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-rw-r--r--low-can-binding/utils/config-parser.cpp67
-rw-r--r--low-can-binding/utils/config-parser.hpp44
-rw-r--r--low-can-binding/utils/openxc-utils.cpp351
-rw-r--r--low-can-binding/utils/openxc-utils.hpp47
-rw-r--r--low-can-binding/utils/signals.cpp77
-rw-r--r--low-can-binding/utils/signals.hpp86
-rw-r--r--low-can-binding/utils/socketcan-bcm.cpp101
-rw-r--r--low-can-binding/utils/socketcan-bcm.hpp53
-rw-r--r--low-can-binding/utils/socketcan-raw.cpp88
-rw-r--r--low-can-binding/utils/socketcan-raw.hpp35
-rw-r--r--low-can-binding/utils/socketcan.cpp97
-rw-r--r--low-can-binding/utils/socketcan.hpp71
-rw-r--r--low-can-binding/utils/timer.cpp129
-rw-r--r--low-can-binding/utils/timer.hpp58
14 files changed, 1304 insertions, 0 deletions
diff --git a/low-can-binding/utils/config-parser.cpp b/low-can-binding/utils/config-parser.cpp
new file mode 100644
index 00000000..8ccf5bcb
--- /dev/null
+++ b/low-can-binding/utils/config-parser.cpp
@@ -0,0 +1,67 @@
+/*
+ * Copyright (C) 2015, 2016 ,2017 "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 "config-parser.hpp"
+
+#include "../binding/low-can-hat.hpp"
+
+namespace utils
+{
+ /// @brief constructor using path to file
+ config_parser_t::config_parser_t(std::string conf_file)
+ : filepath_{conf_file}, config_content_{}
+ {
+ config_content_.read_file(conf_file);
+ }
+
+ const std::string& config_parser_t::filepath() const
+ {
+ return filepath_;
+ }
+
+ /// @brief read the conf_file_ and parse it into an INIReader object
+ /// to search into later.
+ bool config_parser_t::check_conf()
+ {
+ if (config_content_.size() <= 0)
+ {
+ ERROR("Can't load the INI config file.");
+ return false;
+ }
+ DEBUG("Configuration file parsed");
+ return true;
+ }
+
+ /// @brief Public method to access devices_name_ vector. If vector size equal 0
+ /// then it will parses the configuration file content to fill it. It could be empty even
+ /// after parsing if content file just don't have a correct "canbus" directive so you
+ /// have to test the returned value.
+ ///
+ /// @return A const vector with string of linux CAN devices.
+ const std::vector<std::pair<std::string, std::string> > config_parser_t::get_devices_name()
+ {
+ std::vector<std::pair<std::string, std::string> > devices_name;
+
+ std::map<std::string, std::string> bus_mapping = config_content_.get_keys("CANbus-mapping");
+ for(const auto& busIt : bus_mapping )
+ {
+ devices_name.push_back(std::make_pair(busIt.first, busIt.second));
+ }
+
+ return devices_name;
+ }
+} \ No newline at end of file
diff --git a/low-can-binding/utils/config-parser.hpp b/low-can-binding/utils/config-parser.hpp
new file mode 100644
index 00000000..3115e9bd
--- /dev/null
+++ b/low-can-binding/utils/config-parser.hpp
@@ -0,0 +1,44 @@
+/*
+ * Copyright (C) 2015, 2016 ,2017 "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 <vector>
+#include <utility>
+#include "ini-config.hpp"
+
+namespace utils
+{
+ /// @brief A configuration file parser that handle INI configuration
+ /// file format.
+ class config_parser_t
+ {
+ private:
+ const std::string filepath_; /*!< filepath_ - Path to the config file*/
+ ini_config config_content_; /*!< config_content_ - Parsed content of INI file.*/
+
+ public:
+ config_parser_t(config_parser_t&&) = default;
+ config_parser_t(const config_parser_t&) = default;
+ explicit config_parser_t(std::string conf_file);
+
+ const std::string& filepath() const;
+ bool check_conf();
+ const std::vector<std::pair<std::string, std::string> > get_devices_name();
+ };
+}
diff --git a/low-can-binding/utils/openxc-utils.cpp b/low-can-binding/utils/openxc-utils.cpp
new file mode 100644
index 00000000..f39f4184
--- /dev/null
+++ b/low-can-binding/utils/openxc-utils.cpp
@@ -0,0 +1,351 @@
+/*
+ * 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 "openxc-utils.hpp"
+
+#include "../binding/application.hpp"
+
+///
+/// @brief Build a specific VehicleMessage containing a DiagnosticResponse.
+///
+/// @param[in] request - Original request use to retrieve decoder and callback
+/// @param[in] response - Response to the request that will be decoded if decoder set
+/// and put into the DiagnosticResponse of the VehicleMessage.
+/// @param[in] parsed_value - raw parsed value of the payload from CAN message
+///
+/// @return a vehicle message including simple message that will be convert into
+/// a JSON object before being pushed to the subscribers
+///
+const openxc_VehicleMessage build_VehicleMessage(active_diagnostic_request_t* request, const DiagnosticResponse& response, float parsed_value)
+{
+ openxc_VehicleMessage message;
+ application_t& app = application_t::instance();
+
+ message.has_type = true;
+ message.type = openxc_VehicleMessage_Type::openxc_VehicleMessage_Type_DIAGNOSTIC;
+ message.has_diagnostic_response = true;
+ message.diagnostic_response.has_bus = true;
+ message.diagnostic_response.bus = app.get_can_bus_manager().get_can_device_index(
+ app.get_diagnostic_manager().get_bus_name());
+ message.diagnostic_response.has_message_id = true;
+
+ if(request->get_id() != OBD2_FUNCTIONAL_BROADCAST_ID)
+ {
+ message.diagnostic_response.message_id = response.arbitration_id
+ - DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET;
+ }
+ else
+ {
+ // must preserve responding arb ID for responses to functional broadcast
+ // requests, as they are the actual module address and not just arb ID +
+ // 8.
