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-rw-r--r--low-can-binding/binding/application-generated.cpp564
-rw-r--r--low-can-binding/binding/application.cpp78
-rw-r--r--low-can-binding/binding/application.hpp104
-rw-r--r--low-can-binding/binding/low-can-cb.cpp358
-rw-r--r--low-can-binding/binding/low-can-hat.cpp73
-rw-r--r--low-can-binding/binding/low-can-hat.hpp40
-rw-r--r--low-can-binding/binding/low-can-subscription.cpp306
-rw-r--r--low-can-binding/binding/low-can-subscription.hpp91
8 files changed, 1614 insertions, 0 deletions
diff --git a/low-can-binding/binding/application-generated.cpp b/low-can-binding/binding/application-generated.cpp
new file mode 100644
index 00000000..60a21f51
--- /dev/null
+++ b/low-can-binding/binding/application-generated.cpp
@@ -0,0 +1,564 @@
+#include "application.hpp"
+#include "../can/can-decoder.hpp"
+
+application_t::application_t()
+ : can_bus_manager_{utils::config_parser_t{"/etc/dev-mapping.conf"}}
+ , can_message_set_{
+ {std::make_shared<can_message_set_t>(can_message_set_t{0,"example",
+ { // beginning can_message_definition_ vector
+ {std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x3D9,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",
+ 16,
+ 16,
+ 0.250000f,
+ 0.00000,
+ 0,
+ 0,
+ frequency_clock_t(0.00000f),
+ true,
+ false,
+ {
+ },
+ false,
+ nullptr,
+ nullptr,
+ false
+ })},
+ {std::make_shared<can_signal_t> (can_signal_t{
+ "fuel.level.low",
+ 55,
+ 1,
+ 1.00000f,
+ 0.00000,
+ 0,
+ 0,
+ frequency_clock_t(0.00000f),
+ true,
+ false,
+ {
+ },
+ false,
+ decoder_t::booleanDecoder,
+ nullptr,
+ false
+ })},
+ {std::make_shared<can_signal_t> (can_signal_t{
+ "fuel.level",
+ 8,
+ 8,
+ 0.392157f,
+ 0.00000,
+ 0,
+ 0,
+ frequency_clock_t(0.00000f),
+ true,
+ false,
+ {
+ },
+ false,
+ nullptr,
+ nullptr,
+ false
+ })}
+ } // 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,
+ { // beginning can_signals vector
+ {std::make_shared<can_signal_t> (can_signal_t{
+ "vehicle.average.speed",
+ 0,
+ 15,
+ 0.0156250f,
+ 0.00000,
+ 0,
+ 0,
+ frequency_clock_t(0.00000f),
+ true,
+ false,
+ {
+ },
+ false,
+ nullptr,
+ nullptr,
+ false
+ })}
+ } // 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,
+ { // beginning can_signals vector
+ {std::make_shared<can_signal_t> (can_signal_t{
+ "engine.oil.temp",
+ 16,
+ 8,
+ 1.00000f,
+ 0.00000,
+ 0,
+ 0,
+ frequency_clock_t(0.00000f),
+ true,
+ false,
+ {
+ },
+ false,
+ nullptr,
+ nullptr,
+ false
+ })},
+ {std::make_shared<can_signal_t> (can_signal_t{
+ "engine.oil.temp.high",
+ 7,
+ 1,
+ 1.00000f,
+ 0.00000,
+ 0,
+ 0,
+ frequency_clock_t(0.00000f),
+ true,
+ false,
+ {
+ },
+ false,
+ decoder_t::booleanDecoder,
+ nullptr,
+ false
+ })}
+ } // 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,
+ { // beginning can_signals vector
+ {std::make_shared<can_signal_t> (can_signal_t{
+ "doors.boot.open",
+ 47,
+ 1,
+ 1.00000f,
+ 0.00000,
+ 0,
+ 0,
+ frequency_clock_t(0.00000f),
+ true,
+ false,
+ {
+ },
+ false,
+ decoder_t::booleanDecoder,
+ nullptr,
+ false
+ })},
+ {std::make_shared<can_signal_t> (can_signal_t{
+ "doors.front_left.open",
+ 43,
+ 1,
+ 1.00000f,
+ 0.00000,
+ 0,
+ 0,
+ frequency_clock_t(0.00000f),
+ true,
+ false,
+ {
+ },
+ false,
+ decoder_t::booleanDecoder,
+ nullptr,
+ false
+ })},
+ {std::make_shared<can_signal_t> (can_signal_t{
+ "doors.front_right.open",
+ 44,
+ 1,
+ 1.00000f,
+ 0.00000,
+ 0,
+ 0,
+ frequency_clock_t(0.00000f),
+ true,
+ false,
+ {
+ },
+ false,
+ decoder_t::booleanDecoder,
+ nullptr,
+ false
+ })},
+ {std::make_shared<can_signal_t> (can_signal_t{
+ "doors.rear_left.open",
+ 46,
+ 1,
+ 1.00000f,
+ 0.00000,
+ 0,
+ 0,
+ frequency_clock_t(0.00000f),
+ true,
+ false,
+ {
+ },
+ false,
+ decoder_t::booleanDecoder,
+ nullptr,
+ false
+ })},
+ {std::make_shared<can_signal_t> (can_signal_t{
+ "doors.rear_right.open",
+ 45,
+ 4,
+ 1.00000f,
+ 0.00000,
+ 0,
+ 0,
+ frequency_clock_t(0.00000f),
+ true,
+ false,
+ {
+ },
+ false,
+ decoder_t::booleanDecoder,
+ nullptr,
+ false
+ })}
+ } // 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,
+ { // beginning can_signals vector
+ {std::make_shared<can_signal_t> (can_signal_t{
+ "windows.front_left.open",
+ 43,
+ 1,
