From 38f9b3de40b1d1d8e9ed5db0fee40bdaa763d577 Mon Sep 17 00:00:00 2001 From: Romain Forlot Date: Wed, 12 Jul 2017 17:40:36 +0200 Subject: Implements new verbs to write on CAN bus This will open a new BCM socket not dedicated to a subscription use to that mean. Change-Id: Idf353015f731e32d6eb7c7856bd73167c66e790f Signed-off-by: Romain Forlot --- low-can-binding/binding/low-can-socket.cpp | 314 +++++++++++++++++++++++++++++ 1 file changed, 314 insertions(+) create mode 100644 low-can-binding/binding/low-can-socket.cpp (limited to 'low-can-binding/binding/low-can-socket.cpp') 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" + * Author "Loic Collignon" + * + * 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 low_can_socket_t::get_can_signal() const +{ + return can_signal_; +} + +const std::vector > 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 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 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 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 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 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; +} -- cgit 1.2.3-korg