diff options
Diffstat (limited to 'CAN-binder/low-can-binding/utils')
| -rw-r--r-- | CAN-binder/low-can-binding/utils/config-parser.cpp | 84 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/utils/config-parser.hpp | 43 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/utils/openxc-utils.cpp | 282 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/utils/openxc-utils.hpp | 42 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/utils/signals.cpp | 76 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/utils/signals.hpp | 90 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/utils/socket.cpp | 89 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/utils/socket.hpp | 46 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/utils/timer.cpp | 102 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/utils/timer.hpp | 53 |
10 files changed, 907 insertions, 0 deletions
diff --git a/CAN-binder/low-can-binding/utils/config-parser.cpp b/CAN-binder/low-can-binding/utils/config-parser.cpp new file mode 100644 index 0000000..e73b0f9 --- /dev/null +++ b/CAN-binder/low-can-binding/utils/config-parser.cpp @@ -0,0 +1,84 @@ +/* + * Copyright (C) 2015, 2016 ,2017 "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. + */ + +namespace utils +{ + config_parser_t::config_parser_t(int conf_file) + : conf_file_{conf_file}, devices_name{} + {} + + /// @brief read the conf_file_ and will parse json objects + /// in it searching for canbus objects devices name. + /// + /// @return Vector of can bus device name string. + void can_bus_t::read_conf() + { + FILE *fd = fdopen(conf_file_, "r"); + if (fd) + { + std::fseek(fd, 0, SEEK_END); + config_content_.resize(std::ftell(fd)); + std::rewind(fd); + std::fread(&config_content_[0], 1, config_content_.size(), fd); + std::fclose(fd); + + DEBUG(binder_interface, "Configuration file content : %s", config_content_.c_str()); + } + ERROR(binder_interface, "Problem at reading the conf file"); + } + + void parse_devices_name() + { + json_object *jo, *canbus; + const char* taxi; + + jo = json_tokener_parse(config_content_.c_str()); + + if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus)) + { + ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it."); + devices_name_.clear(); + } + else if (json_object_get_type(canbus) != json_type_array) + { + taxi = json_object_get_string(canbus); + DEBUG(binder_interface, "Can bus found: %s", taxi); + devices_name_.push_back(std::string(taxi)); + } + else + { + int n, i; + n = json_object_array_length(canbus); + for (i = 0 ; i < n ; i++) + devices_name_.push_back(json_object_get_string(json_object_array_get_idx(canbus, i))); + } + } + + /// @brief Public method to access devices_name_ vector. If vector size equal 0 + /// then it will parses the configuration file content to fill it. It could be empty even + /// after parsing if content file just don't have a correct "canbus" directive so you + /// have to test the returned value. + /// + /// @return A const vector with string of linux CAN devices. + const std::vector<std::string>& get_devices_name() + { + if(devices_name_.empty()) + parse_devices_name(); + + return devices_name_; + } +}
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/utils/config-parser.hpp b/CAN-binder/low-can-binding/utils/config-parser.hpp new file mode 100644 index 0000000..e6bd9d2 --- /dev/null +++ b/CAN-binder/low-can-binding/utils/config-parser.hpp @@ -0,0 +1,43 @@ +/* + * Copyright (C) 2015, 2016 ,2017 "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 <fcntl.h> +#include <unistd.h> +#include <sys/ioctl.h> +#include <json-c/json.h> + +#include <string> + +namespace utils +{ + class config_parser_t + { + private: + int conf_file_; /*!< conf_file_ - file that handle the binding configuration file */ + std::string config_content_; /*!< config_content_ - String that contains the content of config file */ + std::vector<std::string> devices_name_; /*!