+ 1.00000f,
+ 0.00000,
+ 0,
+ 0,
+ frequency_clock_t(0.00000f),
+ true,
+ false,
+ {
+ },
+ false,
+ decoder_t::booleanDecoder,
+ nullptr,
+ false
+ })},
+ {std::make_shared<can_signal_t> (can_signal_t{
+ "windows.front_right.open",
+ 44,
+ 1,
+ 1.00000f,
+ 0.00000,
+ 0,
+ 0,
+ frequency_clock_t(0.00000f),
+ true,
+ false,
+ {
+ },
+ false,
+ decoder_t::booleanDecoder,
+ nullptr,
+ false
+ })},
+ {std::make_shared<can_signal_t> (can_signal_t{
+ "windows.rear_left.open",
+ 46,
+ 1,
+ 1.00000f,
+ 0.00000,
+ 0,
+ 0,
+ frequency_clock_t(0.00000f),
+ true,
+ false,
+ {
+ },
+ false,
+ decoder_t::booleanDecoder,
+ nullptr,
+ false
+ })},
+ {std::make_shared<can_signal_t> (can_signal_t{
+ "windows.rear_right.open",
+ 45,
+ 4,
+ 1.00000f,
+ 0.00000,
+ 0,
+ 0,
+ frequency_clock_t(0.00000f),
+ true,
+ false,
+ {
+ },
+ false,
+ decoder_t::booleanDecoder,
+ nullptr,
+ false
+ })}
+ } // end can_signals vector
+ })} // end can_message_definition entry
+
+ }, // end can_message_definition vector
+ { // beginning diagnostic_messages_ vector
+ {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+ 4,
+ "engine.load",
+ 0,
+ 0,
+ UNIT::INVALID,
+ 5.00000f,
+ decoder_t::decode_obd2_response,
+ nullptr,
+ true
+ })}
+, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+ 5,
+ "engine.coolant.temperature",
+ 0,
+ 0,
+ UNIT::INVALID,
+ 1.00000f,
+ decoder_t::decode_obd2_response,
+ nullptr,
+ true
+ })}
+, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+ 10,
+ "fuel.pressure",
+ 0,
+ 0,
+ UNIT::INVALID,
+ 1.00000f,
+ decoder_t::decode_obd2_response,
+ nullptr,
+ true
+ })}
+, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+ 11,
+ "intake.manifold.pressure",
+ 0,
+ 0,
+ UNIT::INVALID,
+ 1.00000f,
+ decoder_t::decode_obd2_response,
+ nullptr,
+ true
+ })}
+, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+ 12,
+ "engine.speed",
+ 0,
+ 0,
+ UNIT::INVALID,
+ 5.00000f,
+ decoder_t::decode_obd2_response,
+ nullptr,
+ true
+ })}
+, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+ 13,
+ "vehicle.speed",
+ 0,
+ 0,
+ UNIT::INVALID,
+ 5.00000f,
+ decoder_t::decode_obd2_response,
+ nullptr,
+ true
+ })}
+, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+ 15,
+ "intake.air.temperature",
+ 0,
+ 0,
+ UNIT::INVALID,
+ 1.00000f,
+ decoder_t::decode_obd2_response,
+ nullptr,
+ true
+ })}
+, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+ 16,
+ "mass.airflow",
+ 0,
+ 0,
+ UNIT::INVALID,
+ 5.00000f,
+ decoder_t::decode_obd2_response,
+ nullptr,
+ true
+ })}
+, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+ 17,
+ "throttle.position",
+ 0,
+ 0,
+ UNIT::INVALID,
+ 5.00000f,
+ decoder_t::decode_obd2_response,
+ nullptr,
+ true
+ })}
+, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+ 31,
+ "running.time",
+ 0,
+ 0,
+ UNIT::INVALID,
+ 1.00000f,
+ decoder_t::decode_obd2_response,
+ nullptr,
+ true
+ })}
+, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+ 45,
+ "EGR.error",
+ 0,
+ 0,
+ UNIT::INVALID,
+ 0.00000f,
+ decoder_t::decode_obd2_response,
+ nullptr,
+ true
+ })}
+, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+ 47,
+ "fuel.level",
+ 0,
+ 0,
+ UNIT::INVALID,
+ 1.00000f,
+ decoder_t::decode_obd2_response,
+ nullptr,
+ true
+ })}
+, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+ 51,
+ "barometric.pressure",
+ 0,
+ 0,
+ UNIT::INVALID,
+ 1.00000f,
+ decoder_t::decode_obd2_response,
+ nullptr,
+ true
+ })}
+, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+ 70,
+ "ambient.air.temperature",
+ 0,
+ 0,
+ UNIT::INVALID,
+ 1.00000f,
+ decoder_t::decode_obd2_response,
+ nullptr,
+ true
+ })}
+, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+ 76,
+ "commanded.throttle.position",
+ 0,
+ 0,
+ UNIT::INVALID,
+ 1.00000f,
+ decoder_t::decode_obd2_response,
+ nullptr,
+ true
+ })}
+, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+ 82,
+ "ethanol.fuel.percentage",
+ 0,
+ 0,
+ UNIT::INVALID,
+ 1.00000f,
+ decoder_t::decode_obd2_response,
+ nullptr,
+ true
+ })}
+, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+ 90,
+ "accelerator.pedal.position",
+ 0,
+ 0,
+ UNIT::INVALID,
+ 5.00000f,
+ decoder_t::decode_obd2_response,
+ nullptr,
+ true
+ })}
+, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+ 91,
+ "hybrid.battery-pack.remaining.life",
+ 0,
+ 0,
+ UNIT::INVALID,
+ 5.00000f,
+ decoder_t::decode_obd2_response,
+ nullptr,
+ true
+ })}
+, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+ 92,
+ "engine.oil.temperature",
+ 0,
+ 0,
+ UNIT::INVALID,
+ 1.00000f,
+ decoder_t::decode_obd2_response,
+ nullptr,
+ true
+ })}
+, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+ 94,
+ "engine.fuel.rate",
+ 0,
+ 0,
+ UNIT::INVALID,
+ 1.00000f,
+ decoder_t::decode_obd2_response,
+ nullptr,
+ true
+ })}
+, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+ 99,
+ "engine.torque",
+ 0,
+ 0,
+ UNIT::INVALID,
+ 1.00000f,
+ decoder_t::decode_obd2_response,
+ nullptr,
+ true
+ })}
+
+ } // end diagnostic_messages_ vector
+ })} // end can_message_set entry
+ } // end can_message_set vector
+{
+ for(auto& cms: can_message_set_)
+ {
+ std::vector<std::shared_ptr<can_message_definition_t> >& can_messages_definition = cms->get_can_message_definition();
+ for(auto& cmd : can_messages_definition)
+ {
+ cmd->set_parent(cms.get());
+ std::vector<std::shared_ptr<can_signal_t> >& can_signals = cmd->get_can_signals();
+ for(auto& sig: can_signals)
+ {
+ sig->set_parent(cmd.get());
+ }
+ }
+
+ std::vector<std::shared_ptr<diagnostic_message_t> >& diagnostic_messages = cms->get_diagnostic_messages();
+ for(auto& dm : diagnostic_messages)
+ {
+ dm->set_parent(cms.get());
+ }
+ }
+ }
+
+const std::string application_t::get_diagnostic_bus() const
+{
+ return "hs";
+}
+
+
diff --git a/low-can-binding/binding/application.cpp b/low-can-binding/binding/application.cpp
new file mode 100644
index 00000000..6e6353b8
--- /dev/null
+++ b/low-can-binding/binding/application.cpp
@@ -0,0 +1,78 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "application.hpp"
+
+#include "../utils/signals.hpp"
+#include "../utils/openxc-utils.hpp"
+
+/// @brief Return singleton instance of configuration object.
+application_t& application_t::instance()
+{
+ static application_t config;
+ return config;
+}
+
+can_bus_t& application_t::get_can_bus_manager()
+{
+ return can_bus_manager_;
+}
+
+diagnostic_manager_t& application_t::get_diagnostic_manager()
+{
+ return diagnostic_manager_;
+}
+
+uint8_t application_t::get_active_message_set() const
+{
+ return active_message_set_;
+}
+
+std::vector<std::shared_ptr<can_message_set_t> > application_t::get_can_message_set()
+{
+ return can_message_set_;
+}
+
+std::vector<std::shared_ptr<can_signal_t> > application_t::get_all_can_signals()
+{
+ return can_message_set_[active_message_set_]->get_all_can_signals();
+}
+
+std::vector<std::shared_ptr<diagnostic_message_t> >& application_t::get_diagnostic_messages()
+{
+ return can_message_set_[active_message_set_]->get_diagnostic_messages();
+}
+
+std::vector<std::shared_ptr<can_message_definition_t> >& application_t::get_can_message_definition()
+{
+ return can_message_set_[active_message_set_]->get_can_message_definition();
+}
+
+uint32_t application_t::get_signal_id(diagnostic_message_t& sig) const
+{
+ return sig.get_pid();
+}
+
+uint32_t application_t::get_signal_id(can_signal_t& sig) const
+{
+ return sig.get_message()->get_id();
+}
+
+void application_t::set_active_message_set(uint8_t id)
+{
+ active_message_set_ = id;
+}
diff --git a/low-can-binding/binding/application.hpp b/low-can-binding/binding/application.hpp
new file mode 100644
index 00000000..5fa64782
--- /dev/null
+++ b/low-can-binding/binding/application.hpp
@@ -0,0 +1,104 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include <map>
+#include <vector>
+#include <string>
+#include <memory>
+
+#include "../can/can-bus.hpp"
+#include "../can/can-message-set.hpp"
+#include "../can/can-signals.hpp"
+#include "../diagnostic/diagnostic-manager.hpp"
+
+#include "low-can-hat.hpp"
+
+///
+/// @brief Class representing a configuration attached to the binding.
+///
+/// It regroups all needed objects instance from other class
+/// that will be used along the binding life. It gets a global vision
+/// on which signals are implemented for that binding.
+/// Here, it is only the definition of the class with predefined accessors
+/// methods used in the binding.
