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-rw-r--r--src/can/can-bus.cpp30
-rw-r--r--src/can/can-bus.hpp5
-rw-r--r--src/can/can-message-definition.cpp8
-rw-r--r--src/can/can-message-definition.hpp7
-rw-r--r--src/can/can-message.cpp2
-rw-r--r--src/configuration-generated.cpp11
-rw-r--r--src/configuration.cpp2
-rw-r--r--src/configuration.hpp4
-rw-r--r--src/diagnostic/active-diagnostic-request.cpp12
-rw-r--r--src/diagnostic/active-diagnostic-request.hpp7
-rw-r--r--src/diagnostic/diagnostic-manager.cpp14
-rw-r--r--src/diagnostic/diagnostic-manager.hpp11
-rw-r--r--src/low-can-binding.cpp2
13 files changed, 73 insertions, 42 deletions
diff --git a/src/can/can-bus.cpp b/src/can/can-bus.cpp
index 69f08c5..7c6ae42 100644
--- a/src/can/can-bus.cpp
+++ b/src/can/can-bus.cpp
@@ -50,6 +50,8 @@ can_bus_t::can_bus_t(int conf_file)
{
}
+std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::can_devices_;
+
/**
* @brief Will make the decoding operation on a classic CAN message. It will not
* handle CAN commands nor diagnostic messages that have their own method to get
@@ -254,7 +256,7 @@ void can_bus_t::stop_threads()
int can_bus_t::init_can_dev()
{
std::vector<std::string> devices_name;
- int i;
+ int i = 0;
size_t t;
devices_name = read_conf();
@@ -262,20 +264,19 @@ int can_bus_t::init_can_dev()
if (! devices_name.empty())
{
t = devices_name.size();
- i=0;
for(const auto& device : devices_name)
{
- can_devices_.push_back(std::make_shared<can_bus_dev_t>(device, i));
- if (can_devices_[i]->open() == 0)
+ can_bus_t::can_devices_[device] = std::make_shared<can_bus_dev_t>(device, i);
+ if (can_bus_t::can_devices_[device]->open() == 0)
{
DEBUG(binder_interface, "Start reading thread");
NOTICE(binder_interface, "%s device opened and reading", device.c_str());
- can_devices_[i]->start_reading(*this);
+ can_bus_t::can_devices_[device]->start_reading(*this);
+ i++;
}
else
ERROR(binder_interface, "Can't open device %s", device.c_str());
- i++;
}
NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
@@ -421,7 +422,20 @@ void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
*
* @return map can_bus_dev_m_ map
*/
-const std::vector<std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const
+const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const
+{
+ return can_bus_t::can_devices_;
+}
+
+/**
+* @brief Return the shared pointer on the can_bus_dev_t initialized
+* with device_name "bus"
+*
+* @param[in] bus - CAN bus device name to retrieve.
+*
+* @return A shared pointer on an object can_bus_dev_t
+*/
+std::shared_ptr<can_bus_dev_t> can_bus_t::get_can_device(std::string bus)
{
- return can_devices_;
+ return can_bus_t::can_devices_[bus];
}
diff --git a/src/can/can-bus.hpp b/src/can/can-bus.hpp
index 97b683d..a51dfb1 100644
--- a/src/can/can-bus.hpp
+++ b/src/can/can-bus.hpp
@@ -68,7 +68,7 @@ private:
std::mutex decoded_can_message_mutex_; /// < mutex protecting the vehicle_message_q_ queue.
