/* * 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-subscription.hpp" #include "application.hpp" #include "canutil/write.h" #include "../utils/socketcan-bcm.hpp" #include "../can/can-encoder.hpp" #ifdef USE_FEATURE_ISOTP #include "../utils/socketcan-isotp.hpp" #endif #ifdef USE_FEATURE_J1939 #include "../utils/socketcan-j1939/socketcan-j1939-data.hpp" #endif low_can_subscription_t::low_can_subscription_t() : index_{-1}, event_filter_{}, event_{}, socket_{} {} low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter) : index_{-1}, event_filter_{event_filter}, event_{}, socket_{} {} low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s) : index_{s.index_}, event_filter_{s.event_filter_}, event_{}, 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() { if(socket_) socket_->close(); } low_can_subscription_t::operator bool() const { return ((signal_ != nullptr || ! diagnostic_message_.empty()) && ! socket_); } afb_event_t low_can_subscription_t::get_event() { return event_; } /** * @brief Set the event calling the afb_daemon_make_event function to * create it and the checks its validity. * * @return int - 0 if OK, -1 if not */ int low_can_subscription_t::set_event() { std::string event_name = get_name(); event_ = afb_daemon_make_event(event_name.c_str()); if (! afb_event_is_valid(event_)) { AFB_ERROR("Can't create an event for %s, something goes wrong.", event_name.c_str()); return -1; } return 0; } /** * @brief Subscribe to the event member of the object * * @param request the subscribe AFB client request which want to * subscribe * * @return int - 0 if OK, -1 if not */ int low_can_subscription_t::subscribe(afb_req_t request) { if(! afb_event_is_valid(event_)) { if(set_event() < 0) { return -1; } } return afb_req_subscribe(request, event_); } /** * @brief Unsubscribe to the event member of the object * * @param request the unsubscribe AFB client request which want to * unsubscribe * * @return int - 0 if OK, -1 if not */ int low_can_subscription_t::unsubscribe(afb_req_t request) { return afb_req_unsubscribe(request, event_); } /** * @brief Getter of index of subscription * * @return int Index */ int low_can_subscription_t::get_index() const { return index_; } /** * @brief Getter of signal of subscription * * @return const std::shared_ptr A shared pointer of the signal */ const std::shared_ptr low_can_subscription_t::get_signal() const { return signal_; } /** * @brief Check if the signal and event are the same that the subscription * * @param signal the signal compared * @param event_filter the event_filter compared * @return true if they are equal * @return false if they are not equal */ bool low_can_subscription_t::is_signal_subscription_corresponding(const std::shared_ptr signal, const struct event_filter_t& event_filter) const { return signal_ == signal && event_filter_ == event_filter; } /** * @brief Getter for diagnostic messages of subscription * * @return const vector_ptr_diag_msg_t Vector of pointer of diagnostic message */ const vect_ptr_diag_msg_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 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 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 (signal_ != nullptr) return signal_->get_name(); else if (!diagnostic_message_.empty()) return "diagnostic_messages"; AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported."); 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() ; AFB_WARNING("No diagnostics messages nor CAN signals registered in that subscription. Name empty ! It's a bug to be reported."); return ""; } /** * @brief Getter of the frequency of the event_filter * * @return float The frequency */ float low_can_subscription_t::get_frequency() const { return event_filter_.frequency; } /** * @brief Getter of the min of the event_filter * * @return float The min value filtered */ float low_can_subscription_t::get_min() const { return event_filter_.min; } /** * @brief Getter of the max of the event_filter * * @return float The max value filtered */ float low_can_subscription_t::get_max() const { return event_filter_.max; } /** * @brief Getter of the rx_id of the event_filter * * @return canid_t The rx_id value */ canid_t low_can_subscription_t::get_rx_id() const { return event_filter_.rx_id; } /** * @brief Getter of the tx_id of the event_filter * * @return canid_t The tx_id value */ canid_t low_can_subscription_t::get_tx_id() const { return event_filter_.tx_id; } /** * @brief Getter of the socket of the subscription * * @return std::shared_ptr Pointer of the socket object */ std::shared_ptr low_can_subscription_t::get_socket() { return socket_; } /** * @brief Setter for the frequency of the event_filter * * @param freq The new frequency */ void low_can_subscription_t::set_frequency(float freq) { event_filter_.frequency = freq; } /** * @brief Setter for the min of the event_filter * * @param min The new min */ void low_can_subscription_t::set_min(float min) { event_filter_.min = min; } /** * @brief Setter for the max of the event_filter * * @param max The new max */ void low_can_subscription_t::set_max(float max) { event_filter_.max = max; } /** * @brief Setter for the rx_id of the event_filter * * @param rx_id The new rx_id */ void low_can_subscription_t::set_rx_id(canid_t rx_id) { event_filter_.rx_id = rx_id; } /** * @brief Setter for the tx_id of the event_filter * * @param tx_id The new tx_id */ void low_can_subscription_t::set_tx_id(canid_t tx_id) { event_filter_.tx_id = tx_id; } /** * @brief Setter for the index of the subscription * * @param index The new index */ void low_can_subscription_t::set_index(int index) { index_ = index; } /** * @brief Setter for the signal of the subscription * * @param signal The new signal */ void low_can_subscription_t::set_signal(std::shared_ptr signal) { signal_ = signal; } /// @brief Based upon which object is a subscribed CAN signal or diagnostic message /// it 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(low_can_subscription_t &subscription, const std::string& bus_name, uint32_t flags) { int ret = -1; if(! subscription.socket_) { if(flags&BCM_PROTOCOL) { if( subscription.signal_ != nullptr) { subscription.socket_ = std::make_shared(); ret = subscription.socket_->open(subscription.signal_->get_message()->get_bus_device_name()); } else if (! subscription.diagnostic_message_ .empty()) { subscription.socket_ = std::make_shared(); ret = subscription.socket_->open(application_t::instance().get_diagnostic_manager().get_bus_device_name()); } else if ( !bus_name.empty()) { subscription.socket_ = std::make_shared(); ret = subscription.socket_->open(bus_name); } subscription.index_ = (int)subscription.socket_->socket(); } #ifdef USE_FEATURE_ISOTP else if(flags&ISOTP_PROTOCOL) { if(subscription.signal_ != nullptr) { canid_t rx = NO_CAN_ID; canid_t tx = NO_CAN_ID; if(flags&ISOTP_SEND) { rx = subscription.get_rx_id(); tx = subscription.signal_->get_message()->get_id(); } else if(flags&ISOTP_RECEIVE) { rx = subscription.signal_->get_message()->get_id(); tx = subscription.get_tx_id(); } std::shared_ptr socket = std::make_shared(); ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(),rx,tx); subscription.socket_ = socket; } else if(!bus_name.empty()) { std::shared_ptr socket = std::make_shared(); ret = socket->open(bus_name, subscription.get_rx_id(),subscription.get_tx_id()); subscription.socket_ = socket; } subscription.index_ = (int)subscription.socket_->socket(); } #endif #ifdef USE_FEATURE_J1939 else if(flags&J1939_ADDR_CLAIM_PROTOCOL) { pgn_t pgn = J1939_NO_PGN; if(!bus_name.empty()) { std::shared_ptr socket = std::make_shared(); ret = socket->open(bus_name, pgn); subscription.socket_ = socket; } subscription.index_ = (int)subscription.socket_->socket(); } else if(flags&J1939_PROTOCOL) { pgn_t pgn = J1939_NO_PGN; if(subscription.signal_ != nullptr) { pgn = subscription.signal_->get_message()->get_id(); std::shared_ptr socket = std::make_shared(); ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(), pgn); subscription.socket_ = socket; } else if(!bus_name.empty()) { std::shared_ptr socket = std::make_shared(); ret = socket->open(bus_name, pgn); subscription.socket_ = socket; } subscription.index_ = (int)subscription.socket_->socket(); } #endif else { AFB_ERROR("Socket format not supported"); return INVALID_SOCKET; } } else{ ret = subscription.socket_->socket(); } return ret; } /// @brief Builds a BCM message head but doesn't set can_frame. /// /// @returns a bcm_msg with the msg_head parts set and can_frame /// zeroed. struct bcm_msg low_can_subscription_t::make_bcm_head(uint32_t opcode, uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) { struct bcm_msg bcm_msg; ::memset(&bcm_msg, 0, sizeof(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 bcm_msg struct and add a can_frame. /// Currently only 1 uniq can_frame can be added, it's not possible to build /// a multiplexed message with several can_frame. void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg) { struct can_frame cf; if (bcm_msg.msg_head.flags & CAN_FD_FRAME) bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cfd; else { cf.can_id = cfd.can_id; cf.can_dlc = cfd.len; ::memcpy(&cf.data, cfd.data, cfd.len); bcm_msg.frames[bcm_msg.msg_head.nframes] = cf; } bcm_msg.msg_head.nframes++; } /// @brief Take an existing bcm_msg struct and add a can_frame. /// Currently only 1 uniq can_frame can be added, it's not possible to build /// a multiplexed message with several can_frame. void low_can_subscription_t::remove_last_bcm_frame(struct bcm_msg& bcm_msg) { struct canfd_frame cf; memset(&cf,0,sizeof(cf)); bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cf; bcm_msg.msg_head.nframes--; } #ifdef USE_FEATURE_J1939 /** * @brief Create a j1939 socket to read message * * @param subscription The subscription * @param sig The signal subscribed * @return int 0 if ok else -1 */ int low_can_subscription_t::create_rx_filter_j1939(low_can_subscription_t &subscription, std::shared_ptr sig) { subscription.signal_= sig; // Make sure that socket is opened. if(open_socket(subscription,"",J1939_PROTOCOL) < 0) { return -1; } return 0; } #endif /** * @brief Create an iso tp socket to read message * * @param subscription The subscription * @param sig The signal subscribed * @return int 0 if ok else -1 */ int low_can_subscription_t::create_rx_filter_isotp(low_can_subscription_t &subscription, std::shared_ptr sig) { subscription.signal_= sig; // Make sure that socket is opened. if(open_socket(subscription,"",ISOTP_PROTOCOL|ISOTP_RECEIVE) < 0) { return -1; } return 0; } /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a CAN signal /// subscription /// /// @return 0 if ok else -1 int low_can_subscription_t::create_rx_filter_can(low_can_subscription_t &subscription, std::shared_ptr sig) { uint32_t flags_bcm; struct timeval freq, timeout = {0, 0}; struct canfd_frame cfd; subscription.signal_= sig; bool is_fd = sig->get_message()->is_fd(); std::vector data; uint32_t length_msg = sig->get_message()->get_length(); if(length_msg == 0) { AFB_ERROR("Error in the length of message with id %d",sig->get_message()->get_id()); return -1; } for(int i = 0; iget_message()->get_id(), length_msg, false, sig->get_message()->get_flags(), data, 0); } else { flags_bcm = SETTIMER|RX_NO_AUTOTIMER; cfd.len = CAN_MAX_DLEN; cm = can_message_t( CAN_MAX_DLEN, sig->get_message()->get_id(), length_msg, false, sig->get_message()->get_flags(), data, 0); } frequency_clock_t f = subscription.event_filter_.frequency == 0 ? subscription.signal_->get_frequency() : frequency_clock_t(subscription.event_filter_.frequency); freq = f.get_timeval_from_period(); struct bcm_msg bcm_msg = subscription.make_bcm_head(RX_SETUP, subscription.signal_->get_message()->get_id(), flags_bcm, timeout, freq); std::vector cfd_vect = cm.convert_to_canfd_frame_vector(); if(cfd_vect.size() > 1) //multi { AFB_ERROR("Not implemented yet"); return -1; } else if(cfd_vect.size() == 1) { canfd_frame cf = cfd_vect[0]; for(int i=0;i sig) { if(!sig->get_message()->is_isotp() && !sig->get_message()->is_j1939()) { return low_can_subscription_t::create_rx_filter_can(*this, sig); } #ifdef USE_FEATURE_ISOTP