+///
+/// It will be the reference point to needed objects.
+///
+class application_t
+{
+ private:
+ can_bus_t can_bus_manager_; ///< instanciate the CAN bus manager. It's the one in charge of initialize the CAN bus devices.
+ diagnostic_manager_t diagnostic_manager_; ///< Diagnostic manager use to manage diagnostic message communication.
+ uint8_t active_message_set_ = 0; ///< Which is the active message set ? Default to 0.
+
+ std::vector<std::shared_ptr<can_message_set_t> > can_message_set_; ///< Vector holding all message set from JSON signals description file
+
+ application_t(); ///< Private constructor with implementation generated by the AGL generator.
+
+ public:
+ static application_t& instance();
+
+ can_bus_t& get_can_bus_manager();
+
+ const std::string get_diagnostic_bus() const;
+
+ diagnostic_manager_t& get_diagnostic_manager() ;
+
+ uint8_t get_active_message_set() const;
+
+ std::vector<std::shared_ptr<can_message_set_t> > get_can_message_set();
+
+ std::vector<std::shared_ptr<can_signal_t> > get_all_can_signals();
+
+ std::vector<std::shared_ptr<diagnostic_message_t> >& get_diagnostic_messages();
+
+ const std::vector<std::string>& get_signals_prefix() const;
+
+ std::vector<std::shared_ptr<can_message_definition_t> >& get_can_message_definition();
+
+ uint32_t get_signal_id(diagnostic_message_t& sig) const;
+
+ uint32_t get_signal_id(can_signal_t& sig) const;
+
+ void set_active_message_set(uint8_t id);
+
+/*
+ /// TODO: implement this function as method into can_bus class
+ /// @brief Pre initialize actions made before CAN bus initialization
+ /// @param[in] bus A CanBus struct defining the bus's metadata
+ /// @param[in] writable Configure the controller in a writable mode. If false, it will be configured as "listen only" and will not allow writes or even CAN ACKs.
+ /// @param[in] buses An array of all CAN buses.
+ void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
+ /// TODO: implement this function as method into can_bus class
+ /// @brief Post-initialize actions made after CAN bus initialization
+ /// @param[in] bus A CanBus struct defining the bus's metadata
+ /// @param[in] writable Configure the controller in a writable mode. If false, it will be configured as "listen only" and will not allow writes or even CAN ACKs.
+ /// @param[in] buses An array of all CAN buses.
+ void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
+ /// TODO: implement this function as method into can_bus class
+ /// @brief Check if the device is connected to an active CAN bus, i.e. it's received a message in the recent past.
+ /// @return true if a message was received on the CAN bus within CAN_ACTIVE_TIMEOUT_S seconds.
+ void logBusStatistics(can_bus_dev_t* buses, const int busCount);
+ /// TODO: implement this function as method into can_bus class
+ /// @brief Log transfer statistics about all active CAN buses to the debug log.
+ /// @param[in] buses An array of active CAN buses.
+ bool isBusActive(can_bus_dev_t* bus);
+ */
+};
+
diff --git a/low-can-binding/binding/low-can-cb.cpp b/low-can-binding/binding/low-can-cb.cpp
new file mode 100644
index 00000000..97b6d206
--- /dev/null
+++ b/low-can-binding/binding/low-can-cb.cpp
@@ -0,0 +1,358 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loic Collignon" <loic.collignon@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "low-can-hat.hpp"
+
+#include <map>
+#include <queue>
+#include <mutex>
+#include <vector>
+#include <thread>
+#include <json-c/json.h>
+#include <systemd/sd-event.h>
+
+#include "openxc.pb.h"
+#include "application.hpp"
+#include "../can/can-bus.hpp"
+#include "../can/can-signals.hpp"
+#include "../can/can-message.hpp"
+#include "../utils/signals.hpp"
+#include "../diagnostic/diagnostic-message.hpp"
+#include "../utils/openxc-utils.hpp"
+
+
+///******************************************************************************
+///
+/// SystemD event loop Callbacks
+///
+///*******************************************************************************/
+
+void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+{
+ if( ! can_subscription->get_diagnostic_message().empty() && can_subscription->get_diagnostic_message(pid) != nullptr)
+ {
+ DiagnosticRequest diag_req = can_subscription->get_diagnostic_message(pid)->build_diagnostic_request();
+ active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
+ if( adr != nullptr)
+ application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
+ }
+
+ on_no_clients(can_subscription, s);
+}
+
+void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+{
+ auto it = s.find(can_subscription->get_index());
+ s.erase(it);
+}
+
+static void push_n_notify(const can_message_t& cm)
+{
+ 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(cm);
+ }
+ cbm.get_new_can_message_cv().notify_one();
+}
+
+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)
+ {
+ can_message_t cm;
+ utils::socketcan_bcm_t& s = can_subscription->get_socket();
+ s >> cm;
+
+ // Sure we got a valid CAN message ?
