diff options
Diffstat (limited to 'CAN-binder/low-can-binding/binding/low-can-subscription.cpp')
| -rw-r--r-- | CAN-binder/low-can-binding/binding/low-can-subscription.cpp | 306 |
1 files changed, 0 insertions, 306 deletions
diff --git a/CAN-binder/low-can-binding/binding/low-can-subscription.cpp b/CAN-binder/low-can-binding/binding/low-can-subscription.cpp deleted file mode 100644 index 5488cc5..0000000 --- a/CAN-binder/low-can-binding/binding/low-can-subscription.cpp +++ /dev/null @@ -1,306 +0,0 @@ -/* - * 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_subscription_t::low_can_subscription_t() - : index_{-1}, - event_filter_{event_filter_t()}, - socket_{} -{} - -low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter) - : event_filter_{event_filter} -{} - -low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s) - : index_{s.index_}, - event_filter_{s.event_filter_}, - socket_{std::move(s.socket_)} -{} - -low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s) -{ - socket_ = std::move(s.socket_); - return *this; -} - -low_can_subscription_t::~low_can_subscription_t() -{ - socket_.close(); -} - -low_can_subscription_t::operator bool() const -{ - return ((can_signal_ != nullptr || ! diagnostic_message_.empty()) && afb_event_is_valid(event_)); -} - -struct afb_event& low_can_subscription_t::get_event() -{ - return event_; -} - -int low_can_subscription_t::get_index() const -{ - return index_; -} - -const std::shared_ptr<can_signal_t> low_can_subscription_t::get_can_signal() const -{ - return can_signal_; -} - -const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_subscription_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_subscription_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_subscription_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_subscription_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_subscription_t::get_name(uint32_t pid) const -{ - if (!diagnostic_message_.empty()) - return get_diagnostic_message(pid)->get_name() ; - - return ""; -} - -float low_can_subscription_t::get_frequency() const -{ - return event_filter_.frequency; -} - -float low_can_subscription_t::get_min() const -{ - return event_filter_.min; -} - -float low_can_subscription_t::get_max() const -{ - return event_filter_.max; -} - -utils::socketcan_bcm_t& low_can_subscription_t::get_socket() -{ - return socket_; -} - -void low_can_subscription_t::set_event(struct afb_event event) -{ - event_ = event; -} - -void low_can_subscription_t::set_frequency(float freq) -{ - event_filter_.frequency = freq; -} - -void low_can_subscription_t::set_min(float min) -{ - event_filter_.min = min; -} - -void low_can_subscription_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_subscription_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_subscription_t::make_bcm_head(uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const -{ - struct utils::simple_bcm_msg bcm_msg; - - memset(&bcm_msg, 0, sizeof(bcm_msg)); - - bcm_msg.msg_head.opcode = RX_SETUP; - 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_subscription_t::add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const -{ - for(int i=0; i < CAN_MAX_DLEN; i++) - { - if(cfd.data[i] != 0) - { - bcm_msg.msg_head.nframes = 1; - bcm_msg.frames = cfd; - 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_subscription_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(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_subscription_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(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_subscription_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; -}
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