std::queue <openxc_VehicleMessage> vehicle_message_q_; /// < queue that'll store openxc_VehicleMessage to pushed
- std::vector<std::shared_ptr<can_bus_dev_t>> can_devices_; /// < Can device map containing all can_bus_dev_t objects initialized during init_can_dev function
+ static std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_devices_; /// < Can device map containing all can_bus_dev_t objects initialized during init_can_dev function
public:
can_bus_t(int conf_file);
@@ -91,5 +91,6 @@ public:
openxc_VehicleMessage next_vehicle_message();
void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
- const std::vector<std::shared_ptr<can_bus_dev_t>>& get_can_devices() const;
+ 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/src/can/can-message-definition.cpp b/src/can/can-message-definition.cpp
index 8272457..7aca19e 100644
--- a/src/can/can-message-definition.cpp
+++ b/src/can/can-message-definition.cpp
@@ -17,11 +17,15 @@
#include "can-message-definition.hpp"
-can_message_definition_t::can_message_definition_t(uint8_t bus)
+can_message_definition_t::can_message_definition_t(const std::string bus)
: bus_{bus}, last_value_(CAN_MESSAGE_SIZE)
{}
-can_message_definition_t::can_message_definition_t(uint8_t bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed)
+can_message_definition_t::can_message_definition_t(const std::string bus, uint32_t id, frequency_clock_t frequency_clock, bool force_send_changed)
+: bus_{bus}, id_{id}, frequency_clock_{frequency_clock}, force_send_changed_{force_send_changed}, last_value_(CAN_MESSAGE_SIZE)
+{}
+
+can_message_definition_t::can_message_definition_t(const std::string bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed)
: bus_{bus}, id_{id}, format_{format}, frequency_clock_{frequency_clock}, force_send_changed_{force_send_changed}, last_value_(CAN_MESSAGE_SIZE)
{}
diff --git a/src/can/can-message-definition.hpp b/src/can/can-message-definition.hpp
index 1c7199e..921b58a 100644
--- a/src/can/can-message-definition.hpp
+++ b/src/can/can-message-definition.hpp
@@ -35,7 +35,7 @@
class can_message_definition_t
{
private:
- uint8_t bus_; /*!< bus_ - Address of CAN bus device. */
+ std::string bus_; /*!< bus_ - Address of CAN bus device. */
uint32_t id_; /*!< id_ - The ID of the message.*/
can_message_format_t format_; /*!< format_ - the format of the message's ID.*/
frequency_clock_t frequency_clock_; /*!< clock_ - an optional frequency clock to control the output of this
@@ -48,8 +48,9 @@ private:
* needs to compare an incoming CAN message with the previous frame.*/
public:
- can_message_definition_t(uint8_t bus);
- can_message_definition_t(uint8_t bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed);
+ can_message_definition_t(const std::string bus);
+ can_message_definition_t(const std::string bus, uint32_t id, frequency_clock_t frequency_clock, bool force_send_changed);
+ can_message_definition_t(const std::string bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed);
uint32_t get_id() const;
};
diff --git a/src/can/can-message.cpp b/src/can/can-message.cpp
index cc4adb4..6b40d91 100644
--- a/src/can/can-message.cpp
+++ b/src/can/can-message.cpp
@@ -170,7 +170,7 @@ can_message_t can_message_t::convert_from_canfd_frame(const struct canfd_frame&
format = can_message_format_t::EXTENDED;
else
format = can_message_format_t::STANDARD;
-
+
switch(format)
{
case can_message_format_t::STANDARD:
diff --git a/src/configuration-generated.cpp b/src/configuration-generated.cpp
index be3bc36..fd2e330 100644
--- a/src/configuration-generated.cpp
+++ b/src/configuration-generated.cpp
@@ -41,8 +41,8 @@ std::vector<can_message_set_t> CAN_MESSAGE_SET =
std::vector<std::vector<can_message_definition_t>> CAN_MESSAGES_DEFINITION = {
{
- can_message_definition_t(0, 0x620, can_message_format_t::STANDARD, frequency_clock_t(), false),
- can_message_definition_t(0, 0x442, can_message_format_t::STANDARD, frequency_clock_t(), false),
+ can_message_definition_t("vcan0", 0x620, can_message_format_t::STANDARD, frequency_clock_t(), false),
+ can_message_definition_t("vcan0", 0x442, can_message_format_t::STANDARD, frequency_clock_t(), false),
},
};
@@ -59,4 +59,9 @@ std::vector<std::vector<can_signal_t>> SIGNALS = {
configuration_t::configuration_t()
: can_message_set_{CAN_MESSAGE_SET}, can_message_definition_{CAN_MESSAGES_DEFINITION}, can_signals_{SIGNALS}, obd2_signals_{OBD2_PIDS}
-{} \ No newline at end of file
+{}
+
+const std::string configuration_t::get_diagnostic_bus() const
+{
+ return "vcan0";
+} \ No newline at end of file
diff --git a/src/configuration.cpp b/src/configuration.cpp
index e6114cb..ec12d8f 100644
--- a/src/configuration.cpp
+++ b/src/configuration.cpp
@@ -42,7 +42,7 @@ can_bus_t& configuration_t::get_can_bus_manager()
