diff options
Diffstat (limited to 'low-can-binding')
| -rw-r--r-- | low-can-binding/binding/application.cpp | 6 | ||||
| -rw-r--r-- | low-can-binding/binding/application.hpp | 4 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-cb.cpp | 60 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-hat.cpp | 11 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-hat.hpp | 3 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-socket.cpp | 314 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-socket.hpp | 90 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-subscription.cpp | 273 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-subscription.hpp | 54 |
9 files changed, 490 insertions, 325 deletions
diff --git a/low-can-binding/binding/application.cpp b/low-can-binding/binding/application.cpp index 6e6353b8..8c210177 100644 --- a/low-can-binding/binding/application.cpp +++ b/low-can-binding/binding/application.cpp @@ -19,6 +19,7 @@ #include "../utils/signals.hpp" #include "../utils/openxc-utils.hpp" +#include "low-can-socket.hpp" /// @brief Return singleton instance of configuration object. application_t& application_t::instance() @@ -32,6 +33,11 @@ can_bus_t& application_t::get_can_bus_manager() return can_bus_manager_; } +std::map<std::string, std::shared_ptr<low_can_socket_t> >& application_t::get_can_devices() +{ + return can_devices_; +} + diagnostic_manager_t& application_t::get_diagnostic_manager() { return diagnostic_manager_; diff --git a/low-can-binding/binding/application.hpp b/low-can-binding/binding/application.hpp index 5fa64782..fea61a83 100644 --- a/low-can-binding/binding/application.hpp +++ b/low-can-binding/binding/application.hpp @@ -49,6 +49,8 @@ class application_t std::vector<std::shared_ptr<can_message_set_t> > can_message_set_; ///< Vector holding all message set from JSON signals description file + std::map<std::string, std::shared_ptr<low_can_socket_t> > can_devices_; ///< Map containing all independant opened CAN sockets, key is the socket int value. + application_t(); ///< Private constructor with implementation generated by the AGL generator. public: @@ -56,6 +58,8 @@ class application_t can_bus_t& get_can_bus_manager(); + std::map<std::string, std::shared_ptr<low_can_socket_t> >& get_can_devices(); + const std::string get_diagnostic_bus() const; diagnostic_manager_t& get_diagnostic_manager() ; diff --git a/low-can-binding/binding/low-can-cb.cpp b/low-can-binding/binding/low-can-cb.cpp index ec8b2b46..e25d6eae 100644 --- a/low-can-binding/binding/low-can-cb.cpp +++ b/low-can-binding/binding/low-can-cb.cpp @@ -360,3 +360,63 @@ void unsubscribe(struct afb_req request) { do_subscribe_unsubscribe(request, false); } + +void swrite(struct afb_req request) +{ + int rc = 0; + struct can_frame cf; + struct utils::signals_found sf; + struct json_object *args, *json_can_socket, *json_can_id, *json_can_dlc, *json_can_data; + + ::memset(&cf, 0, sizeof(cf)); + + args = afb_req_json(request); + if (args == NULL || ( + ((!json_object_object_get_ex(args, "canbus_name", &json_can_socket)) && json_object_get_type(json_can_socket) == json_type_string) && + ((!json_object_object_get_ex(args, "can_id", &json_can_id)) && json_object_get_type(json_can_id) == json_type_int) && + ((!json_object_object_get_ex(args, "can_dlc", &json_can_dlc)) && json_object_get_type(json_can_dlc) == json_type_int))) + { + cf.can_id = json_object_get_int(json_can_id); + cf.can_dlc = (uint8_t)json_object_get_int(json_can_dlc); + openxc_DynamicField search_key = build_DynamicField((double)cf.can_id); + sf = utils::signals_manager_t::instance().find_signals(search_key); + } + + if((args == NULL || !json_object_object_get_ex(args, "can_data", &json_can_data)) && json_object_get_type(json_can_data) == json_type_array) + { + struct json_object *x; + + int n = json_object_array_length(json_can_data); + if(n < 8) + { + for (int i = 0 ; i < n ; i++) + { + x = json_object_array_get_idx(json_can_data, i); + cf.data[i] = json_object_get_type(x) == json_type_int ? (uint8_t)json_object_get_int(x) : 