else if(sig->get_message()->is_isotp()) { return low_can_subscription_t::create_rx_filter_isotp(*this,sig); } #endif #ifdef USE_FEATURE_J1939 else if(sig->get_message()->is_j1939()) { return low_can_subscription_t::create_rx_filter_j1939(*this, sig); } #endif else { AFB_ERROR("Signal can't be j1939 and isotp"); return -1; } } /// @brief Create a RX_SETUP receive job to be 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 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}; struct 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(*this, bcm_msg); } /// @brief Create a RX_SETUP receive job used by the BCM socket directly from /// a bcm_msg. The method should not be used directly but rather through the /// two previous method with 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_bcm(low_can_subscription_t &subscription, struct bcm_msg& bcm_msg) { // Make sure that socket is opened. if(subscription.open_socket(subscription,"",BCM_PROTOCOL) < 0) {return -1;} // If it's not an OBD2 CAN ID then just add a simple RX_SETUP job // else monitor all standard 8 CAN OBD2 ID response. can_message_t msg = can_message_t(); msg.set_bcm_msg(bcm_msg); if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID) { subscription.socket_->write_message(msg); if(! subscription.socket_) return -1; } else { for(uint8_t i = 0; i < 8; i++) { bcm_msg.msg_head.can_id = OBD2_FUNCTIONAL_RESPONSE_START + i; msg.set_bcm_msg(bcm_msg); subscription.socket_->write_message(msg); if(! subscription.socket_) return -1; } } return 0; } /// @brief Creates a TX_SEND job that is used by the BCM socket to /// send a message /// /// @return 0 if ok else -1 int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name) { can_message_t *cm = static_cast(message); struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cm->get_id(),cm->get_flags()|TX_CP_CAN_ID); // TX_CP_CAN_ID -> copy in cfd the id of bcm cm->set_bcm_msg(bcm_msg); std::vector cfd_vect = cm->convert_to_canfd_frame_vector(); if(subscription.open_socket(subscription, bus_name, BCM_PROTOCOL) < 0) { return -1; } struct bcm_msg &bcm_cm = cm->get_bcm_msg(); if(cfd_vect.size() > 1) { AFB_ERROR("Multi frame BCM not implemented"); return -1; } else if(cfd_vect.size() == 1) // raw or fd { subscription.add_one_bcm_frame(cfd_vect[0], bcm_cm); if(subscription.socket_->write_message(*cm) < 0) { AFB_ERROR("Error write message id : %d",cfd_vect[0].can_id); return -1; } } else // error { AFB_ERROR("Error no data available"); return -1; } if(! subscription.socket_.get()) { return -1; } return 0; } #ifdef USE_FEATURE_J1939 /** * @brief Allows to open socket j1939 and send j1939 messsage * * @param subscription The subscription * @param message The j1939 message to send * @param bus_name The bus name where to send message * @return int 0 if ok else -1 */ int low_can_subscription_t::j1939_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name) { //struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cfd.can_id); //subscription.add_one_bcm_frame(cfd, bcm_msg); if(subscription.open_socket(subscription, bus_name, J1939_PROTOCOL) < 0) { return -1; } j1939_message_t *jm = static_cast(message); jm->set_sockname(jm->get_pgn(),J1939_NO_NAME,J1939_NO_ADDR); if(subscription.socket_->write_message(*jm) < 0) { AFB_ERROR("Error write j1939 message"); return -1; } return 0; } #endif /** * @brief Allows to open socket isotp and send can messsage * * @param subscription The subscription * @param message The can message to send * @param bus_name The bus name where to send message * @return int 0 if ok else -1 */ int low_can_subscription_t::isotp_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name) { //struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cfd.can_id); //subscription.add_one_bcm_frame(cfd, bcm_msg); if(subscription.open_socket(subscription, bus_name, ISOTP_PROTOCOL|ISOTP_SEND) < 0) { return -1; } can_message_t *cm = static_cast(message); if(subscription.socket_->write_message(*cm) < 0) { AFB_ERROR("Error write iso tp message"); return -1; } return 0; }