+ if(! cm.get_id() == 0 && ! cm.get_length() == 0)
+ {push_n_notify(cm);}
+ }
+
+ // check if error or hangup
+ if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
+ {
+ sd_event_source_unref(event_source);
+ can_subscription->get_socket().close();
+ }
+ return 0;
+}
+
+///******************************************************************************
+///
+/// Subscription and unsubscription
+///
+///*******************************************************************************/
+
+static int make_subscription_unsubscription(struct afb_req request, std::shared_ptr<low_can_subscription_t>& can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s, bool subscribe)
+{
+ /* Make the subscription or unsubscription to the event */
+ if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[can_subscription->get_index()]->get_event())) < 0)
+ {
+ ERROR("Operation goes wrong for signal: %s", can_subscription->get_name().c_str());
+ return -1;
+ }
+ return 0;
+}
+
+static int create_event_handle(std::shared_ptr<low_can_subscription_t>& can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+{
+ int sub_index = can_subscription->get_index();
+ can_subscription->set_event(afb_daemon_make_event(can_subscription->get_name().c_str()));
+ s[sub_index] = can_subscription;
+ if (!afb_event_is_valid(s[sub_index]->get_event()))
+ {
+ ERROR("Can't create an event for %s, something goes wrong.", can_subscription->get_name().c_str());
+ return -1;
+ }
+ return 0;
+}
+
+/// @brief Will determine if it is needed or not to create the event handle and checks it to be sure that
+/// we got a valid afb_event to get subscribe or unsubscribe. Then launch the subscription or unsubscription
+/// against the application framework using that event handle.
+static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, std::shared_ptr<low_can_subscription_t>& can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+{
+ int ret = -1;
+ int sub_index = can_subscription->get_index();
+
+ if (can_subscription && s.find(sub_index) != s.end())
+ {
+ if (!afb_event_is_valid(s[sub_index]->get_event()) && !subscribe)
+ {
+ NOTICE("Event isn't valid, no need to unsubscribed.");
+ ret = -1;
+ }
+ ret = 0;
+ }
+ else
+ {
+ /* Event doesn't exist , so let's create it */
+ can_subscription->set_event({nullptr, nullptr});
+ s[sub_index] = can_subscription;
+ ret = create_event_handle(can_subscription, s);
+ }
+
+ // Check whether or not the event handler has been correctly created and
+ // make the subscription/unsubscription operation is so.
+ if (ret < 0)
+ return ret;
+ return make_subscription_unsubscription(request, can_subscription, s, subscribe);
+}
+
+static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription)
+{
+ struct sd_event_source* event_source = nullptr;
+ return ( sd_event_add_io(afb_daemon_get_event_loop(),
+ &event_source,
+ can_subscription->get_socket().socket(),
+ EPOLLIN,
+ read_message,
+ can_subscription.get()));
+}
+
+static int subscribe_unsubscribe_diagnostic_messages(struct afb_req request, bool subscribe, std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages, struct event_filter_t& event_filter, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+{
+ int rets = 0;
+ application_t& app = application_t::instance();
+ diagnostic_manager_t& diag_m = app.get_diagnostic_manager();
+
+ for(const auto& sig : diagnostic_messages)
+ {
+ DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request());
+ event_filter.frequency = std::isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency;
+ std::shared_ptr<low_can_subscription_t> can_subscription;
+
+ auto it = std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub){ return (! sub.second->get_diagnostic_message().empty());});
+ can_subscription = it != s.end() ?
+ it->second :
+ std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
+ // If the requested diagnostic message isn't supported by the car then unsubcribe it
+ // no matter what we want, worse case will be a fail unsubscription but at least we don't
+ // poll a PID for nothing.
+ //TODO: Adding callback requesting ignition status: diag_req, sig.c_str(), false, diagnostic_message_t::decode_obd2_response, diagnostic_message_t::check_ignition_status, frequency);
+ if(sig->get_supported() && subscribe)
+ {
+ diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), event_filter.frequency);
+ if(can_subscription->create_rx_filter(sig) < 0)
+ {return -1;}
+ DEBUG("Signal: %s subscribed", sig->get_name().c_str());
+ if(it == s.end() && add_to_event_loop(can_subscription) < 0)
+ {
+ diag_m.cleanup_request(
+ diag_m.find_recurring_request(*diag_req), true);
+ WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
+ return -1;
+ }
+ }
+ else
+ {
+ if(sig->get_supported())
+ {DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());}
+ else
+ {
+ WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
+ return -1;
+ }
+ }
+ int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s);
+ if(ret < 0)
+ return ret;
+
+ rets++;
+ }
+
+ return rets;
+}
+
+static int subscribe_unsubscribe_can_signals(struct afb_req request, bool subscribe, std::vector<std::shared_ptr<can_signal_t> > can_signals, struct event_filter_t& event_filter, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+{
+ int rets = 0;
+ for(const auto& sig: can_signals)
+ {