0; + } + } + } + + if (sf.can_signals.empty() && sf.diagnostic_messages.empty()) + { + AFB_WARNING("No signal(s) found for id %d. Message not sent.", cf.can_id); + rc = -1; + } + else + { + std::map<std::string, std::shared_ptr<low_can_socket_t> >& cd = application_t::instance().get_can_devices(); + const char* can_socket = json_object_get_string(json_can_socket); + for(const auto& sig: sf.can_signals) + { + if (sig->get_message()->get_bus_name().c_str() == can_socket) + { + rc = cd[can_socket]->tx_send(cf, sig); + } + } + } + + if (rc >= 0) + afb_req_success(request, NULL, NULL); + else + afb_req_fail(request, "error", NULL); +} diff --git a/low-can-binding/binding/low-can-hat.cpp b/low-can-binding/binding/low-can-hat.cpp index 6709089e..dae3a4af 100644 --- a/low-can-binding/binding/low-can-hat.cpp +++ b/low-can-binding/binding/low-can-hat.cpp @@ -32,10 +32,21 @@ extern "C" { static int initv2(); + static constexpr struct afb_auth loa_afb_auth(const unsigned loa) + { + struct afb_auth a = {}; + a.type = afb_auth_LOA; + a.loa = loa; + return a; + } + + static const struct afb_auth loa_1 = { loa_afb_auth(1) }; + static const struct afb_verb_v2 verbs[]= { { .verb= "subscribe", .callback= subscribe, .auth= NULL, .info="Let subscribe to signals", .session= AFB_SESSION_NONE}, { .verb= "unsubscribe", .callback= unsubscribe, .auth= NULL, .info="Let unsubscribe signals", .session= AFB_SESSION_NONE}, + { .verb= "swrite", .callback= swrite, .auth= &loa_1, .info="Write a single CAN message on a CAN bus", .session= AFB_SESSION_LOA_1}, { .verb= NULL, .callback= NULL, .auth= NULL, .info=NULL, .session= 0} }; diff --git a/low-can-binding/binding/low-can-hat.hpp b/low-can-binding/binding/low-can-hat.hpp index cf3d999e..6ecad23a 100644 --- a/low-can-binding/binding/low-can-hat.hpp +++ b/low-can-binding/binding/low-can-hat.hpp @@ -37,4 +37,5 @@ void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uin 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 +void unsubscribe(struct afb_req request); +void swrite(struct afb_req request); diff --git a/low-can-binding/binding/low-can-socket.cpp b/low-can-binding/binding/low-can-socket.cpp new file mode 100644 index 00000000..716b75b9 --- /dev/null +++ b/low-can-binding/binding/low-can-socket.cpp @@ -0,0 +1,314 @@ +/* + * 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_socket_t::low_can_socket_t() + : index_{-1}, + event_filter_{}, + socket_{} +{} + +low_can_socket_t::low_can_socket_t(struct event_filter_t event_filter) + : event_filter_{event_filter} + {} + +low_can_socket_t::low_can_socket_t( low_can_socket_t&& s) + : index_{s.index_}, + event_filter_{s.event_filter_}, + socket_{std::move(s.socket_)} +{} + +low_can_socket_t& low_can_socket_t::operator=(const low_can_socket_t& s) +{ + socket_ = std::move(s.socket_); + return *this; +} + +low_can_socket_t::~low_can_socket_t() +{ + socket_.close(); +} + +low_can_socket_t::operator bool() const +{ + return ((can_signal_ != nullptr || ! diagnostic_message_.empty()) && ! socket_); +} + +int low_can_socket_t::get_index() const +{ + return index_; +} + +const std::shared_ptr<can_signal_t> low_can_socket_t::get_can_signal() const +{ + return can_signal_; +} + +const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_socket_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_socket_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_socket_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_socket_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_socket_t::get_name(uint32_t pid) const +{ + if (!diagnostic_message_.empty()) + return get_diagnostic_message(pid)->get_name() ; + + return ""; +} + +float low_can_socket_t::get_frequency() const +{ + return event_filter_.frequency; +} + +float low_can_socket_t::get_min() const +{ + return event_filter_.min; +} + +float low_can_socket_t::get_max() const +{ + return event_filter_.max; +} + +utils::socketcan_bcm_t& low_can_socket_t::get_socket() +{ + return socket_; +} + +void low_can_socket_t::set_frequency(float