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, 90 insertions, 0 deletions

diff --git a/low-can-binding/binding/low-can-socket.hpp b/low-can-binding/binding/low-can-socket.hpp
new file mode 100644
index 0000000..49e9f93
--- /dev/null
+++ b/low-can-binding/binding/low-can-socket.hpp
@@ -0,0 +1,90 @@
+/*
+ * 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 has to be tested into
+/// can_bus_t::apply_filter method.
+struct event_filter_t
+{
+	float frequency; ///< frequency - Maximum frequency which will be received and pushed a subscribed event.
+	float min; ///< min - Minimum value that the signal don't have to go below to be pushed.
+	float max; ///< max - Maximum value that the signal don't have to go above to be pushed.
+	event_filter_t() : frequency{NAN}, min{NAN}, max{NAN} {}
+};
+
+/// @brief An object storing socket to CAN to be used to write on it.
+/// This is a simple access to a CAN bus device without 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 received OBD2 responses.
+				/// normal diagnostic request and response 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;
+	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(struct afb_event 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();
+
+	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);
+};