+ auto it = std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub){ return sub.second->get_can_signal() == sig; });
+ std::shared_ptr<low_can_subscription_t> can_subscription;
+ if(it != s.end())
+ {
+ can_subscription = it->second;
+ }
+ else
+ {
+ can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
+ if(can_subscription->create_rx_filter(sig) < 0)
+ {return -1;}
+ if(add_to_event_loop(can_subscription) < 0)
+ {return -1;}
+ }
+
+ if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
+ {return -1;}
+
+ rets++;
+ DEBUG("signal: %s subscribed", sig->get_name().c_str());
+ }
+ return rets;
+}
+
+///
+/// @brief subscribe to all signals in the vector signals
+///
+/// @param[in] afb_req request : contain original request use to subscribe or unsubscribe
+/// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription
+/// @param[in] signals - struct containing vectors with can_signal_t and diagnostic_messages to subscribe
+///
+/// @return Number of correctly subscribed signal
+///
+static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals, struct event_filter_t& event_filter)
+{
+ int rets = 0;
+ utils::signals_manager_t& sm = utils::signals_manager_t::instance();
+
+ std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
+ std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
+
+ rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s);
+ rets += subscribe_unsubscribe_can_signals(request, subscribe, signals.can_signals, event_filter, s);
+
+ return rets;
+}
+
+static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const std::string& tag, json_object* args)
+{
+ int ret = 0;
+ struct event_filter_t event_filter;
+ struct json_object *filter, *obj;
+ struct utils::signals_found sf;
+
+ // computes the filter
+ if (json_object_object_get_ex(args, "filter", &filter))
+ {
+ if (json_object_object_get_ex(filter, "frequency", &obj)
+ && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
+ {
+ event_filter.frequency = (float)json_object_get_double(obj);
+ ret += 1;
+ }
+ if (json_object_object_get_ex(filter, "min", &obj)
+ && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
+ {
+ event_filter.min = (float)json_object_get_double(obj);
+ ret += 2;
+ }
+ if (json_object_object_get_ex(filter, "max", &obj)
+ && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
+ {
+ event_filter.max = (float)json_object_get_double(obj);
+ ret += 4;
+ }
+ }
+
+ // subscribe or unsubscribe
+ openxc_DynamicField search_key = build_DynamicField(tag);
+ sf = utils::signals_manager_t::instance().find_signals(search_key);
+ if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
+ NOTICE("No signal(s) found for %s.", tag.c_str());
+ else
+ ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
+
+ return ret;
+}
+
+static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe)
+{
+ int i, n, rc, rc2;
+ struct json_object *args, *event, *x;
+
+ args = afb_req_json(request);
+ if (args == NULL || !json_object_object_get_ex(args, "event", &event))
+ {
+ rc = one_subscribe_unsubscribe(request, subscribe, "*", args);
+ }
+ else if (json_object_get_type(event) != json_type_array)
+ {
+ rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), args);
+ }
+ else
+ {
+ rc = 0;
+ n = json_object_array_length(event);
+ for (i = 0 ; i < n ; i++)
+ {
+ x = json_object_array_get_idx(event, i);
+ rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), args);
+ if (rc >= 0)
+ rc = rc2 >= 0 ? rc + rc2 : rc2;
+ }
+ }
+
+ if (rc >= 0)
+ afb_req_success(request, NULL, NULL);
+ else
+ afb_req_fail(request, "error", NULL);
+}
+
+void subscribe(struct afb_req request)
+{
+ do_subscribe_unsubscribe(request, true);
+}
+
+void unsubscribe(struct afb_req request)
+{
+ do_subscribe_unsubscribe(request, false);
+}
diff --git a/low-can-binding/binding/low-can-hat.cpp b/low-can-binding/binding/low-can-hat.cpp
new file mode 100644
index 00000000..7113b69a
--- /dev/null
+++ b/low-can-binding/binding/low-can-hat.cpp
@@ -0,0 +1,73 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loic Collignon" <loic.collignon@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "low-can-hat.hpp"
+#include "low-can-subscription.hpp"
+
+#include <map>
+#include <queue>
+#include <mutex>
+#include <vector>
+#include <json-c/json.h>
+
+#include "application.hpp"
+#include "../can/can-bus.hpp"
+
+extern "C"
+{
+ static int initv2();
+
+ static const struct afb_verb_v2 verbs[]=
+ {
+ { .verb= "subscribe", .callback= subscribe, .auth= NULL, .session= AFB_SESSION_NONE},
+ { .verb= "unsubscribe", .callback= unsubscribe, .auth= NULL, .session= AFB_SESSION_NONE},
+ { .verb= NULL, .callback= NULL, .auth= NULL, .session= 0}
+ };
+
+ const struct afb_binding_v2 afbBindingV2 {
+ .api = "low-can",
+ .specification = NULL,
+ .verbs = verbs,
+ .preinit = NULL,
+ .init = initv2,
+ .onevent = NULL,
+ .noconcurrency = 0
+ };
+
+ /// @brief Initialize the binding.
+ ///
+ /// @param[in] service Structure which represent the Application Framework Binder.
+ ///
+ /// @return Exit code, zero if success.
+ static int initv2()
+ {
+ can_bus_t& can_bus_manager = application_t::instance().get_can_bus_manager();
+
+ can_bus_manager.set_can_devices();
+ can_bus_manager.start_threads();
+
+ /// Initialize Diagnostic manager that will handle obd2 requests.
+ /// We pass by default the first CAN bus device to its Initialization.
+ /// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus.
