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-rw-r--r--CAN-binder/low-can-binding/binding/low-can-subscription.cpp59
-rw-r--r--CAN-binder/low-can-binding/binding/low-can-subscription.hpp26
2 files changed, 51 insertions, 34 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
index 648220d..5488cc5 100644
--- a/CAN-binder/low-can-binding/binding/low-can-subscription.cpp
+++ b/CAN-binder/low-can-binding/binding/low-can-subscription.cpp
@@ -22,12 +22,6 @@
#include "application.hpp"
#include "canutil/write.h"
-///******************************************************************************
-///
-/// low_can_subscription_t object
-///
-///*******************************************************************************/
-
low_can_subscription_t::low_can_subscription_t()
: index_{-1},
event_filter_{event_filter_t()},
@@ -44,7 +38,7 @@ low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
socket_{std::move(s.socket_)}
{}
- low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s)
+low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s)
{
socket_ = std::move(s.socket_);
return *this;
@@ -80,6 +74,11 @@ const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_subscription_t
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_)
@@ -92,6 +91,9 @@ const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnost
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_)
@@ -104,6 +106,8 @@ const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnost
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)
@@ -112,6 +116,9 @@ const std::string low_can_subscription_t::get_name() const
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())
@@ -160,6 +167,10 @@ 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;
@@ -174,6 +185,10 @@ int low_can_subscription_t::open_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;
@@ -191,6 +206,9 @@ struct utils::simple_bcm_msg low_can_subscription_t::make_bcm_head(uint32_t can_
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++)
@@ -204,21 +222,8 @@ void low_can_subscription_t::add_bcm_frame(const struct can_frame& cfd, struct u
}
}
-/// @brief Create a RX_SETUP receive job used by the BCM socket.
-///
-/// @return 0 if ok else -1
-int low_can_subscription_t::create_rx_filter()
-{
- int ret = -1;
- if ( can_signal_ != nullptr)
- {ret = create_rx_filter(can_signal_);}
- else if (! diagnostic_message_ .empty())
- {ret = create_rx_filter(diagnostic_message_.front());}
-
- return ret;
-}
-
-/// @brief Create a RX_SETUP receive job used by the BCM socket.
+/// @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)
@@ -247,7 +252,8 @@ int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
return create_rx_filter(bcm_msg);
}
-/// @brief Create a RX_SETUP receive job used by the BCM socket.
+/// @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)
@@ -262,7 +268,12 @@ int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_
return create_rx_filter(bcm_msg);
}
-/// @brief Create a RX_SETUP receive job used by the BCM socket.
+/// @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)
diff --git a/CAN-binder/low-can-binding/binding/low-can-subscription.hpp b/CAN-binder/low-can-binding/binding/low-can-subscription.hpp
index 0efde63..0ad7e3a 100644
--- a/CAN-binder/low-can-binding/binding/low-can-subscription.hpp
+++ b/CAN-binder/low-can-binding/binding/low-can-subscription.hpp
@@ -25,28 +25,35 @@
#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;
- float min;
- float max;
+ 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 A subscription object used has a context that handle all needed values to describe a subscription
+/// to the low-can binding. It can holds a CAN signal or diagnostic message. Diagnostic message for OBD2 is a kind
+/// of special because there is only 1 listener to retrieve OBD2 requests. So it's needed that all diagnostic messages
+/// subscriptions is to be in 1 object.
class low_can_subscription_t
{
private:
- int index_;
- struct afb_event event_;
+ int index_; ///< index_ - index number is the socket (int) casted
+ struct afb_event event_; ///< event_ - application framework event used to push on client
/// Signal part
- std::shared_ptr<can_signal_t> can_signal_;
- std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_message_;
+ 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.
/// Filtering part
- struct event_filter_t event_filter_;
+ struct event_filter_t event_filter_; ///< event_filter_ - filtering values applied to a subscription
- utils::socketcan_bcm_t socket_;
+ utils::socketcan_bcm_t socket_; ///< socket_ - socket_ that receives CAN messages.
public:
low_can_subscription_t();
low_can_subscription_t(struct event_filter_t event_filter);
@@ -78,7 +85,6 @@ public:
struct utils::simple_bcm_msg make_bcm_head(uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) 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();
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);