< devices_name - Found devices name after reading configuration file */ + + void parse_devices_name(); + public: + config_parser_t(int conf_file); + + void read_conf(); + std::vector<std::string> get_devices_name(); + }; +} diff --git a/CAN-binder/low-can-binding/utils/openxc-utils.cpp b/CAN-binder/low-can-binding/utils/openxc-utils.cpp new file mode 100644 index 0000000..52b49d2 --- /dev/null +++ b/CAN-binder/low-can-binding/utils/openxc-utils.cpp @@ -0,0 +1,282 @@ +/* + * 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 "openxc-utils.hpp" + +#include "../configuration.hpp" + +/// +/// @brief Build a specific VehicleMessage containing a DiagnosticResponse. +/// +/// @param[in] request - Original request use to retrieve decoder and callback +/// @param[in] response - Response to the request that will be decoded if decoder set +/// and put into the DiagnosticResponse of the VehicleMessage. +/// @param[in] parsed_value - raw parsed value of the payload from CAN message +/// +/// @return a vehicle message including simple message that will be convert into +/// a JSON object before being pushed to the subscribers +/// +openxc_VehicleMessage build_VehicleMessage(active_diagnostic_request_t* request, const DiagnosticResponse& response, float parsed_value) +{ + openxc_VehicleMessage message; + + message.has_type = true; + message.type = openxc_VehicleMessage_Type::openxc_VehicleMessage_Type_DIAGNOSTIC; + message.has_diagnostic_response = true; + message.diagnostic_response.has_bus = true; + message.diagnostic_response.bus = configuration_t::instance().get_diagnostic_manager().get_can_bus_dev()->get_address(); + message.diagnostic_response.has_message_id = true; + + if(request->get_id() != OBD2_FUNCTIONAL_BROADCAST_ID) + { + message.diagnostic_response.message_id = response.arbitration_id + - DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET; + } + else + { + // must preserve responding arb ID for responses to functional broadcast + // requests, as they are the actual module address and not just arb ID + + // 8. + message.diagnostic_response.message_id = response.arbitration_id; + } + + message.diagnostic_response.has_mode = true; + message.diagnostic_response.mode = response.mode; + message.diagnostic_response.has_pid = response.has_pid; + if(message.diagnostic_response.has_pid) + message.diagnostic_response.pid = response.pid; + message.diagnostic_response.has_success = true; + message.diagnostic_response.success = response.success; + message.diagnostic_response.has_negative_response_code = !response.success; + message.diagnostic_response.negative_response_code = + response.negative_response_code; + + if(response.payload_length > 0) + { + if(request->get_decoder() != nullptr) + { + message.diagnostic_response.has_value = true; + message.diagnostic_response.value = parsed_value; + } + else + { + message.diagnostic_response.has_payload = true; + ::memcpy(message.diagnostic_response.payload.bytes, response.payload, + response.payload_length); + message.diagnostic_response.payload.size = response.payload_length; + } + } + + return message; +} + +/// +/// @brief Build a specific VehicleMessage containing a SimpleMessage. +/// +/// @param[in] message - simple message to include into openxc_VehicleMessage +/// +/// @return a vehicle message including simple message that will be convert into +/// a JSON object before being pushed to the subscribers +/// +openxc_VehicleMessage build_VehicleMessage(const openxc_SimpleMessage& message) +{ + openxc_VehicleMessage v; + + v.has_type = true, + v.type = openxc_VehicleMessage_Type::openxc_VehicleMessage_Type_SIMPLE; + v.has_simple_message = true; + v.simple_message = message; + v.has_timestamp = true; + v.timestamp = system_time_ms(); + + return v; +} + +/// +/// @brief Build an empty VehicleMessage that isn't usable by at least the struct +/// is initialized for the most part and can be use to check a false return value. +/// +/// @return A VehicleMessage with all boolean value to false. +/// +openxc_VehicleMessage build_VehicleMessage() +{ + openxc_VehicleMessage v; + + ::memset(&v, 0, sizeof(openxc_VehicleMessage)); + return v; +} + +bool is_valid(const openxc_VehicleMessage& v) +{ + if (v.has_type == false && + v.has_can_message == false && + v.has_simple_message == false && + v.has_diagnostic_response == false && + v.has_control_command == false && + v.has_command_response == false && + v.has_timestamp == false) + return false; + return true; +} + +/// +/// @brief Build an openxc_SimpleMessage associating a name to an openxc_DynamicField +/// +/// @param[in] name - const string reference name to assign to the created SimpleMessage +/// this will set has_name member to true and assign name to the name member. Maximum size for name is +/// set to 100 char. +/// @param[in] value - const reference with