freq) +{ + event_filter_.frequency = freq; +} + +void low_can_socket_t::set_min(float min) +{ + event_filter_.min = min; +} + +void low_can_socket_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_socket_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_socket_t::make_bcm_head(uint32_t opcode, uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const +{ + struct utils::simple_bcm_msg bcm_msg; + + bcm_msg.msg_head.opcode = opcode; + 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_socket_t::add_bcm_frame(const struct can_frame& cf, struct utils::simple_bcm_msg& bcm_msg) const +{ + for(int i=0; i < CAN_MAX_DLEN; i++) + { + if(cf.data[i] != 0) + { + bcm_msg.msg_head.nframes = 1; + bcm_msg.frames = cf; + 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_socket_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(RX_SETUP, 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_socket_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(RX_SETUP, OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq); + return create_rx_filter(bcm_msg); +} + +/// @brief Create a RX_SETUP receive job used by the BCM socket directly from +/// a simple_bcm_msg. 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_socket_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; +} + +/// @brief Create a TX_SEND job used by the BCM socket to +/// simply send message +/// +/// @return 0 if ok else -1 +int low_can_socket_t::tx_send(const struct can_frame& cf, std::shared_ptr<can_signal_t> sig) +{ + can_signal_ = sig; + + utils::simple_bcm_msg bcm_msg = make_bcm_head(TX_SEND); + add_bcm_frame(cf, bcm_msg); + + if(open_socket() < 0) + {return -1;} + + socket_ << bcm_msg; + if(! socket_) + return -1; + + return 0; +} diff --git a/low-can-binding/binding/low-can-socket.hpp b/low-can-binding/binding/low-can-socket.hpp new file mode 100644 index 00000000..49e9f93e --- /dev/null +++ b/low-can-binding/binding/low-can-socket.hpp @@ -0,0 +1,90 @@ +/* + * 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 An object storing socket to CAN to be used to write on it. +/// This is a simple access to a CAN bus device without subscriptions attached +class low_can_socket_t +{ +protected: + int index_; ///< index_ - index number is the socket (int) casted + struct event_filter_t event_filter_; + + /// 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. + + utils::socketcan_bcm_t socket_; ///< socket_ - socket_ that receives CAN messages. + +public: + low_can_socket_t(); + low_can_socket_t(struct event_filter_t event_filter); + low_can_socket_t(const low_can_socket_t& s) = delete; + low_can_socket_t(low_can_socket_t&& s); + virtual ~low_can_socket_t(); + + low_can_socket_t& operator=(const low_can_socket_t& s); + explicit operator bool() const; + + int get_index() const; + 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 opcode, uint32_t can_id = 0, uint32_t flags = 0, const struct timeval& timeout = {0,0}, const struct timeval& frequency_thinning = {0,0}) const; + void add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const; + + 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); + + int tx_send(const struct can_frame& cf, std::shared_ptr<can_signal_t> sig); +}; diff --git a/low-can-binding/binding/low-can-subscription.cpp b/low-can-binding/binding/low-can-subscription.cpp index 5488cc53..5bb79a15 100644 --- a/low-can-binding/binding/low-can-subscription.cpp +++ b/low-can-binding/binding/low-can-subscription.cpp @@ -22,285 +22,12 @@ #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 index 0ad7e3a2..239154a2 100644 --- a/low-can-binding/binding/low-can-subscription.hpp +++ b/low-can-binding/binding/low-can-subscription.hpp @@ -21,71 +21,23 @@ #include <cmath> #include <utility> +#include "low-can-socket.hpp" #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 +class low_can_subscription_t : public low_can_socket_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; + using low_can_socket_t::low_can_socket_t; - 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); }; |