicField(*sig, dynafield_value, &send);
- if(! send_frame(sig->get_message()->get_bus_device_name(), encoder_t::build_frame(sig, value)) &&
- send)
+ cfd = encoder_t::build_frame(sig, value);
+ if(! send_frame(cfd, sig->get_message()->get_bus_device_name()) && send)
afb_req_success(request, nullptr, "Message correctly sent");
else
afb_req_fail(request, "Error", "Sending the message. See the log for more details.");
diff --git a/low-can-binding/binding/low-can-socket.cpp b/low-can-binding/binding/low-can-socket.cpp
index db9b164b..cd827b6b 100644
--- a/low-can-binding/binding/low-can-socket.cpp
+++ b/low-can-binding/binding/low-can-socket.cpp
@@ -185,11 +185,11 @@ int low_can_socket_t::open_socket(const std::string& bus_name)
/// @brief Builds a BCM message head but doesn't set can_frame.
///
-/// @returns a simple_bcm_msg with the msg_head parts set and can_frame
+/// @returns a bcm_msg with the msg_head parts set and can_frame
/// zeroed.
-struct utils::simple_bcm_msg low_can_socket_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 low_can_socket_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::simple_bcm_msg bcm_msg;
+ struct utils::bcm_msg bcm_msg;
::memset(&bcm_msg, 0, sizeof(bcm_msg));
bcm_msg.msg_head.opcode = opcode;
@@ -203,13 +203,23 @@ struct utils::simple_bcm_msg low_can_socket_t::make_bcm_head(uint32_t opcode, ui
return bcm_msg;
}
-/// @brief Take an existing simple_bcm_msg struct and add a can_frame.
+/// @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_socket_t::add_bcm_frame(const struct can_frame& cf, struct utils::simple_bcm_msg& bcm_msg) const
+void low_can_socket_t::add_one_bcm_frame(struct canfd_frame& cfd, struct utils::bcm_msg& bcm_msg) const
{
+ struct can_frame cf;
+
+ if (bcm_msg.msg_head.flags & CAN_FD_FRAME)
+ bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cfd;
+ else
+ {
+ cf.can_id = cfd.can_id;
+ cf.can_dlc = cfd.len;
+ ::memcpy(&cf.data, cfd.data, cfd.len);
+ bcm_msg.frames[bcm_msg.msg_head.nframes] = cf;
+ }
bcm_msg.msg_head.nframes++;
- bcm_msg.frames = cf;
}
/// @brief Create a RX_SETUP receive job to be used by the BCM socket for a CAN signal
@@ -218,26 +228,37 @@ void low_can_socket_t::add_bcm_frame(const struct can_frame& cf, struct utils::s
/// @return 0 if ok else -1
int low_can_socket_t::create_rx_filter(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;
- struct can_frame cfd;
- memset(&cfd, 0, sizeof(cfd));
-
- float val = (float)(1 << can_signal_->get_bit_size()) - 1;
- bitfield_encode_float(val,
- can_signal_->get_bit_position(),
- can_signal_->get_bit_size(),
- can_signal_->get_factor(),
- can_signal_->get_offset(),
- cfd.data,
- CAN_MAX_DLEN);
+ if (sig->get_message()->is_fd())
+ {
+ flags = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME;
+ cfd.len = CANFD_MAX_DLEN;
+ }
+ else
+ {
+ flags = SETTIMER|RX_NO_AUTOTIMER;
+ cfd.len = CAN_MAX_DLEN;
+ }
+ val = (float)(1 << can_signal_->get_bit_size()) - 1;
+ if(! bitfield_encode_float(val,
+ can_signal_->get_bit_position(),
+ can_signal_->get_bit_size(),
+ 1,
+ can_signal_->get_offset(),
+ cfd.data,
+ cfd.len))
+ return -1;
- struct timeval freq, timeout = {0, 0};
frequency_clock_t f = event_filter_.frequency == 0 ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency);
freq = f.get_timeval_from_period();
- utils::simple_bcm_msg bcm_msg = make_bcm_head(RX_SETUP, can_signal_->get_message()->get_id(), SETTIMER|RX_NO_AUTOTIMER, timeout, freq);
- add_bcm_frame(cfd, bcm_msg);
+ 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);
return create_rx_filter(bcm_msg);
}
@@ -254,19 +275,19 @@ int low_can_socket_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig
//struct timeval timeout = frequency_clock_t(10).get_timeval_from_period();
struct timeval timeout = {0,0};
- utils::simple_bcm_msg bcm_msg = make_bcm_head(RX_SETUP, OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
+ 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 Create a RX_SETUP receive job used by the BCM socket directly from
-/// a simple_bcm_msg. The method should not be used directly but rather through the
+/// 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.
///
/// 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_socket_t::create_rx_filter(utils::simple_bcm_msg& bcm_msg)
+int low_can_socket_t::create_rx_filter(utils::bcm_msg& bcm_msg)
{
// Make sure that socket is opened.
if(open_socket() < 0)
@@ -299,12 +320,10 @@ int low_can_socket_t::create_rx_filter(utils::simple_bcm_msg& bcm_msg)
/// send a message
///
/// @return 0 if ok else -1
-int low_can_socket_t::tx_send(const struct can_frame& cf, const std::string& bus_name)
+int low_can_socket_t::tx_send(struct canfd_frame& cfd, const std::string& bus_name)
{
- can_signal_ = nullptr;
-
- utils::simple_bcm_msg bcm_msg = make_bcm_head(TX_SEND);
- add_bcm_frame(cf, bcm_msg);
+ utils::bcm_msg bcm_msg = make_bcm_head(TX_SEND, cfd.can_id);
+ add_one_bcm_frame(cfd, bcm_msg);
if(open_socket(bus_name) < 0)
{return -1;}
diff --git a/low-can-binding/binding/low-can-socket.hpp b/low-can-binding/binding/low-can-socket.hpp
index 48ed47f9..d46f1f8c 100644
--- a/low-can-binding/binding/low-can-socket.hpp
+++ b/low-can-binding/binding/low-can-socket.hpp
@@ -25,6 +25,8 @@
#include "../diagnostic/diagnostic-message.hpp"
#include "../utils/socketcan-bcm.hpp"
+#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
@@ -81,14 +83,14 @@ public:
void set_min(float min);
void set_max(float max);
- struct utils::simple_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_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const;
+ 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::simple_bcm_msg& bcm_msg);
+ int create_rx_filter(utils::bcm_msg& bcm_msg);
- int tx_send(const struct can_frame& cf, const std::string& bus_name);
+ int tx_send(struct canfd_frame& cfd, const std::string& bus_name);
};