DynamicField to assign to SimpleMessage +/// value. +/// +/// @return an openxc_SimpleMessage struct initialized with name and value provided. +/// +openxc_SimpleMessage build_SimpleMessage(const std::string& name, const openxc_DynamicField& value) +{ + openxc_SimpleMessage s; + + s.has_name = true; + ::strncpy(s.name, name.c_str(), 100); + s.has_value = true; + s.value = value; + + return s; +} + +/// +/// @brief Build an openxc_DynamicField with a string value +/// +/// @param[in] value - const string reference value to assign to builded +/// openxc_DynamicField. +/// +/// @return openxc_DynamicField initialized with a string value. +/// +openxc_DynamicField build_DynamicField(const std::string& value) +{ + openxc_DynamicField d; + d.has_type = true; + d.type = openxc_DynamicField_Type_STRING; + + d.has_string_value = true; + d.has_numeric_value = false; + d.has_boolean_value = false; + ::strncpy(d.string_value, value.c_str(), 100); + + return d; +} + +/// +/// @fn openxc_DynamicField build_DynamicField(double value); +/// +/// @brief Build an openxc_DynamicField with a double value +/// +/// @param[in] value - double value to assign to builded openxc_DynamicField. +/// +/// @return openxc_DynamicField initialized with a double value. +/// +openxc_DynamicField build_DynamicField(double value) +{ + openxc_DynamicField d; + d.has_type = true; + d.type = openxc_DynamicField_Type_NUM; + + d.has_string_value = false; + d.has_numeric_value = true; + d.has_boolean_value = false; + d.numeric_value = value; + + return d; +} + +/// +/// @brief Build an openxc_DynamicField with a boolean value +/// +/// @param[in] value - boolean value to assign to builded openxc_DynamicField. +/// +/// @return openxc_DynamicField initialized with a boolean value. +/// +openxc_DynamicField build_DynamicField(bool value) +{ + openxc_DynamicField d; + d.has_type = true; + d.type = openxc_DynamicField_Type_BOOL; + + d.has_string_value = false; + d.has_numeric_value = false; + d.has_boolean_value = true; + d.boolean_value = value; + + return d; +} + +/// +/// @brief Extract the simple message value from an openxc_VehicleMessage +/// and return it. If there isn't SimpleMessage in the VehicleMessage then +/// returned value will be a SimpleMessage with all field set at false. +/// DynamicField from SimpleMessage will be boolean DynamicField set to false too. +/// +/// @param[in] v_msg - const reference to openxc_VehicleMessage +/// +/// @return A simpleMessage from the provided VehicleMessage. +/// +openxc_SimpleMessage get_simple_message(const openxc_VehicleMessage& v_msg) +{ + if (v_msg.has_simple_message) + return v_msg.simple_message; + + openxc_SimpleMessage s_msg = { false, "", false, build_DynamicField(false), false, build_DynamicField(false)}; + return s_msg; +} + +/// +/// @brief Make a JSON object from a DynamicField +/// +/// @param[in] field - openxc_DynamicField struct to convert into +/// a json object. +/// @param[out] value - pointer to the object to set up. +/// +void jsonify_DynamicField(const openxc_DynamicField& field, json_object* value) +{ + if(field.has_numeric_value) + json_object_object_add(value, "value", json_object_new_double(field.numeric_value)); + else if(field.has_boolean_value) + json_object_object_add(value, "value", json_object_new_boolean(field.boolean_value)); + else if(field.has_string_value) + json_object_object_add(value, "value", json_object_new_string(field.string_value)); +} + +/// +/// @brief Make a JSON object from a SimpleMessage +/// +/// @param[in] s_msg - const reference to an openxc_SimpleMessage +/// struct to convert into a json object. +/// @param[out] json - pointer with the DynamicField converted into json object +/// +/// @return True if SimpleMessage has been transformed into json object +/// and false if not. In such case, a json object is returned { "error": "error msg"} +/// +bool jsonify_simple(const openxc_SimpleMessage& s_msg, json_object* json) +{ + if(s_msg.has_name) + { + json_object_object_add(json, "name", json_object_new_string(s_msg.name)); + jsonify_DynamicField(s_msg.value, json); + return true; + } + json_object_object_add(json, "error", json_object_new_string("openxc_SimpleMessage doesn't have name'")); + return false; +}
