aboutsummaryrefslogtreecommitdiffstats
path: root/CAN-binder/low-can-binding/binding/low-can-subscription.cpp
blob: 5488cc536dd0124d557c648100fcd8791d5ea6f1 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
/*
 * Copyright (C) 2015, 2016 "IoT.bzh"
 * Author "Romain Forlot" <romain.forlot@iot.bzh>
 * Author "Loic Collignon" <loic.collignon@iot.bzh>
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *	 http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#include "low-can-hat.hpp"

#include "low-can-subscription.hpp"
#include "application.hpp"
#include "canutil/write.h"

low_can_subscription_t::low_can_subscription_t()
	: index_{-1},
	event_filter_{event_filter_t()},
	socket_{}
{}

low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter)
	: event_filter_{event_filter}
{}

low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
	: index_{s.index_},
	event_filter_{s.event_filter_},
	socket_{std::move(s.socket_)}
{}

low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s)
{
	socket_ = std::move(s.socket_);
	return *this;
}

low_can_subscription_t::~low_can_subscription_t()
{
	socket_.close();
}

low_can_subscription_t::operator bool() const
{
	return ((can_signal_ != nullptr || ! diagnostic_message_.empty()) && afb_event_is_valid(event_));
}

struct afb_event& low_can_subscription_t::get_event()
{
	return event_;
}

int low_can_subscription_t::get_index() const
{
	return index_;
}

const std::shared_ptr<can_signal_t> low_can_subscription_t::get_can_signal() const
{
	return can_signal_;
}

const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_subscription_t::get_diagnostic_message() const
{
	return diagnostic_message_;
}

/// @brief Retrieve a diagnostic_message subscribed from a pid
/// 
/// @param[in] pid - Diagnostic messages PID to search for
///
/// @return shared_ptr diagnostic_message_ if found and nullptr if not found
const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(uint32_t pid) const
{
	for(const auto& diag: diagnostic_message_)
	{
		if(diag->get_pid() == pid)
		{
			return diag;
		}
	}
	return nullptr;
}

/// @brief Retrieve a diagnostic message search from its name
///
/// @return shared_ptr diagnostic_message_ if found and nullptr if not found
const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(const std::string& name) const
{
	for(const auto& diag: diagnostic_message_)
	{
		if(diag->get_name() == name)
		{
			return diag;
		}
	}
	return nullptr;
}

/// @brief Return the CAN signal name and empty string if not found
/// or no CAN signal subscribed
const std::string low_can_subscription_t::get_name() const
{
	if (can_signal_ != nullptr)
		return can_signal_->get_name();

	return "";
}

/// @brief Return name from a diagnostic message from a PID
///
/// @param[in] pid - Diagnostic message PID
const std::string low_can_subscription_t::get_name(uint32_t pid) const
{
	if (!diagnostic_message_.empty())
		return get_diagnostic_message(pid)->get_name() ;

	return "";
}

float low_can_subscription_t::get_frequency() const
{
	return event_filter_.frequency;
}

float low_can_subscription_t::get_min() const
{
	return event_filter_.min;
}

float low_can_subscription_t::get_max() const
{
	return event_filter_.max;
}

utils::socketcan_bcm_t& low_can_subscription_t::get_socket()
{
	return socket_;
}

void low_can_subscription_t::set_event(struct afb_event event)
{
	event_ = event;
}

void low_can_subscription_t::set_frequency(float freq)
{
	event_filter_.frequency = freq;
}

void low_can_subscription_t::set_min(float min)
{
	event_filter_.min = min;
}

void low_can_subscription_t::set_max(float max)
{
	event_filter_.max = max;
}

/// @brief Based upon which object is subscribed CAN signal or diagnostic message
/// this will open the socket with the required CAN bus device name.
///
/// @return INVALID_SOCKET on failure else positive integer
int low_can_subscription_t::open_socket()
{
	int ret = 0;
	if(! socket_)
	{
		if( can_signal_ != nullptr)
			{ret = socket_.open(can_signal_->get_message()->get_bus_device_name());}
		else if (! diagnostic_message_ .empty())
			{ret = socket_.open(application_t::instance().get_diagnostic_manager().get_bus_device_name());}
		index_ = (int)socket_.socket();
	}
	return ret;
}