+ if(application_t::instance().get_diagnostic_manager().initialize())
+ return 0;
+
+ ERROR("There was something wrong with CAN device Initialization.");
+ return 1;
+ }
+};
diff --git a/low-can-binding/binding/low-can-hat.hpp b/low-can-binding/binding/low-can-hat.hpp
new file mode 100644
index 00000000..cf3d999e
--- /dev/null
+++ b/low-can-binding/binding/low-can-hat.hpp
@@ -0,0 +1,40 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loic Collignon" <loic.collignon@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include <cstddef>
+#include <map>
+#include <string>
+#include <memory>
+#include <systemd/sd-event.h>
+
+extern "C"
+{
+ #define AFB_BINDING_VERSION 2
+ #include <afb/afb-binding.h>
+};
+
+class low_can_subscription_t;
+
+void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
+void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
+int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata);
+
+void subscribe(struct afb_req request);
+void unsubscribe(struct afb_req request); \ No newline at end of file
diff --git a/low-can-binding/binding/low-can-subscription.cpp b/low-can-binding/binding/low-can-subscription.cpp
new file mode 100644
index 00000000..5488cc53
--- /dev/null
+++ b/low-can-binding/binding/low-can-subscription.cpp
@@ -0,0 +1,306 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loic Collignon" <loic.collignon@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "low-can-hat.hpp"
+
+#include "low-can-subscription.hpp"
+#include "application.hpp"
+#include "canutil/write.h"
+
+low_can_subscription_t::low_can_subscription_t()
+ : index_{-1},
+ event_filter_{event_filter_t()},
+ socket_{}
+{}
+
+low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter)
+ : event_filter_{event_filter}
+{}
+
+low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
+ : index_{s.index_},
+ event_filter_{s.event_filter_},
+ socket_{std::move(s.socket_)}
+{}
+
+low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s)
+{
+ socket_ = std::move(s.socket_);
+ return *this;
+}
+
+low_can_subscription_t::~low_can_subscription_t()
+{
+ socket_.close();
+}
+
+low_can_subscription_t::operator bool() const
+{
+ return ((can_signal_ != nullptr || ! diagnostic_message_.empty()) && afb_event_is_valid(event_));
+}
+
+struct afb_event& low_can_subscription_t::get_event()
+{
+ return event_;
+}
+
+int low_can_subscription_t::get_index() const
+{
+ return index_;
+}
+
+const std::shared_ptr<can_signal_t> low_can_subscription_t::get_can_signal() const
+{
+ return can_signal_;
+}
+
+const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_subscription_t::get_diagnostic_message() const
+{
+ return diagnostic_message_;
+}
+
+/// @brief Retrieve a diagnostic_message subscribed from a pid
+///
+/// @param[in] pid - Diagnostic messages PID to search for
+///
+/// @return shared_ptr diagnostic_message_ if found and nullptr if not found
+const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(uint32_t pid) const
+{
+ for(const auto& diag: diagnostic_message_)
+ {
+ if(diag->get_pid() == pid)
+ {
+ return diag;
+ }
+ }
+ return nullptr;
+}
+
+/// @brief Retrieve a diagnostic message search from its name
+///
+/// @return shared_ptr diagnostic_message_ if found and nullptr if not found
+const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(const std::string& name) const
+{
+ for(const auto& diag: diagnostic_message_)
+ {
+ if(diag->get_name() == name)
+ {
+ return diag;
+ }
+ }
+ return nullptr;
+}
+
+/// @brief Return the CAN signal name and empty string if not found
+/// or no CAN signal subscribed
+const std::string low_can_subscription_t::get_name() const
+{
+ if (can_signal_ != nullptr)
+ return can_signal_->get_name();
+
+ return "";
+}
+
+/// @brief Return name from a diagnostic message from a PID
+///
+/// @param[in] pid - Diagnostic message PID
+const std::string low_can_subscription_t::get_name(uint32_t pid) const
+{
+ if (!diagnostic_message_.empty())
+ return get_diagnostic_message(pid)->get_name() ;
+
+ return "";
+}
+
+float low_can_subscription_t::get_frequency() const
+{
+ return event_filter_.frequency;
+}
+
+float low_can_subscription_t::get_min() const
+{
+ return event_filter_.min;
+}
+
+float low_can_subscription_t::get_max() const
+{
+ return event_filter_.max;
+}
+
+utils::socketcan_bcm_t& low_can_subscription_t::get_socket()
+{
+ return socket_;
+}
+
+void low_can_subscription_t::set_event(struct afb_event event)
+{
+ event_ = event;
+}
+
+void low_can_subscription_t::set_frequency(float freq)
+{
+ event_filter_.frequency = freq;
+}
+
+void low_can_subscription_t::set_min(float min)
+{
+ event_filter_.min = min;
+}
+
+void low_can_subscription_t::set_max(float max)
+{
+ event_filter_.max = max;
+}
+
+/// @brief Based upon which object is subscribed CAN signal or diagnostic message
+/// this 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()
+{
+ int ret = 0;
+ if(! socket_)
+ {
+ if( can_signal_ != nullptr)
+ {ret = socket_.open(can_signal_->get_message()->get_bus_device_name());}
+ else if (! diagnostic_message_ .empty())
+ {ret = socket_.open(application_t::instance().get_diagnostic_manager().get_bus_device_name());}
+ index_ = (int)socket_.socket();
+ }
+ return ret;
+}
+
+/// @brief Build a BCM message head but don't set can_frame.
+///
+/// @return a simple_bcm_msg with the msg_head parts set and can_frame
+/// zeroed.