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/utils/openxc-utils.hpp b/CAN-binder/low-can-binding/utils/openxc-utils.hpp new file mode 100644 index 0000000..d36b359 --- /dev/null +++ b/CAN-binder/low-can-binding/utils/openxc-utils.hpp @@ -0,0 +1,42 @@ +/* + * 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. + */ + +#pragma once + +#include <string> +#include <json-c/json.h> +#include <sys/timeb.h> + +#include "openxc.pb.h" +#include "../diagnostic/active-diagnostic-request.hpp" + +openxc_VehicleMessage build_VehicleMessage(active_diagnostic_request_t* request, const DiagnosticResponse& response, float parsed_value); +openxc_VehicleMessage build_VehicleMessage(const openxc_SimpleMessage& message); +openxc_VehicleMessage build_VehicleMessage(); +bool is_valid(const openxc_VehicleMessage& v); + +openxc_SimpleMessage build_SimpleMessage(const std::string& name, const openxc_DynamicField& value); +openxc_DynamicField build_DynamicField(const std::string& value); +openxc_DynamicField build_DynamicField(double value); +openxc_DynamicField build_DynamicField(bool value); + +openxc_SimpleMessage get_simple_message(const openxc_VehicleMessage& v_msg); + +void jsonify_DynamicField(const openxc_DynamicField& field, json_object* value); + +bool jsonify_simple(const openxc_SimpleMessage& s_msg, json_object* json);
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/utils/signals.cpp b/CAN-binder/low-can-binding/utils/signals.cpp new file mode 100644 index 0000000..2e14a98 --- /dev/null +++ b/CAN-binder/low-can-binding/utils/signals.cpp @@ -0,0 +1,76 @@ +/* + * 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. + */ + +#include "signals.hpp" + +/// +/// @brief Can signal event map making access to afb_event +/// externaly to an openxc existing structure. +/// +/// Event map is making relation between can_signal_t generic name +/// and the afb_event struct used by application framework to pushed +/// to the subscriber. +/// +std::map<std::string, struct afb_event> subscribed_signals; + +/// +/// @brief Mutex allowing safe manipulation on subscribed_signals map. +/// To ensure that the map object isn't modified when we read it, you +/// have to set this mutex before use subscribed_signals map object. +/// +std::mutex subscribed_signals_mutex; + +std::mutex& get_subscribed_signals_mutex() +{ + return subscribed_signals_mutex; +} + +std::map<std::string, struct afb_event>& get_subscribed_signals() +{ + return subscribed_signals; +} + +/// +/// @fn std::vector<std::string> find_signals(const openxc_DynamicField &key) +/// @brief return signals name found searching through CAN_signals and OBD2 pid +/// +/// @param[in] key : can contain numeric or string value in order to search against +/// can signals or obd2 signals name. +/// +/// @return Vector of signals name found. +/// +std::vector<std::string> find_signals(const openxc_DynamicField &key) +{ + std::vector<std::string> found_signals_name; + + switch(key.type) + { + case openxc_DynamicField_Type::openxc_DynamicField_Type_STRING: + lookup_signals_by_name(key.string_value, configuration_t::instance().get_can_signals(), found_signals_name); + lookup_signals_by_name(key.string_value, configuration_t::instance().get_diagnostic_messages(), found_signals_name); + break; + case openxc_DynamicField_Type::openxc_DynamicField_Type_NUM: + lookup_signals_by_id(key.numeric_value, configuration_t::instance().get_can_signals(), found_signals_name); + lookup_signals_by_id(key.numeric_value, configuration_t::instance().get_diagnostic_messages(), found_signals_name); + break; + default: + ERROR(binder_interface, "find_signals: wrong openxc_DynamicField specified. Use openxc_DynamicField_Type_NUM or openxc_DynamicField_Type_STRING type only."); + break; + } + DEBUG(binder_interface, "find_signals: Found %d signal(s)", (int)found_signals_name.size()); + return found_signals_name; +} diff --git a/CAN-binder/low-can-binding/utils/signals.hpp b/CAN-binder/low-can-binding/utils/signals.hpp new file mode 100644 index 0000000..e941756 --- /dev/null +++ b/CAN-binder/low-can-binding/utils/signals.