+ message.diagnostic_response.message_id = response.arbitration_id;
+ }
+
+ message.diagnostic_response.has_mode = true;
+ message.diagnostic_response.mode = response.mode;
+ message.diagnostic_response.has_pid = response.has_pid;
+ if(message.diagnostic_response.has_pid)
+ message.diagnostic_response.pid = response.pid;
+ message.diagnostic_response.has_success = true;
+ message.diagnostic_response.success = response.success;
+ message.diagnostic_response.has_negative_response_code = !response.success;
+ message.diagnostic_response.negative_response_code =
+ response.negative_response_code;
+
+ if(response.payload_length > 0)
+ {
+ if(request->get_decoder() != nullptr)
+ {
+ message.diagnostic_response.has_value = true;
+ message.diagnostic_response.value = parsed_value;
+ }
+ else
+ {
+ message.diagnostic_response.has_payload = true;
+ ::memcpy(message.diagnostic_response.payload.bytes, response.payload,
+ response.payload_length);
+ message.diagnostic_response.payload.size = response.payload_length;
+ }
+ }
+
+ return message;
+}
+///
+/// @brief Build a specific VehicleMessage containing a SimpleMessage with associated timestamp
+///
+/// @param[in] message - simple message to include into openxc_VehicleMessage
+/// @param[in] timestamp - timestamp from ioctl when reading the socket
+///
+/// @return a vehicle message including simple message that will be convert into
+/// a JSON object before being pushed to the subscribers
+///
+const openxc_VehicleMessage build_VehicleMessage(const openxc_SimpleMessage& message, uint64_t timestamp)
+{
+ openxc_VehicleMessage v;
+
+ v.has_type = true,
+ v.type = openxc_VehicleMessage_Type::openxc_VehicleMessage_Type_SIMPLE;
+ v.has_simple_message = true;
+ v.simple_message = message;
+ v.has_timestamp = true;
+ v.timestamp = timestamp;
+
+ return v;
+}
+
+///
+/// @brief Build a specific VehicleMessage containing a SimpleMessage.
+///
+/// @param[in] message - simple message to include into openxc_VehicleMessage
+///
+/// @return a vehicle message including simple message that will be convert into
+/// a JSON object before being pushed to the subscribers
+///
+const openxc_VehicleMessage build_VehicleMessage(const openxc_SimpleMessage& message)
+{
+ openxc_VehicleMessage v;
+
+ v.has_type = true,
+ v.type = openxc_VehicleMessage_Type::openxc_VehicleMessage_Type_SIMPLE;
+ v.has_simple_message = true;
+ v.simple_message = message;
+ v.has_timestamp = true;
+ v.timestamp = system_time_us();
+
+ return v;
+}
+
+///
+/// @brief Build an empty VehicleMessage that isn't usable by at least the struct
+/// is initialized for the most part and can be use to check a false return value.
+///
+/// @return A VehicleMessage with all boolean value to false.
+///
+openxc_VehicleMessage build_VehicleMessage()
+{
+ openxc_VehicleMessage v;
+
+ ::memset(&v, 0, sizeof(openxc_VehicleMessage));
+ return v;
+}
+
+bool is_valid(const openxc_VehicleMessage& v)
+{
+ if (v.has_type == false &&
+ v.has_can_message == false &&
+ v.has_simple_message == false &&
+ v.has_diagnostic_response == false &&
+ v.has_control_command == false &&
+ v.has_command_response == false &&
+ v.has_timestamp == false)
+ return false;
+ return true;
+}
+
+///
+/// @brief Build an openxc_SimpleMessage associating a name to an openxc_DynamicField
+///
+/// @param[in] name - const string reference name to assign to the created SimpleMessage
+/// this will set has_name member to true and assign name to the name member. Maximum size for name is
+/// set to 100 char.
+/// @param[in] value - const reference with DynamicField to assign to SimpleMessage
+/// value.
+///
+/// @return an openxc_SimpleMessage struct initialized with name and value provided.
+///
+const openxc_SimpleMessage build_SimpleMessage(const std::string& name, const openxc_DynamicField& value)
+{
+ openxc_SimpleMessage s;
+
+ s.has_name = true;
+ ::strncpy(s.name, name.c_str(), 100);
+ s.has_value = true;
+ s.value = value;
+
+ return s;
+}
+
+///
+/// @brief Build an openxc_DynamicField with a string value
+///
+/// @param[in] value - const string reference value to assign to builded
+/// openxc_DynamicField.
+///
+/// @return openxc_DynamicField initialized with a string value.
+///
+const openxc_DynamicField build_DynamicField(const char* value)
+{
+ openxc_DynamicField d;
+ d.has_type = true;
+ d.type = openxc_DynamicField_Type_STRING;
+
+ d.has_string_value = true;
+ d.has_numeric_value = false;
+ d.has_boolean_value = false;
+ ::strncpy(d.string_value, value, 100);
+
+ return d;
+}
+
+///
+/// @brief Build an openxc_DynamicField with a string value
+///
+/// @param[in] value - const string reference value to assign to builded
+/// openxc_DynamicField.