return can_bus_manager_;
}
-const std::vector<std::shared_ptr<can_bus_dev_t>>& configuration_t::get_can_bus_devices()
+const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& configuration_t::get_can_bus_devices()
{
return can_bus_manager_.get_can_devices();
}
diff --git a/src/configuration.hpp b/src/configuration.hpp
index 214b3e7..224672e 100644
--- a/src/configuration.hpp
+++ b/src/configuration.hpp
@@ -61,7 +61,9 @@ class configuration_t
can_bus_t& get_can_bus_manager();
- const std::vector<std::shared_ptr<can_bus_dev_t>>& get_can_bus_devices();
+ const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& get_can_bus_devices();
+
+ const std::string get_diagnostic_bus() const;
diagnostic_manager_t& get_diagnostic_manager() ;
diff --git a/src/diagnostic/active-diagnostic-request.cpp b/src/diagnostic/active-diagnostic-request.cpp
index 9d0f6aa..fcdbc97 100644
--- a/src/diagnostic/active-diagnostic-request.cpp
+++ b/src/diagnostic/active-diagnostic-request.cpp
@@ -16,9 +16,12 @@
*/
#include <fnmatch.h>
+#include <map>
#include "active-diagnostic-request.hpp"
+#include "../configuration.hpp"
+
std::string active_diagnostic_request_t::prefix_ = "diagnostic_messages";
bool active_diagnostic_request_t::operator==(const active_diagnostic_request_t& b)
@@ -52,9 +55,8 @@ active_diagnostic_request_t::active_diagnostic_request_t()
in_flight_{false}, frequency_clock_{frequency_clock_t()}, timeout_clock_{frequency_clock_t()}
{}
-active_diagnostic_request_t::active_diagnostic_request_t(std::shared_ptr<can_bus_dev_t> bus, DiagnosticRequest* request,
- const std::string& name, bool wait_for_multiple_responses,
- const DiagnosticResponseDecoder decoder,
+active_diagnostic_request_t::active_diagnostic_request_t(const std::string& bus, DiagnosticRequest* request,
+ const std::string& name, bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
const DiagnosticResponseCallback callback, float frequencyHz)
: bus_{bus}, id_{request->arbitration_id}, handle_{nullptr}, name_{name},
decoder_{decoder}, callback_{callback}, recurring_{frequencyHz ? true : false}, wait_for_multiple_responses_{wait_for_multiple_responses},
@@ -66,9 +68,9 @@ uint32_t active_diagnostic_request_t::get_id() const
return id_;
}
-std::shared_ptr<can_bus_dev_t> active_diagnostic_request_t::get_can_bus_dev()
+const std::shared_ptr<can_bus_dev_t> active_diagnostic_request_t::get_can_bus_dev() const
{
- return bus_;
+ return can_bus_t::get_can_device(bus_);
}
DiagnosticRequestHandle* active_diagnostic_request_t::get_handle()
diff --git a/src/diagnostic/active-diagnostic-request.hpp b/src/diagnostic/active-diagnostic-request.hpp
index f18282f..b40ae08 100644
--- a/src/diagnostic/active-diagnostic-request.hpp
+++ b/src/diagnostic/active-diagnostic-request.hpp
@@ -56,7 +56,7 @@ typedef void (*DiagnosticResponseCallback)(const active_diagnostic_request_t* re
*/
class active_diagnostic_request_t {
private:
- std::shared_ptr<can_bus_dev_t> bus_; /*!< bus_ - The CAN bus this request should be made on, or is currently in flight-on*/
+ std::string bus_; /*!< bus_ - The CAN bus this request should be made on, or is currently in flight-on*/
uint32_t id_; /*!< id_ - The arbitration ID (aka message ID) for the request.*/
DiagnosticRequestHandle* handle_; /*!< handle_ - A handle for the request to keep track of it between
* sending the frames of the request and receiving all frames of the response.*/
@@ -82,15 +82,16 @@ private:
public:
bool operator==(const active_diagnostic_request_t& b);
active_diagnostic_request_t& operator=(const active_diagnostic_request_t& adr);
+
active_diagnostic_request_t();
active_diagnostic_request_t(active_diagnostic_request_t&&) = default;
- active_diagnostic_request_t(std::shared_ptr<can_bus_dev_t> bus, DiagnosticRequest* request,
+ active_diagnostic_request_t(const std::string& bus, DiagnosticRequest* request,
const std::string& name, bool wait_for_multiple_responses,
const DiagnosticResponseDecoder decoder,
const DiagnosticResponseCallback callback, float frequencyHz);
uint32_t get_id() const;
- std::shared_ptr<can_bus_dev_t> get_can_bus_dev();
+ const std::shared_ptr<can_bus_dev_t> get_can_bus_dev() const;
DiagnosticRequestHandle* get_handle();
const std::string get_name() const;
static std::string& get_prefix();
diff --git a/src/diagnostic/diagnostic-manager.cpp b/src/diagnostic/diagnostic-manager.cpp
index 21a599d..1477b2b 100644
--- a/src/diagnostic/diagnostic-manager.cpp
+++ b/src/diagnostic/diagnostic-manager.cpp
@@ -33,10 +33,10 @@ diagnostic_manager_t::diagnostic_manager_t()
: initialized_{false}
{}
-bool diagnostic_manager_t::initialize(std::shared_ptr<can_bus_dev_t> cbd)
+bool diagnostic_manager_t::initialize()
{
// Mandatory to set the bus before intiliaze shims.
