diff options
Diffstat (limited to 'CAN-binder/low-can-binding')
| -rw-r--r-- | CAN-binder/low-can-binding/binding/low-can-cb.cpp | 339 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/binding/low-can-cb.hpp | 72 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/binding/low-can-hat.cpp | 1 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/binding/low-can-hat.hpp | 8 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus.cpp | 40 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus.hpp | 9 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-message.cpp | 22 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-message.hpp | 3 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-signals.cpp | 46 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-signals.hpp | 4 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/utils/signals.cpp | 2 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/utils/signals.hpp | 5 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/utils/socketcan-bcm.cpp | 1 |
13 files changed, 398 insertions, 154 deletions
diff --git a/CAN-binder/low-can-binding/binding/low-can-cb.cpp b/CAN-binder/low-can-binding/binding/low-can-cb.cpp index 8141c3d..e34ceaa 100644 --- a/CAN-binder/low-can-binding/binding/low-can-cb.cpp +++ b/CAN-binder/low-can-binding/binding/low-can-cb.cpp @@ -35,20 +35,214 @@ #include "../utils/signals.hpp" #include "../diagnostic/diagnostic-message.hpp" #include "../utils/openxc-utils.hpp" +#include "canutil/write.h" extern "C" { #include <afb/afb-service-itf.h> }; -void on_no_clients(std::string message) +///****************************************************************************** +/// +/// low_can_subscription_t object +/// +///*******************************************************************************/ + +low_can_subscription_t::low_can_subscription_t() + : index_{-1}, + sig_name_{}, + bus_name_{""}, + can_id_{0}, + bit_position_{0}, + bit_size_{0}, + factor_{-1.0}, + offset_{-1}, + 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_}, + sig_name_{s.sig_name_}, + bus_name_{s.bus_name_}, + can_id_{s.can_id_}, + bit_position_{s.bit_position_}, + bit_size_{s.bit_size_}, + factor_{s.factor_}, + offset_{s.offset_}, + 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::operator bool() const +{ + return socket_.socket() != INVALID_SOCKET; +} + +int low_can_subscription_t::get_index() const +{ + return index_; +} + +const std::string low_can_subscription_t::get_sig_name() const +{ + return sig_name_; +} + +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_frequency(float freq) { - DiagnosticRequest* diag_req = configuration_t::instance().get_request_from_diagnostic_message(message); + 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 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(const std::string& bus_name, const std::string& sig_name, uint32_t can_id, uint8_t bit_position, uint8_t bit_size, float factor, float offset) +{ + // Make sure that socket has been opened. + if(! socket_) + { + socket_.open(bus_name); + index_ = (int)socket_.socket(); + } + + sig_name_ = sig_name; + bus_name_ = bus_name; + can_id_ = can_id; + bit_position_ = bit_position; + bit_size_ = bit_size; + factor_ = factor; + offset_ = offset; + + struct utils::simple_bcm_msg bcm_msg; + struct can_frame cfd; + + memset(&cfd, 0, sizeof(cfd)); + memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head)); + float val = (float)(1 << bit_size_) - 1; + + struct timeval freq; + frequency_clock_t f(event_filter_.frequency); + freq = f.get_timeval_from_period(); + + bcm_msg.msg_head.opcode = RX_SETUP; + bcm_msg.msg_head.can_id = can_id_; + bcm_msg.msg_head.flags = SETTIMER|RX_NO_AUTOTIMER; + bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec ; + bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec; + bcm_msg.msg_head.nframes = 1; + bitfield_encode_float(val, + bit_position_, + bit_size_, + factor_, + offset_, + cfd.data, + CAN_MAX_DLEN); + + bcm_msg.frames = cfd; + + if(socket_ << bcm_msg) + return 0; + return -1; +} + +/// @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() +{ + // Make sure that socket has been opened. + if(! socket_) + { + socket_.open(bus_name_); + index_ = (int)socket_.socket(); + } + + struct utils::simple_bcm_msg bcm_msg; + struct can_frame cfd; + + memset(&cfd, 0, sizeof(cfd)); + memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head)); + float val = (float)(1 << bit_size_) - 1; + + struct timeval freq; + frequency_clock_t f(event_filter_.frequency); + freq = f.get_timeval_from_period(); + + bcm_msg.msg_head.opcode = RX_SETUP; + bcm_msg.msg_head.can_id = can_id_; + bcm_msg.msg_head.flags = SETTIMER|RX_NO_AUTOTIMER; + bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec ; + bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec; + bcm_msg.msg_head.nframes = 1; + bitfield_encode_float(val, + bit_position_, + bit_size_, + factor_, + offset_, + cfd.data, + CAN_MAX_DLEN); + + bcm_msg.frames = cfd; + + if(socket_ << bcm_msg) + return 0; + return -1; +} + +///****************************************************************************** +/// +/// SystemD event loop Callbacks +/// +///*******************************************************************************/ + +void on_no_clients(const std::string& message) +{ + DiagnosticRequest* diag_req = application_t::instance().get_request_from_diagnostic_message(message); if(diag_req != nullptr) { - active_diagnostic_request_t* adr = configuration_t::instance().get_diagnostic_manager().find_recurring_request(diag_req); + active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req); if( adr != nullptr) - configuration_t::instance().get_diagnostic_manager().cleanup_request(adr, true); + application_t::instance().get_diagnostic_manager().cleanup_request(adr, true); } delete diag_req; diag_req = nullptr; @@ -56,7 +250,7 @@ void