+///
+/// @return openxc_DynamicField initialized with a string value.
+///
+const openxc_DynamicField build_DynamicField(const std::string& value)
+{
+ openxc_DynamicField d;
+ d.has_type = true;
+ d.type = openxc_DynamicField_Type_STRING;
+
+ d.has_string_value = true;
+ d.has_numeric_value = false;
+ d.has_boolean_value = false;
+ ::strncpy(d.string_value, value.c_str(), 100);
+
+ return d;
+}
+
+///
+/// @fn openxc_DynamicField build_DynamicField(double value);
+///
+/// @brief Build an openxc_DynamicField with a double value
+///
+/// @param[in] value - double value to assign to builded openxc_DynamicField.
+///
+/// @return openxc_DynamicField initialized with a double value.
+///
+const openxc_DynamicField build_DynamicField(double value)
+{
+ openxc_DynamicField d;
+ d.has_type = true;
+ d.type = openxc_DynamicField_Type_NUM;
+
+ d.has_string_value = false;
+ d.has_numeric_value = true;
+ d.has_boolean_value = false;
+ d.numeric_value = value;
+
+ return d;
+}
+
+///
+/// @brief Build an openxc_DynamicField with a boolean value
+///
+/// @param[in] value - boolean value to assign to builded openxc_DynamicField.
+///
+/// @return openxc_DynamicField initialized with a boolean value.
+///
+const openxc_DynamicField build_DynamicField(bool value)
+{
+ openxc_DynamicField d;
+ d.has_type = true;
+ d.type = openxc_DynamicField_Type_BOOL;
+
+ d.has_string_value = false;
+ d.has_numeric_value = false;
+ d.has_boolean_value = true;
+ d.boolean_value = value;
+
+ return d;
+}
+
+int get_bool_from_DynamicField(const openxc_VehicleMessage& v_msg, bool* ret)
+{
+ if(v_msg.has_simple_message && v_msg.simple_message.has_value && v_msg.simple_message.value.has_boolean_value)
+ {
+ *ret = v_msg.simple_message.value.boolean_value;
+ return 0;
+ }
+
+ return -1;
+}
+
+double get_numerical_from_DynamicField(const openxc_VehicleMessage& v_msg)
+{
+ return (v_msg.has_simple_message && v_msg.simple_message.has_value && v_msg.simple_message.value.has_numeric_value) ?
+ v_msg.simple_message.value.numeric_value : -1.0;
+}
+
+const std::string get_string_from_DynamicField(const openxc_VehicleMessage& v_msg)
+{
+return (v_msg.has_simple_message && v_msg.simple_message.has_value && v_msg.simple_message.value.has_string_value) ?
+ v_msg.simple_message.value.string_value : "";
+}
+
+///
+/// @brief Extract the simple message value from an openxc_VehicleMessage
+/// and return it. If there isn't SimpleMessage in the VehicleMessage then
+/// returned value will be a SimpleMessage with all field set at false.
+/// DynamicField from SimpleMessage will be boolean DynamicField set to false too.
+///
+/// @param[in] v_msg - const reference to openxc_VehicleMessage
+///
+/// @return A simpleMessage from the provided VehicleMessage.
+///
+const openxc_SimpleMessage get_simple_message(const openxc_VehicleMessage& v_msg)
+{
+ if (v_msg.has_simple_message)
+ return v_msg.simple_message;
+
+ openxc_SimpleMessage s_msg = { false, "", false, build_DynamicField(false), false, build_DynamicField(false)};
+ return s_msg;
+}
+
+///
+/// @brief Make a JSON object from a DynamicField
+///
+/// @param[in] field - openxc_DynamicField struct to convert into
+/// a json object.
+/// @param[out] value - pointer to the object to set up.
+///
+void jsonify_DynamicField(const openxc_DynamicField& field, json_object* value)
+{
+ if(field.has_numeric_value)
+ json_object_object_add(value, "value", json_object_new_double(field.numeric_value));
+ else if(field.has_boolean_value)
+ json_object_object_add(value, "value", json_object_new_boolean(field.boolean_value));
+ else if(field.has_string_value)
+ json_object_object_add(value, "value", json_object_new_string(field.string_value));
+}
+
+///
+/// @brief Make a JSON object from a SimpleMessage
+///
+/// @param[in] s_msg - const reference to an openxc_SimpleMessage
+/// struct to convert into a json object.
