diff options
Diffstat (limited to 'low-can-binding/binding')
| -rw-r--r-- | low-can-binding/binding/application-generated.cpp | 48 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-cb.cpp | 63 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-socket.cpp | 75 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-socket.hpp | 10 |
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); }; |