Improve granularity of BCM socket using one by signal

Move create_rx_filter to can_signals and adding all accessories needed to works.

Change-Id: I3636fe82ce5c2e43a4992b66ce89440ff709004a
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

6 files changed, 58 insertions, 49 deletions

diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.cpp b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
index 601881d..0a2cd30 100644
--- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
@@ -124,40 +124,6 @@ can_message_t can_bus_dev_t::read()
 	return can_message_t::convert_from_frame(cfd, nbytes);
 }
 
-/// @brief Create a RX_SETUP receive job using the BCM socket.
-///
-/// @return 0 if ok else -1
-int can_bus_dev_t::create_rx_filter(const can_signal_t& s)
-{
-	uint32_t can_id  = s.get_message().get_id();
-
-	struct utils::simple_bcm_msg bcm_msg;
-	struct can_frame cfd;
-
-	memset(&cfd, 0, sizeof(cfd));
-	memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
-	uint8_t bit_size = s.get_bit_size();
-	float val = (float)(1 << bit_size)-1;
-
-	bcm_msg.msg_head.opcode  = RX_SETUP;
-	bcm_msg.msg_head.can_id  = can_id;
-	bcm_msg.msg_head.flags = 0;
-	bcm_msg.msg_head.nframes = 1;
-	bitfield_encode_float(val,
-										s.get_bit_position(),
-										bit_size,
-										s.get_factor(),
-										s.get_offset(),
-										cfd.data,
-										CAN_MAX_DLEN);
-
-	bcm_msg.frames = cfd;
-
-	if(can_socket_ << bcm_msg)
-		return 0;
-	return -1;
-}
-
 /// @brief start reading threads and set flag is_running_
 /// @param[in] can_bus reference can_bus_t. it will be passed to the thread to allow using can_bus_t queue.
 void can_bus_dev_t::start_reading(can_bus_t& can_bus)
diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.hpp b/CAN-binder/low-can-binding/can/can-bus-dev.hpp
index e9c2d20..2ddc1ff 100644
--- a/CAN-binder/low-can-binding/can/can-bus-dev.hpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.hpp
@@ -58,7 +58,6 @@ public:
 	void stop_reading();
 
 	can_message_t read();
-	int create_rx_filter(const can_signal_t& s);
 
 	int send(can_message_t& can_msg);
 	bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size);
diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp
index d9703f2..bca9d03 100644
--- a/CAN-binder/low-can-binding/can/can-bus.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus.cpp
@@ -391,15 +391,6 @@ void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
 	vehicle_message_q_.push(v_msg);
 }
 
-/// @brief Create a RX_SETUP receive job for the BCM socket of a CAN signal.
-///
-/// @return 0 if ok -1 if not.
-	int can_bus_t::create_rx_filter(const can_signal_t& s)
-	{
-		const std::string& bus  = s.get_message().get_bus_name();
-		return can_bus_t::can_devices_[bus]->create_rx_filter(s);
-	}
-
 /// @brief Return a map with the can_bus_dev_t initialized
 ///
 /// @return map can_bus_dev_m_ map
diff --git a/CAN-binder/low-can-binding/can/can-bus.hpp b/CAN-binder/low-can-binding/can/can-bus.hpp
index f6a3745..94fa0a5 100644
--- a/CAN-binder/low-can-binding/can/can-bus.hpp
+++ b/CAN-binder/low-can-binding/can/can-bus.hpp
@@ -94,8 +94,6 @@ public:
 	openxc_VehicleMessage next_vehicle_message();
 	void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
 
-	int create_rx_filter(const can_signal_t& signal);
-
 	const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& get_can_devices() const;
 	static std::shared_ptr<can_bus_dev_t> get_can_device(std::string bus);
 };
diff --git a/CAN-binder/low-can-binding/can/can-signals.cpp b/CAN-binder/low-can-binding/can/can-signals.cpp
index 82c6285..48c919d 100644
--- a/CAN-binder/low-can-binding/can/can-signals.cpp
+++ b/CAN-binder/low-can-binding/can/can-signals.cpp
@@ -22,7 +22,10 @@
 #include "../binding/configuration.hpp"
 #include "../utils/signals.hpp"
 #include "can-decoder.hpp"
+#include "can-message.hpp"
+#include "can-bus.hpp"
 #include "../diagnostic/diagnostic-message.hpp"
+#include "canutil/write.h"
 
 std::string can_signal_t::prefix_ = "messages";
 