- bus_ = cbd;
+ bus_ = configuration_t::instance().get_diagnostic_bus();
init_diagnostic_shims();
reset();
@@ -153,7 +153,7 @@ active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const
std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev()
{
- return bus_;
+ return can_bus_t::get_can_device(bus_);
}
bool diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string name,
@@ -178,7 +178,7 @@ bool diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::st
find_and_erase(entry, non_recurring_requests_);
DEBUG(binder_interface, "Added one-time diagnostic request on bus %s: %s",
- bus_->get_device_name(), request_string);
+ bus_, request_string);
non_recurring_requests_.push_back(entry);
}
@@ -227,7 +227,7 @@ bool diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, con
sizeof(request_string));
DEBUG(binder_interface, "add_recurring_request: Added recurring diagnostic request (freq: %f) on bus %s: %s",
- frequencyHz, bus_->get_device_name().c_str(), request_string);
+ frequencyHz, bus_.c_str(), request_string);
uint64_t usec;
sd_event_now(afb_daemon_get_event_loop(binder_interface->daemon), CLOCK_MONOTONIC, &usec);
@@ -343,7 +343,7 @@ int diagnostic_manager_t::send_request(sd_event_source *s, uint64_t usec, void *
// if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev() && adr->should_send() &&
// dm.clear_to_send(adr))
- if(adr != nullptr && adr->get_can_bus_dev() == dm.bus_)
+ if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev())
{
adr->get_frequency_clock().tick();
start_diagnostic_request(&dm.shims_, adr->get_handle());
@@ -376,7 +376,7 @@ DiagnosticShims& diagnostic_manager_t::get_shims()
bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
{
- std::shared_ptr<can_bus_dev_t> can_bus_dev = configuration_t::instance().get_diagnostic_manager().get_can_bus_dev();
+ std::shared_ptr<can_bus_dev_t> can_bus_dev = can_bus_t::get_can_device(configuration_t::instance().get_diagnostic_manager().bus_);
return can_bus_dev->shims_send(arbitration_id, data, size);
}
diff --git a/src/diagnostic/diagnostic-manager.hpp b/src/diagnostic/diagnostic-manager.hpp
index 71662ba..ff055d5 100644
--- a/src/diagnostic/diagnostic-manager.hpp
+++ b/src/diagnostic/diagnostic-manager.hpp
@@ -18,6 +18,7 @@
#pragma once
#include <systemd/sd-event.h>
+#include <map>
#include <vector>
#include "uds/uds.h"
@@ -49,10 +50,10 @@ protected:
static void shims_timer();
private:
- DiagnosticShims shims_; /*!< shims_ - An array of shim functions for each CAN bus that plug the diagnostics
- * library (uds-c) into the VI's CAN peripheral.*/
- std::shared_ptr<can_bus_dev_t> bus_; /*!< bus_ - A pointer to the CAN bus that should be used for all standard OBD-II requests, if the bus is not
- * explicitly spcified in the request. If NULL, all requests require an explicit bus.*/
+ DiagnosticShims shims_; /*!< shims_ - A map of shim functions for each CAN bus that plug the diagnostics
+ * library (uds-c) into the VI's CAN peripheral.*/
+ std::string bus_; /*!< bus_ - A pointer to the CAN bus that should be used for all standard OBD-II requests, if the bus is not
+ * explicitly spcified in the request. Default to the first bus CAN at initialization.*/
std::vector<active_diagnostic_request_t*> recurring_requests_; /*!< recurringRequests - A list of active recurring diagnostic requests.*/
std::vector<active_diagnostic_request_t*> non_recurring_requests_; /*!< nonrecurringRequests - A list of active one-time diagnostic requests. When a
* response is received for a non-recurring request or it times out, it is removed*/
@@ -63,7 +64,7 @@ private:
public:
diagnostic_manager_t();
- bool initialize(std::shared_ptr<can_bus_dev_t> cbd);
+ bool initialize();
std::shared_ptr<can_bus_dev_t> get_can_bus_dev();
DiagnosticShims& get_shims();
diff --git a/src/low-can-binding.cpp b/src/low-can-binding.cpp
index f60790f..074e95c 100644
--- a/src/low-can-binding.cpp
+++ b/src/low-can-binding.cpp
@@ -246,7 +246,7 @@ extern "C"
/// Initialize Diagnostic manager that will handle obd2 requests.
/// We pass by default the first CAN bus device to its Initialization.
/// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus.
- if(configuration_t::instance().get_diagnostic_manager().initialize(can_bus_manager.get_can_devices().front()))
+ if(configuration_t::instance().get_diagnostic_manager().initialize())
return 0;
ERROR(binder_interface, "There was something wrong with CAN device Initialization. Check your config file maybe");