/// @brief Build a BCM message head but don't set can_frame.
///
/// @return a simple_bcm_msg with the msg_head parts set and can_frame
/// zeroed.
struct utils::simple_bcm_msg low_can_subscription_t::make_bcm_head(uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const
{
	struct utils::simple_bcm_msg bcm_msg;

	memset(&bcm_msg, 0, sizeof(bcm_msg));

	bcm_msg.msg_head.opcode  = RX_SETUP;
	bcm_msg.msg_head.can_id  = can_id;
	bcm_msg.msg_head.flags = flags;
	bcm_msg.msg_head.ival1.tv_sec = timeout.tv_sec ;
	bcm_msg.msg_head.ival1.tv_usec = timeout.tv_usec;
	bcm_msg.msg_head.ival2.tv_sec = frequency_thinning.tv_sec ;
	bcm_msg.msg_head.ival2.tv_usec = frequency_thinning.tv_usec;

	return bcm_msg;
}

/// @brief Take an existing simple_bcm_msg struct and add a can_frame to it.
/// Only possible for now to add 1 uniq can_frame, it isn't possible to build
/// a multiplexed message with several can_frame.
void low_can_subscription_t::add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const
{
	for(int i=0; i < CAN_MAX_DLEN; i++)
	{
		if(cfd.data[i] != 0)
		{
			bcm_msg.msg_head.nframes = 1;
			bcm_msg.frames = cfd;
			return;
		}
	}
}

/// @brief Create a RX_SETUP receive job used by the BCM socket for a CAN signal
/// subscription
///
/// @return 0 if ok else -1
int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
{
	can_signal_= sig;

	struct can_frame cfd;
	memset(&cfd, 0, sizeof(cfd));

	float val = (float)(1 << can_signal_->get_bit_size()) - 1;
	bitfield_encode_float(val,
							can_signal_->get_bit_position(),
							can_signal_->get_bit_size(),
							can_signal_->get_factor(),
							can_signal_->get_offset(),
							cfd.data,
							CAN_MAX_DLEN);

	struct timeval freq, timeout = {0, 0};
	frequency_clock_t f = std::isnan(event_filter_.frequency) ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency);
	freq = f.get_timeval_from_period();

	utils::simple_bcm_msg bcm_msg = make_bcm_head(can_signal_->get_message()->get_id(), SETTIMER|RX_NO_AUTOTIMER, timeout, freq);
	add_bcm_frame(cfd, bcm_msg);

	return create_rx_filter(bcm_msg);
}

/// @brief Create a RX_SETUP receive job used by the BCM socket for a
/// diagnostic message subscription.
///
/// @return 0 if ok else -1
int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig)
{
	diagnostic_message_.push_back(sig);

	struct timeval freq = frequency_clock_t(event_filter_.frequency).get_timeval_from_period();
	//struct timeval timeout = frequency_clock_t(10).get_timeval_from_period();
	struct timeval timeout = {0,0};

	utils::simple_bcm_msg bcm_msg =  make_bcm_head(OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
	return create_rx_filter(bcm_msg);
}

/// @brief Create a RX_SETUP receive job used by the BCM socket directly from
/// a simple_bcm_msg. You will not use this method directly but rather use the
/// two previous method with can_signal_t or diagnostic_message_t object.
///
/// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed
/// to the 8 classics OBD2 functional response ID
///
/// @return 0 if ok else -1
int low_can_subscription_t::create_rx_filter(utils::simple_bcm_msg& bcm_msg) 
{
	// Make sure that socket has been opened.
	if(open_socket() < 0)
		{return -1;}

	// If it isn't an OBD2 CAN ID then just add a simple RX_SETUP job
	// else monitor all standard 8 CAN OBD2 ID response.
	if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID) 
	{
		socket_ << bcm_msg;
			if(! socket_)
				return -1;
	}
	else
	{
		for(uint8_t i = 0; i < 8; i++)
		{
			bcm_msg.msg_head.can_id  =  OBD2_FUNCTIONAL_RESPONSE_START + i;

			socket_ << bcm_msg;
			if(! socket_)
				return -1;
		}
	}

	return 0;
}