@@ -63,6 +66,10 @@ can_signal_t::can_signal_t(std::uint8_t message_set_id,
 	, last_value_{.0f}
 {}
 
+utils::socketcan_bcm_t can_signal_t::get_socket() const
+{
+	return socket_;
+}
 
 const can_message_definition_t& can_signal_t::get_message() const
 {
@@ -184,3 +191,47 @@ void can_signal_t::set_last_value(float val)
 {
 	last_value_ = val;
 }
+
+/// @brief Create a RX_SETUP receive job using the BCM socket.
+///
+/// @return 0 if ok else -1
+int can_signal_t::create_rx_filter()
+{
+	// Make sure that socket has been opened.
+	if(! socket_)
+		socket_.open(
+			get_message().get_bus_name());
+
+	uint32_t can_id  = get_message().get_id();
+
+	struct utils::simple_bcm_msg bcm_msg;
+	struct can_frame cfd;
+
+	memset(&cfd, 0, sizeof(cfd));
+	memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
+	float val = (float)(1 << bit_size_)-1;
+	float freq = frequency_.frequency_to_period();
+	if(freq <= 0)
+		freq = 0.000001f;
+
+	bcm_msg.msg_head.opcode  = RX_SETUP;
+	bcm_msg.msg_head.can_id  = can_id;
+	bcm_msg.msg_head.flags = SETTIMER;
+	bcm_msg.msg_head.ival2.tv_sec = long(freq);
+	bcm_msg.msg_head.ival2.tv_usec = (freq - (long)freq) * 1000000;
+	bcm_msg.msg_head.nframes = 1;
+	bitfield_encode_float(val,
+										bit_position_,
+										bit_size_,
+										factor_,
+										offset_,
+										cfd.data,
+										CAN_MAX_DLEN);
+
+	bcm_msg.frames = cfd;
+
+	if(socket_ << bcm_msg)
+		return 0;
+	return -1;
+}
+
diff --git a/CAN-binder/low-can-binding/can/can-signals.hpp b/CAN-binder/low-can-binding/can/can-signals.hpp
index 50eb4ec..f21cab4 100644
--- a/CAN-binder/low-can-binding/can/can-signals.hpp
+++ b/CAN-binder/low-can-binding/can/can-signals.hpp
@@ -25,6 +25,7 @@
 
 #include "openxc.pb.h"
 #include "../utils/timer.hpp"
+#include "../utils/socketcan-bcm.hpp"
 #include "can-message.hpp"
 #include "can-message-definition.hpp"
 #include "../diagnostic/diagnostic-message.hpp"
@@ -75,15 +76,16 @@ typedef uint64_t (*SignalEncoder)(can_signal_t* signal,
 class can_signal_t
 {
 private:
-	std::uint8_t message_set_id_;
-	std::uint8_t message_id_;
+	utils::socketcan_bcm_t	socket_; /*!< socket_ - Specific BCM socket that filter the signal read from CAN device */
+	std::uint8_t message_set_id_; ///< message_set_id_ - Index number to the message_set_id container object
+	std::uint8_t message_id_; ///< message_id_ - Index number to the message_definition_t container object
 	std::string generic_name_; /*!< generic_name_ - The name of the signal to be output.*/
 	static std::string prefix_; /*!< prefix_ - generic_name_ will be prefixed with it. It has to reflect the used protocol.
 						  * which make easier to sort message when the come in.*/
 	uint8_t bit_position_; /*!< bitPosition_ - The starting bit of the signal in its CAN message (assuming
 										*	non-inverted bit numbering, i.e. the most significant bit of
 										*	each byte is 0) */
-	uint8_t bit_size_; /*!< bitSize_ - The width of the bit field in the CAN message. */
+	uint8_t bit_size_; /*!< bit_size_ - The width of the bit field in the CAN message. */
 	float factor_; /*!< factor_ - The final value will be multiplied by this factor. Use 1 if you
 							*	don't need a factor. */
 	float offset_; /*!< offset_ - The final value will be added to this offset. Use 0 if you
@@ -129,6 +131,7 @@ public:
 		SignalEncoder encoder,
 		bool received);
 
+	utils::socketcan_bcm_t get_socket() const;
 	const can_message_definition_t& get_message() const;
 	const std::string& get_generic_name() const;
 	const std::string get_name() const;
@@ -154,4 +157,5 @@ public:
 	void set_prefix(std::string val);
 	void set_received(bool r);
 	void set_last_value(float val);
+	int create_rx_filter();
 };
\ No newline at end of file