+/// @param[out] json - pointer with the DynamicField converted into json object
+///
+/// @return True if SimpleMessage has been transformed into json object
+/// and false if not. In such case, a json object is returned { "error": "error msg"}
+///
+bool jsonify_simple(const openxc_SimpleMessage& s_msg, json_object* json)
+{
+ if(s_msg.has_name)
+ {
+ json_object_object_add(json, "name", json_object_new_string(s_msg.name));
+ jsonify_DynamicField(s_msg.value, json);
+ return true;
+ }
+ json_object_object_add(json, "error", json_object_new_string("openxc_SimpleMessage doesn't have name'"));
+ return false;
+} \ No newline at end of file
diff --git a/low-can-binding/utils/openxc-utils.hpp b/low-can-binding/utils/openxc-utils.hpp
new file mode 100644
index 00000000..83d63797
--- /dev/null
+++ b/low-can-binding/utils/openxc-utils.hpp
@@ -0,0 +1,47 @@
+/*
+ * 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 <string>
+#include <json-c/json.h>
+#include <sys/timeb.h>
+
+#include "openxc.pb.h"
+#include "../diagnostic/active-diagnostic-request.hpp"
+
+const openxc_VehicleMessage build_VehicleMessage(active_diagnostic_request_t* request, const DiagnosticResponse& response, float parsed_value);
+const openxc_VehicleMessage build_VehicleMessage(const openxc_SimpleMessage& message, uint64_t timestamp);
+const openxc_VehicleMessage build_VehicleMessage(const openxc_SimpleMessage& message);
+openxc_VehicleMessage build_VehicleMessage();
+bool is_valid(const openxc_VehicleMessage& v);
+
+const openxc_SimpleMessage build_SimpleMessage(const std::string& name, const openxc_DynamicField& value);
+const openxc_DynamicField build_DynamicField(const char* value);
+const openxc_DynamicField build_DynamicField(const std::string& value);
+const openxc_DynamicField build_DynamicField(double value);
+const openxc_DynamicField build_DynamicField(bool value);
+
+int get_bool_from_DynamicField(const openxc_VehicleMessage& v_msg, bool& ret);
+double get_numerical_from_DynamicField(const openxc_VehicleMessage& v_msg);
+const std::string get_string_from_DynamicField(const openxc_VehicleMessage& v_msg);
+const openxc_SimpleMessage get_simple_message(const openxc_VehicleMessage& v_msg);
+
+void jsonify_DynamicField(const openxc_DynamicField& field, json_object* value);
+
+bool jsonify_simple(const openxc_SimpleMessage& s_msg, json_object* json); \ No newline at end of file
diff --git a/low-can-binding/utils/signals.cpp b/low-can-binding/utils/signals.cpp
new file mode 100644
index 00000000..fbc49044
--- /dev/null
+++ b/low-can-binding/utils/signals.cpp
@@ -0,0 +1,77 @@
+/*
+ * 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 "signals.hpp"
+
+namespace utils
+{
+ signals_manager_t::signals_manager_t()
+ {}
+
+ /// @brief Return singleton instance of configuration object.
+ signals_manager_t& signals_manager_t::instance()
+ {
+ static signals_manager_t sm;
+ return sm;
+ }
+
+ /// @brief Return Subscribed signals map mutex.
+ std::mutex& signals_manager_t::get_subscribed_signals_mutex()
+ {
+ return subscribed_signals_mutex_;
+ }
+
+ ///
+ /// @brief return the subscribed_signals map.
+ ///
+ /// @return Map of subscribed signals.
+ std::map<int, std::shared_ptr<low_can_subscription_t> >& signals_manager_t::get_subscribed_signals()
+ {
+ return subscribed_signals_;
+ }
+
+ ///
+ /// @fn std::vector<std::string> find_signals(const openxc_DynamicField &key)
+ /// @brief return signals name found searching through CAN_signals and OBD2 pid
+ ///
+ /// @param[in] key : can contain numeric or string value in order to search against
+ /// can signals or obd2 signals name.
+ ///
+ /// @return Vector of signals name found.
+ ///
+ struct signals_found signals_manager_t::find_signals(const openxc_DynamicField &key)
+ {
+ struct signals_found sf;
+
+ switch(key.type)
+ {
+ case openxc_DynamicField_Type::openxc_DynamicField_Type_STRING:
+ lookup_signals_by_name(key.string_value, application_t::instance().get_all_can_signals(), sf.can_signals);
+ lookup_signals_by_name(key.string_value, application_t::instance().get_diagnostic_messages(), sf.diagnostic_messages);
+ break;
+ case openxc_DynamicField_Type::openxc_DynamicField_Type_NUM:
+ lookup_signals_by_id(key.numeric_value, application_t::instance().get_all_can_signals(), sf.can_signals);
+ lookup_signals_by_id(key.numeric_value, application_t::instance().get_diagnostic_messages(), sf.diagnostic_messages);
+ break;
+ default:
+ ERROR("wrong openxc_DynamicField specified. Use openxc_DynamicField_Type_NUM or openxc_DynamicField_Type_STRING type only.");
+ break;
+ }
+ DEBUG("Found %d signal(s)", (int)(sf.can_signals.size() + sf.diagnostic_messages.size()));
+ return sf;
+ }
+} \ No newline at end of file
diff --git a/low-can-binding/utils/signals.hpp b/low-can-binding/utils/signals.hpp
new file mode 100644
index 00000000..555c5dd6
--- /dev/null
+++ b/low-can-binding/utils/signals.hpp
@@ -0,0 +1,86 @@
+/*
+ * 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 <vector>
+#include <string>
+#include <fnmatch.h>
+
+#include "openxc.pb.h"
+#include "../binding/application.hpp"
+#include "../can/can-signals.hpp"
+#include "../diagnostic/diagnostic-message.hpp"
+
+#include "../binding/low-can-hat.hpp"
+#include "../binding/low-can-subscription.hpp"
+
+namespace utils
+{
+ struct signals_found
+ {
+ std::vector<std::shared_ptr<can_signal_t> > can_signals;
+ std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages;
+ };
+
+ /// @brief Signal manager singleton hold subscription object with attached afb_event and its mutex
+ /// to read and write it safely.