+struct utils::simple_bcm_msg low_can_subscription_t::make_bcm_head(uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const
+{
+ struct utils::simple_bcm_msg bcm_msg;
+
+ memset(&bcm_msg, 0, sizeof(bcm_msg));
+
+ bcm_msg.msg_head.opcode = RX_SETUP;
+ bcm_msg.msg_head.can_id = can_id;
+ bcm_msg.msg_head.flags = flags;
+ bcm_msg.msg_head.ival1.tv_sec = timeout.tv_sec ;
+ bcm_msg.msg_head.ival1.tv_usec = timeout.tv_usec;
+ bcm_msg.msg_head.ival2.tv_sec = frequency_thinning.tv_sec ;
+ bcm_msg.msg_head.ival2.tv_usec = frequency_thinning.tv_usec;
+
+ return bcm_msg;
+}
+
+/// @brief Take an existing simple_bcm_msg struct and add a can_frame to it.
+/// Only possible for now to add 1 uniq can_frame, it isn't possible to build
+/// a multiplexed message with several can_frame.
+void low_can_subscription_t::add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const
+{
+ for(int i=0; i < CAN_MAX_DLEN; i++)
+ {
+ if(cfd.data[i] != 0)
+ {
+ bcm_msg.msg_head.nframes = 1;
+ bcm_msg.frames = cfd;
+ return;
+ }
+ }
+}
+
+/// @brief Create a RX_SETUP receive job 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)
+{
+ 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);
+
+ struct timeval freq, timeout = {0, 0};
+ frequency_clock_t f = std::isnan(event_filter_.frequency) ? 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(can_signal_->get_message()->get_id(), SETTIMER|RX_NO_AUTOTIMER, timeout, freq);
+ add_bcm_frame(cfd, bcm_msg);
+
+ return create_rx_filter(bcm_msg);
+}
+
+/// @brief Create a RX_SETUP receive job 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::simple_bcm_msg bcm_msg = make_bcm_head(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. You will not use this method directly but rather use 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_subscription_t::create_rx_filter(utils::simple_bcm_msg& bcm_msg)
+{
+ // Make sure that socket has been opened.
+ if(open_socket() < 0)
+ {return -1;}
+
+ // If it isn't an OBD2 CAN ID then just add a simple RX_SETUP job
+ // else monitor all standard 8 CAN OBD2 ID response.
+ if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
+ {
+ socket_ << bcm_msg;
+ if(! socket_)
+ return -1;
+ }
+ else
+ {
+ for(uint8_t i = 0; i < 8; i++)
+ {
+ bcm_msg.msg_head.can_id = OBD2_FUNCTIONAL_RESPONSE_START + i;
+
+ socket_ << bcm_msg;
+ if(! socket_)
+ return -1;
+ }
+ }
+
+ return 0;
+} \ 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
new file mode 100644
index 00000000..0ad7e3a2
--- /dev/null
+++ b/low-can-binding/binding/low-can-subscription.hpp
@@ -0,0 +1,91 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+ #pragma once
+
+#include <string>
+#include <cmath>
+#include <utility>
+
+#include "../can/can-signals.hpp"
+#include "../diagnostic/diagnostic-message.hpp"
+#include "../utils/socketcan-bcm.hpp"
+
+/// @brief Filtering values. Theses values has to be tested into
+/// can_bus_t::apply_filter method.
+struct event_filter_t
+{
+ float frequency; ///< frequency - Maximum frequency which will be received and pushed a subscribed event.
+ float min; ///< min - Minimum value that the signal don't have to go below to be pushed.
+ float max; ///< max - Maximum value that the signal don't have to go above to be pushed.
+ event_filter_t() : frequency{NAN}, min{NAN}, max{NAN} {}
+};
+
+/// @brief A subscription object used has a context that handle all needed values to describe a subscription
+/// to the low-can binding. It can holds a CAN signal or diagnostic message. Diagnostic message for OBD2 is a kind
+/// of special because there is only 1 listener to retrieve OBD2 requests. So it's needed that all diagnostic messages
+/// subscriptions is to be in 1 object.
+class low_can_subscription_t
+{
+private:
+ int index_; ///< index_ - index number is the socket (int) casted
+ struct afb_event event_; ///< event_ - application framework event used to push on client
+
+ /// Signal part
+ 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 received OBD2 responses.
+ /// normal diagnostic request and response not tested for now.
+
+ /// Filtering part
+ struct event_filter_t event_filter_; ///< event_filter_ - filtering values applied to a subscription
+
+ utils::socketcan_bcm_t socket_; ///< socket_ - socket_ that receives CAN messages.
+public:
+ low_can_subscription_t();
+ low_can_subscription_t(struct event_filter_t event_filter);
+ low_can_subscription_t(const low_can_subscription_t& s) = delete;
+ low_can_subscription_t(low_can_subscription_t&& s);
+ ~low_can_subscription_t();
+
+ low_can_subscription_t& operator=(const low_can_subscription_t& s);
+ explicit operator bool() const;
+
+ int get_index() const;
+ struct afb_event& get_event();
+ const std::shared_ptr<can_signal_t> get_can_signal() const;
+ const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(uint32_t pid) const;
+ const std::vector<std::shared_ptr<diagnostic_message_t> > get_diagnostic_message() const;
+ const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(const std::string& name) const;
+ const std::string get_name() const;
+ const std::string get_name(uint32_t pid) const;
+ float get_frequency() const;
+ float get_min() const;
+ float get_max() const;
+ utils::socketcan_bcm_t& get_socket();
+
+ void set_event(struct afb_event event);
+ void set_frequency(float freq);
+ void set_min(float min);
+ void set_max(float max);
+
+ struct utils::simple_bcm_msg make_bcm_head(uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const;
+ void add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const;
+ int open_socket();
+ 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);
+};