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 <romain.forlot@iot.bzh>

1 files changed, 314 insertions, 0 deletions

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 0000000..716b75b
--- /dev/null
+++ b/low-can-binding/binding/low-can-socket.cpp
@@ -0,0 +1,314 @@
+/*
+ * 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_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<can_signal_t> low_can_socket_t::get_can_signal() const
+{
+	return can_signal_;
+}
+
+const std::vector<std::shared_ptr<diagnostic_message_t> > 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<diagnostic_message_t> 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<diagnostic_message_t> 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<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(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<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(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<can_signal_t> 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;
+}