+ /// It can be used to browse CAN signals and Diagnostic messages vectors and find a particular signal to
+ /// subscribe to.
+ class signals_manager_t
+ {
+ private:
+ std::mutex subscribed_signals_mutex_;
+ std::map<int, std::shared_ptr<low_can_subscription_t> > subscribed_signals_; ///< Map containing all subscribed signals, key is the socket int value.
+
+ signals_manager_t(); ///< Private constructor to make singleton class.
+
+ public:
+ static signals_manager_t& instance();
+
+ std::mutex& get_subscribed_signals_mutex();
+ std::map<int, std::shared_ptr<low_can_subscription_t> >& get_subscribed_signals();
+
+ struct signals_found find_signals(const openxc_DynamicField &key);
+ void find_diagnostic_messages(const openxc_DynamicField &key, std::vector<std::shared_ptr<diagnostic_message_t> >& found_signals);
+ void find_can_signals(const openxc_DynamicField &key, std::vector<std::shared_ptr<can_signal_t> >& found_signals);
+
+ template <typename T>
+ void lookup_signals_by_name(const std::string& key, std::vector<std::shared_ptr<T> > signals, std::vector<std::shared_ptr<T> >& found_signals)
+ {
+ for(std::shared_ptr<T> s : signals)
+ {
+ if(::fnmatch(key.c_str(), s->get_generic_name().c_str(), FNM_CASEFOLD) == 0)
+ found_signals.push_back(s);
+ else if(::fnmatch(key.c_str(), s->get_name().c_str(), FNM_CASEFOLD) == 0)
+ found_signals.push_back(s);
+ }
+ }
+
+ template <typename T>
+ void lookup_signals_by_id(const double key, std::vector<std::shared_ptr<T> > signals, std::vector<std::shared_ptr<T> >& found_signals)
+ {
+ for(std::shared_ptr<T> s : signals)
+ {
+ if(application_t::instance().get_signal_id(*s) == key)
+ {
+ found_signals.push_back(s);
+ }
+ }
+ }
+ };
+} \ No newline at end of file
diff --git a/low-can-binding/utils/socketcan-bcm.cpp b/low-can-binding/utils/socketcan-bcm.cpp
new file mode 100644
index 00000000..e16b246f
--- /dev/null
+++ b/low-can-binding/utils/socketcan-bcm.cpp
@@ -0,0 +1,101 @@
+/*
+ * Copyright (C) 2015, 2016 ,2017 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loïc 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 "socketcan-bcm.hpp"
+
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <fcntl.h>
+
+#include "../binding/application.hpp"
+
+namespace utils
+{
+ /// @brief Connect the socket.
+ /// @return 0 if success.
+ int socketcan_bcm_t::connect(const struct sockaddr* addr, socklen_t len)
+ {
+ return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0;
+ }
+
+ /// @brief Open a raw socket CAN.
+ /// @param[in] device_name is the kernel network device name of the CAN interface.
+ ///
+ /// @return Upon successful completion, shall return a non-negative integer, the socket file descriptor. Otherwise, a value of -1 shall be returned and errno set to indicate the error.
+ int socketcan_bcm_t::open(std::string device_name)
+ {
+ close();
+
+ struct ifreq ifr;
+ socket_ = socketcan_t::open(PF_CAN, SOCK_DGRAM, CAN_BCM);
+
+ // Attempts to open a socket to CAN bus
+ ::strcpy(ifr.ifr_name, device_name.c_str());
+ DEBUG("BCM socket ifr_name is : %s", ifr.ifr_name);
+ if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0)
+ {
+ ERROR("ioctl failed. Error was : %s", strerror(errno));
+ close();
+ }
+ else
+ {
+ tx_address_.can_family = AF_CAN;
+ tx_address_.can_ifindex = ifr.ifr_ifindex;
+
+ if(connect((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
+ {
+ ERROR("Connect failed. %s", strerror(errno));
+ close();
+ }
+ // Needed because of using systemD event loop. See sd_event_add_io manual.
+ fcntl(socketcan_t::socket_, F_SETFL, O_NONBLOCK);
+ }
+ return socket_;
+ }
+
+ /// Read the socket to retrieve the associated CAN message. All the hard work is do into
+ /// convert_from_frame method and if there isn't CAN message retrieve, only BCM head struct,
+ /// then CAN message will be zeroed and must be handled later.
+ socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm)
+ {
+ struct utils::simple_bcm_msg msg;
+
+ ::memset(&msg, 0, sizeof(msg));
+ const struct sockaddr_can& addr = s.get_tx_address();
+ socklen_t addrlen = sizeof(addr);
+ struct ifreq ifr;
+
+ ssize_t nbytes = ::recvfrom(s.socket(), &msg, sizeof(msg), 0, (struct sockaddr*)&addr, &addrlen);
+ ifr.ifr_ifindex = addr.can_ifindex;
+ ioctl(s.socket(), SIOCGIFNAME, &ifr);
+ long unsigned int frame_size = nbytes-sizeof(struct bcm_msg_head);
+
+ DEBUG("Data available: %li bytes read. BCM head, opcode: %i, can_id: %i, nframes: %i", frame_size, msg.msg_head.opcode, msg.msg_head.can_id, msg.msg_head.nframes);
+ DEBUG("read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, msg.msg_head.can_id, msg.frames.can_dlc,
+ msg.frames.data[0], msg.frames.data[1], msg.frames.data[2], msg.frames.data[3], msg.frames.data[4], msg.frames.data[5], msg.frames.data[6], msg.frames.data[7]);
+
+ struct timeval tv;
+ ioctl(s.socket(), SIOCGSTAMP, &tv);
+ uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
+ cm = ::can_message_t::convert_from_frame(msg.frames ,
+ frame_size,
+ timestamp);
+ cm.set_sub_id((int)s.socket());
+
+ return s;
+ }
+} \ No newline at end of file
diff --git a/low-can-binding/utils/socketcan-bcm.hpp b/low-can-binding/utils/socketcan-bcm.hpp
new file mode 100644
index 00000000..97f093df
--- /dev/null
+++ b/low-can-binding/utils/socketcan-bcm.hpp
@@ -0,0 +1,53 @@
+/*
+ * Copyright (C) 2015, 2016 ,2017 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loïc 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 "socketcan.hpp"
+#include "../can/can-message.hpp"
+
+namespace utils
+{
+ struct simple_bcm_msg
+ {
+ struct bcm_msg_head msg_head;
+ struct can_frame frames;
+ };
+
+ struct canfd_bcm_msg
+ {
+ struct bcm_msg_head msg_head;
+ struct canfd_frame frames;
+ canfd_bcm_msg() { msg_head.flags |= CAN_FD_FRAME; }
+ };
+
+ /// @brief derivated socketcan class specialized for BCM CAN socket.
+ class socketcan_bcm_t : public socketcan_t
+ {
+ public:
+ using socketcan_t::socketcan_t;
+
+ virtual int open(std::string device_name);
+
+ private:
+ int connect(const struct sockaddr* addr, socklen_t len);
+ };
+
+ socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm);
+// socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct simple_bcm_msg& obj);
+// socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct canfd_bcm_msg& obj);
+}
diff --git a/low-can-binding/utils/socketcan-raw.cpp b/low-can-binding/utils/socketcan-raw.cpp
new file mode 100644
index 00000000..31965c3d
--- /dev/null
+++ b/low-can-binding/utils/socketcan-raw.cpp
@@ -0,0 +1,88 @@
+/*
+ * Copyright (C) 2015, 2016 ,2017 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loïc 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 "socketcan-raw.hpp"
+
+#include <net/if.h>
+#include <sys/ioctl.h>
+
+namespace utils
+{
+ /// @brief Bind the socket.
+ /// @return 0 if success.
+ int socketcan_raw_t::bind(const struct sockaddr* addr, socklen_t len)
+ {
+ return socket_ != INVALID_SOCKET ? ::bind(socket_, addr, len) : 0;
+ }
+
+ /// @brief Open a raw socket CAN.
+ /// @param[in] device_name is the kernel network device name of the CAN interface.
+ ///
+ /// @return Upon successful completion, shall return a non-negative integer, the socket file descriptor. Otherwise, a value of -1 shall be returned and errno set to indicate the error.
+ int socketcan_raw_t::open(std::string device_name)
+ {
+ close();
+
+ struct ifreq ifr;
+ socket_ = socketcan_t::open(PF_CAN, SOCK_RAW, CAN_RAW);
+
+ // Attempts to open a socket to CAN bus
+ ::strcpy(ifr.ifr_name, device_name.c_str());
+ DEBUG("ifr_name is : %s", ifr.ifr_name);
+ if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0)
+ {
+ ERROR("ioctl failed. Error was : %s", strerror(errno));
+ close();
+ }
+ else
+ {
+ tx_address_.can_family = AF_CAN;
+ tx_address_.can_ifindex = ifr.ifr_ifindex;
+
+ if(bind((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
+ {
+ ERROR("Bind failed. %s", strerror(errno));
+ close();
+ }
+ }
+ return socket_;
+ }
+
+ socketcan_raw_t& operator>>(socketcan_raw_t& s, can_message_t& cm)
+ {
+ struct canfd_frame frame;
+
+ const struct sockaddr_can& addr = s.get_tx_address();
+ socklen_t addrlen = sizeof(addr);
+ struct ifreq ifr;
+
+ ssize_t nbytes = ::recvfrom(s.socket(), &frame, sizeof(frame), 0, (struct sockaddr*)&addr, &addrlen);
+ ifr.ifr_ifindex = addr.can_ifindex;
+ ioctl(s.socket(), SIOCGIFNAME, &ifr);
+
+ DEBUG("Data available: %i bytes read", (int)nbytes);
+ DEBUG("read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, frame.can_id, frame.len,
+ frame.data[0], frame.data[1], frame.data[2], frame.data[3], frame.data[4], frame.data[5], frame.data[6], frame.data[7]);
+
+ struct timeval tv;
+ ioctl(s.socket(), SIOCGSTAMP, &tv);
+ uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
+ cm = ::can_message_t::convert_from_frame(frame , nbytes, timestamp);
+
+ return s;
+ }
+} \ No newline at end of file
diff --git a/low-can-binding/utils/socketcan-raw.hpp b/low-can-binding/utils/socketcan-raw.hpp
new file mode 100644
index 00000000..61672411
--- /dev/null
+++ b/low-can-binding/utils/socketcan-raw.hpp
@@ -0,0 +1,35 @@
+/*
+ * Copyright (C) 2015, 2016 ,2017 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loïc 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 "socketcan.hpp"
+#include "../can/can-message.hpp"
+
+namespace utils
+{
+ class socketcan_raw_t : public socketcan_t
+ {
+ public:
+ using socketcan_t::socketcan_t;
+ virtual int open(std::string device_name);
+
+ private:
+ int bind(const struct sockaddr* addr, socklen_t len);
+ };
+
+ socketcan_raw_t& operator>>(socketcan_raw_t& s, can_message_t& cm);
+}
diff --git a/low-can-binding/utils/socketcan.cpp b/low-can-binding/utils/socketcan.cpp
new file mode 100644
index 00000000..71588a6e
--- /dev/null
+++ b/low-can-binding/utils/socketcan.cpp
@@ -0,0 +1,97 @@
+/*
+ * Copyright (C) 2015, 2016 ,2017 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loïc 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 <unistd.h>
+#include <string>
+#include <linux/can/raw.h>
+#include <net/if.h>
+#include <sys/ioctl.h>
+
+#include "socketcan.hpp"
+
+namespace utils
+{
+
+ /// @brief Construct a default, invalid, socket.