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 <vector> +#include <string> +#include <fnmatch.h> + +#include "openxc.pb.h" +#include "../configuration.hpp" +#include "../can/can-signals.hpp" +#include "../diagnostic/diagnostic-message.hpp" + +#include "../low-can-binding.hpp" + +extern std::mutex subscribed_signals_mutex; +std::mutex& get_subscribed_signals_mutex(); + +/** + * @brief return the subscribed_signals map. + * + * return Map of subscribed signals. + */ +extern std::map<std::string, struct afb_event> subscribed_signals; +std::map<std::string, struct afb_event>& get_subscribed_signals(); + +template <typename T> +void lookup_signals_by_name(const std::string& key, std::vector<T>& signals, std::vector<T*>& found_signals) +{ + for(T& s : signals) + { + if(::fnmatch(key.c_str(), s.get_generic_name().c_str(), FNM_CASEFOLD) == 0) + found_signals.push_back(&s); + if(::fnmatch(key.c_str(), s.get_name().c_str(), FNM_CASEFOLD) == 0) + found_signals.push_back(&s); + } +} + +template <typename T> +void lookup_signals_by_name(const std::string& key, std::vector<T>& signals, std::vector<std::string>& found_signals_name) +{ + for(T& s : signals) + { + if(::fnmatch(key.c_str(), s.get_generic_name().c_str(), FNM_CASEFOLD) == 0) + found_signals_name.push_back(s.get_name()); + if(::fnmatch(key.c_str(), s.get_name().c_str(), FNM_CASEFOLD) == 0) + found_signals_name.push_back(s.get_name()); + } +} + +template <typename T> +void lookup_signals_by_id(const double key, std::vector<T>& signals, std::vector<T*>& found_signals) +{ + for(T& s : signals) + { + if(configuration_t::instance().get_signal_id(s) == key) + { + found_signals.push_back(&s); + } + } +} + +template <typename T> +void lookup_signals_by_id(const double key, std::vector<T>& signals, std::vector<std::string>& found_signals_name) +{ + for(T& s : signals) + { + if(configuration_t::instance().get_signal_id(s) == key) + { + found_signals_name.push_back(s.get_name()); + } + } +} + +std::vector<std::string> find_signals(const openxc_DynamicField &key); diff --git a/CAN-binder/low-can-binding/utils/socket.cpp b/CAN-binder/low-can-binding/utils/socket.cpp new file mode 100644 index 0000000..e75e27f --- /dev/null +++ b/CAN-binder/low-can-binding/utils/socket.cpp @@ -0,0 +1,89 @@ +/* + * Copyright (C) 2015, 2016 ,2017 "IoT.bzh" + * Author "Romain Forlot" <romain.forlot@iot.bzh> + * Author "Loïc 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 <unistd.h> +#include "socket.hpp" + +namespace utils +{ + /// @brief Construct a default, invalid, socket. + socket_t::socket_t() + : socket_{INVALID_SOCKET} + { + } + + /// @brief Construct a socket by moving an existing one. + socket_t::socket_t(socket_t&& s) + : socket_{s.socket_} + { + s.socket_ = INVALID_SOCKET; + } + + /// @brief Destruct the socket. + socket_t::~socket_t() + { + if(socket_ != INVALID_SOCKET) + ::close(socket_); + } + + /// @brief Test if socket is valid. + /// @return true if valid, false otherwise. + socket_t::operator bool() const + { + return socket_ != INVALID_SOCKET; + } + + /// @brief Open the socket. + /// @param[in] domain Specifies the communications domain in which a socket is to be created. + /// @param[in] type Specifies the type of socket to be created. + /// @param[in] protocol Specifies a particular protocol to be used with the socket. Specifying a protocol of 0 causes socket() to use an unspecified default protocol appropriate for the requested socket type. + /// @return Upon successful completion, shall return a non-negative integer, the socket file descriptor. Otherwise, a value of -1 shall be returned and errno set to indicate the error. + int socket_t::open(int domain, int type, int protocol) + { + close(); + socket_ = ::socket(domain, type, protocol); + return socket_; + } + + /// @brief Close the socket. + /// @return 0 if success. + int socket_t::close() + { + return socket_ != INVALID_SOCKET ? ::close(socket_) : 0; + } + + /// @brief Set socket option. + /// @return 0 if success. + int socket_t::setopt(int level, int optname, const void* optval, socklen_t optlen) + { + return socket_ != INVALID_SOCKET ? ::setsockopt(socket_, level, optname, optval, optlen) : 0; + } + + /// @brief Bind the socket. + /// @return 0 if success. + int socket_t::bind(const struct sockaddr* addr, socklen_t len) + { + return socket_ != INVALID_SOCKET ? ::bind(socket_, addr, len) : 0; + } + + /// @brief Get the file descriptor. + /// @return The socket's file descriptor + int socket_t::socket() const + { + return socket_; + } +} diff --git a/CAN-binder/low-can-binding/utils/socket.hpp b/CAN-binder/low-can-binding/utils/socket.hpp new file mode 100644 index 0000000..b42eee6 --- /dev/null +++ b/CAN-binder/low-can-binding/utils/socket.hpp @@ -0,0 +1,46 @@ +#pragma once + +/* + * Copyright (C) 2015, 