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/*
* 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 have to be tested in
/// can_bus_t::apply_filter method.
struct event_filter_t
{
float frequency; ///< frequency - Maximum frequency which will be received and pushed to a subscribed event.
float min; ///< min - Minimum value that the signal doesn't have to go below to be pushed.
float max; ///< max - Maximum value that the signal doesn't have to go above to be pushed.
event_filter_t() : frequency{0}, min{-__FLT_MAX__}, max{__FLT_MAX__} {};
bool operator==(const event_filter_t& ext) const {
return frequency == ext.frequency && min == ext.min && max == ext.max;
}
};
/// @brief The object stores socket to CAN to be used to write on it.
/// This is a simple access to a CAN bus device without any 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 receive OBD2 responses.
/// normal diagnostic request and response are 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;
bool is_signal_subscription_corresponding(const std::shared_ptr<can_signal_t>, const struct event_filter_t& event_filter) 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(afb_event_t 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(const std::string& bus_name = "");
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);
int tx_send(const struct can_frame& cf, const std::string& bus_name);
};
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