+ socketcan_t::socketcan_t()
+ : socket_{INVALID_SOCKET}
+ {}
+
+ /// @brief Construct a socket by moving an existing one.
+ socketcan_t::socketcan_t(socketcan_t&& s)
+ : socket_{s.socket_}
+ {
+ ::memset(&tx_address_, 0, sizeof(tx_address_));
+ }
+
+ socketcan_t& socketcan_t::operator=(const socketcan_t& s)
+ {
+ socket_ = std::move(s.socket_);
+ return *this;
+ }
+
+ socketcan_t::~socketcan_t()
+ {
+ close();
+ socket_ = INVALID_SOCKET;
+ }
+
+ const struct sockaddr_can& socketcan_t::get_tx_address() const
+ {
+ return tx_address_;
+ }
+
+ /// @brief Test if socket is valid.
+ /// @return true if valid, false otherwise.
+ socketcan_t::operator bool() const
+ {
+ return socket_ != INVALID_SOCKET;
+ }
+
+ /// @brief Open the socket.
+ /// @param[in] domain Specifies the communications domain in which a socket is to be created.
+ /// @param[in] type Specifies the type of socket to be created.
+ /// @param[in] protocol Specifies a particular protocol to be used with the socket. Specifying a protocol of 0 causes socket() to use an unspecified default protocol appropriate for the requested socket type.
+ /// @return Upon successful completion, shall return a non-negative integer, the socket file descriptor. Otherwise, a value of -1 shall be returned and errno set to indicate the error.
+ int socketcan_t::open(int domain, int type, int protocol)
+ {
+ close();
+ socket_ = ::socket(domain, type, protocol);
+ return socket_;
+ }
+
+ /// @brief Close the socket.
+ /// @return 0 if success.
+ int socketcan_t::close()
+ {
+ return socket_ != INVALID_SOCKET ? ::close(socket_) : 0;
+ }
+
+ /// @brief Set socket option.
+ /// @return 0 if success.
+ int socketcan_t::setopt(int level, int optname, const void* optval, socklen_t optlen)
+ {
+ return socket_ != INVALID_SOCKET ? ::setsockopt(socket_, level, optname, optval, optlen) : 0;
+ }
+
+ /// @brief Get the file descriptor.
+ /// @return The socket's file descriptor
+ int socketcan_t::socket() const
+ {
+ return socket_;
+ }
+} \ No newline at end of file
diff --git a/low-can-binding/utils/socketcan.hpp b/low-can-binding/utils/socketcan.hpp
new file mode 100644
index 00000000..82b797e0
--- /dev/null
+++ b/low-can-binding/utils/socketcan.hpp
@@ -0,0 +1,71 @@
+#pragma once
+
+/*
+ * Copyright (C) 2015, 2016 ,2017 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loïc 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 <vector>
+
+#include <sys/socket.h>
+#include <linux/can/bcm.h>
+#include <string.h>
+
+#include "../binding/low-can-hat.hpp"
+
+#define INVALID_SOCKET -1
+
+namespace utils
+{
+ class socketcan_t
+ {
+ public:
+ socketcan_t();
+ socketcan_t(const socketcan_t& s) = delete;
+ socketcan_t(socketcan_t&&);
+ socketcan_t& operator=(const socketcan_t& s);
+ virtual ~socketcan_t();
+
+ const struct sockaddr_can& get_tx_address() const;
+ explicit operator bool() const;
+
+ int socket() const;
+ virtual int open(std::string device_name) = 0;
+ int setopt(int level, int optname, const void* optval, socklen_t optlen);
+ int close();
+
+ protected:
+ int socket_;
+ struct sockaddr_can tx_address_;
+
+ int open(int domain, int type, int protocol);
+ };
+
+ template <typename T>
+ socketcan_t& operator<<(socketcan_t& s, const std::vector<T>& vobj)
+ {
+ for(const auto& obj : vobj)
+ s << obj;
+ return s;
+ }
+
+ template <typename T>
+ socketcan_t& operator<<(socketcan_t& s, const T& obj)
+ {
+ if (::sendto(s.socket(), &obj, sizeof(obj), 0, (const struct sockaddr*)&s.get_tx_address(), sizeof(s.get_tx_address())) < 0)
+ ERROR("Error sending : %i %s", errno, ::strerror(errno));
+ return s;
+ }
+}
diff --git a/low-can-binding/utils/timer.cpp b/low-can-binding/utils/timer.cpp
new file mode 100644
index 00000000..f3cdd5e7
--- /dev/null
+++ b/low-can-binding/utils/timer.cpp
@@ -0,0 +1,129 @@
+/*
+ * 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 <time.h>
+#include <stdlib.h>
+#include <cmath>
+
+#include "timer.hpp"
+
+long long int system_time_us()
+{
+ struct timespec t_usec;
+ long long int timestamp_usec = 0;
+
+ if(!::clock_gettime(CLOCK_MONOTONIC, &t_usec))