2016 ,2017 "IoT.bzh" + * Author "Romain Forlot" <romain.forlot@iot.bzh> + * Author "Loïc 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 <sys/socket.h> + +#define INVALID_SOCKET -1 + +namespace utils +{ + class socket_t + { + public: + socket_t(); + socket_t(const socket_t&) = delete; + socket_t(socket_t&&); + ~socket_t(); + + explicit operator bool() const; + + int open(int domain, int type, int protocol); + int close(); + int setopt(int level, int optname, const void* optval, socklen_t optlen); + int socket() const; + int bind(const struct sockaddr* addr, socklen_t len); + + private: + int socket_; + }; +} + diff --git a/CAN-binder/low-can-binding/utils/timer.cpp b/CAN-binder/low-can-binding/utils/timer.cpp new file mode 100644 index 0000000..a35a3e9 --- /dev/null +++ b/CAN-binder/low-can-binding/utils/timer.cpp @@ -0,0 +1,102 @@ +/* + * 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. + */ + +#include <time.h> +#include <stdlib.h> + +#include "timer.hpp" + +long long int system_time_us() +{ + struct timespec t_usec; + long long int timestamp_usec; + + if(!::clock_gettime(CLOCK_MONOTONIC, &t_usec)) + timestamp_usec = (t_usec.tv_nsec / 1000ll) + (t_usec.tv_sec* 1000000ll); + return timestamp_usec; +} + +long long int system_time_ms() +{ + struct timespec t_msec; + long long int timestamp_msec; + + if(!::clock_gettime(CLOCK_MONOTONIC, &t_msec)) + timestamp_msec = (t_msec.tv_nsec / 1000000ll) + (t_msec.tv_sec* 1000ll); + return timestamp_msec; +} + +long long int system_time_s() +{ + struct timespec t_sec; + long long int timestamp_sec; + + if(!::clock_gettime(CLOCK_MONOTONIC, &t_sec)) + timestamp_sec = t_sec.tv_sec; + return timestamp_sec; +} + +frequency_clock_t::frequency_clock_t() + : unit_{1000000}, frequency_{10.0}, last_tick_{0}, time_function_{nullptr} +{} + + +frequency_clock_t::frequency_clock_t(float frequency) + : unit_{1000000}, frequency_{frequency}, last_tick_{0}, time_function_{nullptr} +{} + +/// @brief Return the period in ms given the frequency in hertz. +/// @param[in] frequency - Frequency to convert, in hertz +float frequency_clock_t::frequency_to_period() +{ + return 1 / frequency_ * unit_; +} + +bool frequency_clock_t::started() +{ + return last_tick_ != 0; +} + +time_function_t frequency_clock_t::get_time_function() +{ + return time_function_ != nullptr ? time_function_ : system_time_us; +} + +bool frequency_clock_t::elapsed(bool stagger) +{ + float period = frequency_to_period(); + float elapsed_time = 0; + if(!started() && stagger) + last_tick_ = get_time_function()() - (rand() % int(period)); + + // Make sure it ticks the the first call + elapsed_time = !started() ? period : get_time_function()() - last_tick_; + + return frequency_ == 0 || elapsed_time >= period; +} + +float frequency_clock_t::get_frequency() const +{ + return frequency_; +} + +/// @brief Force the clock to tick, regardless of it its time has actually +/// elapsed. +void frequency_clock_t::tick() +{ + last_tick_ = get_time_function()(); +}
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/utils/timer.hpp b/CAN-binder/low-can-binding/utils/timer.hpp new file mode 100644 index 0000000..f565904 --- /dev/null +++ b/CAN-binder/low-can-binding/utils/timer.hpp @@ -0,0 +1,53 @@ +/* + * 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 + +/// @brief return epoch in milliseconds +/// +/// @return long long int epoch in milliseconds +typedef long long int (*time_function_t)(); + +long long int system_time_us(); +long long int system_time_ms(); +long long int system_time_s(); + + +/// @brief A frequency counting clock. +/// Utility class allowing some time function. +class frequency_clock_t +{ +private: + float unit_; ///< unit_ - multiplicator to make operation to be in the right unit (milli, micro, nano, etc) + float frequency_; ///< the clock frequency in Hz. + unsigned long last_tick_; ///< the last time (in milliseconds since startup) that the clock ticked. + time_function_t time_function_; ///< a function returning current time + +public: + frequency_clock_t(); + frequency_clock_t(float frequency); + frequency_clock_t(float frequency, unsigned long last_tick, time_function_t time_function); + + float get_frequency() const; + + float frequency_to_period(); + bool started(); + time_function_t get_time_function(); + bool elapsed(bool stagger); + + void tick(); +};
\ No newline at end of file |