+ timestamp_usec = (t_usec.tv_nsec / 1000ll) + (t_usec.tv_sec* 1000000ll);
+ return timestamp_usec;
+}
+
+long long int system_time_ms()
+{
+ struct timespec t_msec;
+ long long int timestamp_msec = 0;
+
+ if(!::clock_gettime(CLOCK_MONOTONIC, &t_msec))
+ timestamp_msec = (t_msec.tv_nsec / 1000000ll) + (t_msec.tv_sec* 1000ll);
+ return timestamp_msec;
+}
+
+long long int system_time_s()
+{
+ struct timespec t_sec;
+ long long int timestamp_sec = 0;
+
+ if(!::clock_gettime(CLOCK_MONOTONIC, &t_sec))
+ timestamp_sec = t_sec.tv_sec;
+ return timestamp_sec;
+}
+
+frequency_clock_t::frequency_clock_t()
+ : unit_{1000000}, frequency_{10.0}, last_tick_{0}, time_function_{nullptr}
+{}
+
+frequency_clock_t::frequency_clock_t(float frequency)
+ : unit_{1000000}, frequency_{frequency}, last_tick_{0}, time_function_{nullptr}
+{
+ if(frequency_ <= 0)
+ frequency_ = 1;
+}
+
+frequency_clock_t::frequency_clock_t(float frequency, uint64_t last_tick, time_function_t time_function)
+ : unit_{1000000}, frequency_{frequency}, last_tick_{0}, time_function_{nullptr}
+{
+ if(frequency_ <= 0)
+ frequency_ = 1;
+}
+
+/// @brief Return the period in ms given the frequency in hertz.
+/// @param[in] frequency - Frequency to convert, in hertz
+float frequency_clock_t::frequency_to_period() const
+{
+ return frequency_ == 0 ? 0 : 1 / frequency_;
+}
+
+/// @brief Return a timeval struct based on the frequency_ member. used to
+/// specified CAN BCM timers.
+const struct timeval frequency_clock_t::get_timeval_from_period() const
+{
+ struct timeval freq = {0, 0};
+ float f;
+ freq.tv_usec = (long int)(std::modf(frequency_to_period(), &f) * unit_);
+ freq.tv_sec = (time_t)f;
+
+ return freq;
+}
+
+bool frequency_clock_t::started()
+{
+ return last_tick_ != 0;
+}
+
+time_function_t frequency_clock_t::get_time_function()
+{
+ return time_function_ != nullptr ? time_function_ : system_time_us;
+}
+
+bool frequency_clock_t::elapsed(bool stagger)
+{
+ float period = frequency_to_period();
+ float elapsed_time = 0;
+ if(!started() && stagger)
+ last_tick_ = get_time_function()() - (rand() % int(period));
+
+ // Make sure it ticks the the first call
+ elapsed_time = !started() ? period : (float)get_time_function()() - (float)last_tick_;
+
+ return frequency_ == 0 || elapsed_time >= period;
+}
+
+float frequency_clock_t::get_frequency() const
+{
+ return frequency_;
+}
+
+uint64_t frequency_clock_t::get_last_tick() const
+{
+ return last_tick_;
+}
+
+/// @brief Force the clock to tick, regardless of it its time has actually
+/// elapsed.
+void frequency_clock_t::tick(uint64_t timestamp)
+{
+ last_tick_ = timestamp;
+} \ No newline at end of file
diff --git a/low-can-binding/utils/timer.hpp b/low-can-binding/utils/timer.hpp
new file mode 100644
index 00000000..a667022a
--- /dev/null
+++ b/low-can-binding/utils/timer.hpp
@@ -0,0 +1,58 @@
+/*
+ * 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 <sys/time.h>
+#include <stdint.h>
+
+/// @brief return epoch in milliseconds
+///
+/// @return long long int epoch in milliseconds
+typedef long long int (*time_function_t)();
+
+long long int system_time_us();
+long long int system_time_ms();
+long long int system_time_s();
+
+
+/// @brief A frequency counting clock.
+/// Utility class allowing some time function.
+class frequency_clock_t
+{
+private:
+ float unit_; ///< unit_ - multiplicator to make operation to be in the right unit (milli, micro, nano, etc)
+ float frequency_; ///< the clock frequency in Hz.
+ uint64_t last_tick_; ///< the last time (in microseconds since startup) that the clock ticked.
+ time_function_t time_function_; ///< a function returning current time
+
+public:
+ frequency_clock_t();
+ explicit frequency_clock_t(float frequency);
+ frequency_clock_t(float frequency, uint64_t last_tick, time_function_t time_function);
+
+ float get_frequency() const;
+ const struct timeval get_timeval_from_period() const;
+
+ float frequency_to_period() const;
+ bool started();
+ time_function_t get_time_function();
+ bool elapsed(bool stagger);
+
+ uint64_t get_last_tick() const;
+ void tick(uint64_t timestamp);
+}; \ No newline at end of file