on_no_clients(std::string message) static void push_n_notify(const can_message_t& cm) { - can_bus_t& cbm = configuration_t::instance().get_can_bus_manager(); + can_bus_t& cbm = application_t::instance().get_can_bus_manager(); std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex()); { cbm.push_new_can_message(cm); } cbm.get_new_can_message_cv().notify_one(); @@ -65,18 +259,18 @@ static void push_n_notify(const can_message_t& cm) int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata) { can_message_t cm; - can_signal_t* sig; - diagnostic_manager_t& diag_m = configuration_t::instance().get_diagnostic_manager(); + low_can_subscription_t* can_subscription; + diagnostic_manager_t& diag_m = application_t::instance().get_diagnostic_manager(); if(userdata != nullptr) { - sig = (can_signal_t*)userdata; - utils::socketcan_bcm_t s = sig->get_socket(); + can_subscription = (low_can_subscription_t*)userdata; + utils::socketcan_bcm_t& s = can_subscription->get_socket(); s >> cm; } else { - utils::socketcan_bcm_t s = diag_m.get_socket(); + utils::socketcan_bcm_t& s = diag_m.get_socket(); s >> cm; } @@ -88,9 +282,9 @@ int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata) sd_event_source_unref(s); if(userdata != nullptr) { - sig->get_socket().close(); - sig->create_rx_filter(); - NOTICE(binder_interface, "%s: Recreated RX_SETUP BCM job for signal: %s", __FUNCTION__, sig->get_name().c_str()); + can_subscription->get_socket().close(); + can_subscription->create_rx_filter(); + NOTICE(binder_interface, "%s: Recreated RX_SETUP BCM job for can_subscription: %s", __FUNCTION__, can_subscription->get_sig_name().c_str()); } else { @@ -104,72 +298,73 @@ int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata) return 0; } - ///****************************************************************************** /// /// Subscription and unsubscription /// ///*******************************************************************************/ -static int make_subscription_unsubscription(struct afb_req request, const std::string& sig_name, std::map<std::string, struct afb_event>& s, bool subscribe) +static int make_subscription_unsubscription(struct afb_req request, std::shared_ptr<low_can_subscription_t>& can_subscription, std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s, bool subscribe) { /* Make the subscription or unsubscription to the event */ - if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[sig_name])) < 0) + if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[can_subscription->get_index()].second)) < 0) { - ERROR(binder_interface, "%s: Operation goes wrong for signal: %s", __FUNCTION__, sig_name.c_str()); - return 0; + ERROR(binder_interface, "%s: Operation goes wrong for signal: %s", __FUNCTION__, can_subscription->get_sig_name().c_str()); + return -1; } - return 1; + return 0; } -static int create_event_handle(const std::string& sig_name, std::map<std::string, struct afb_event>& s) +static int create_event_handle(std::shared_ptr<low_can_subscription_t>& can_subscription, std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s) { - s[sig_name] = afb_daemon_make_event(binder_interface->daemon, sig_name.c_str()); - if (!afb_event_is_valid(s[sig_name])) + int sub_index = can_subscription->get_index(); + struct afb_event event = afb_daemon_make_event(binder_interface->daemon, can_subscription->get_sig_name().c_str()); + s[sub_index] = std::make_pair(can_subscription, event); + if (!afb_event_is_valid(s[sub_index].second)) { - ERROR(binder_interface, "%s: Can't create an event for %s, something goes wrong.", __FUNCTION__, sig_name.c_str()); - return 0; + ERROR(binder_interface, "%s: Can't create an event for %s, something goes wrong.", __FUNCTION__, can_subscription->get_sig_name().c_str()); + return -1; } - return 1; + return 0; } /// @brief Will determine if it is needed or not to create the event handle and checks it to be sure that /// we got a valid afb_event to get subscribe or unsubscribe. Then launch the subscription or unsubscription /// against the application framework using that event handle. -static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, const std::string& sig) +static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, std::shared_ptr<low_can_subscription_t>& can_subscription) { int ret; - + int sub_index = can_subscription->get_index(); utils::signals_manager_t& sm = utils::signals_manager_t::instance(); std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); - std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals(); - if (s.find(sig) != s.end()) + std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s = sm.get_subscribed_signals(); + if (can_subscription && s.find(sub_index) != s.end()) { - if (!afb_event_is_valid(s[sig]) && !subscribe) + if (!afb_event_is_valid(s[sub_index].second) && !subscribe) { NOTICE(binder_interface, "%s: Event isn't valid, no need to unsubscribed.", __FUNCTION__); ret = -1; } else { - // Event it isn't valid annymore, recreate it - ret = create_event_handle(sig, s); + // Event it isn't valid anymore, recreate it + ret = create_event_handle(can_subscription, s); } } else { /* Event doesn't exist , so let's create it */ struct afb_event empty_event = {nullptr, nullptr}; - s[sig] = empty_event; - ret = create_event_handle(sig, s); + s[sub_index] = std::make_pair(can_subscription, empty_event); + ret = create_event_handle(can_subscription, s); } // Check whether or not the event handler has been correctly created and // make the subscription/unsubscription operation is so. - if (ret <= 0) + if (ret < 0) return ret; - return make_subscription_unsubscription(request, sig, s, subscribe); + return make_subscription_unsubscription(request, can_subscription, s, subscribe); } /// @@ -181,7 +376,7 @@ static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, /// /// @return Number of correctly subscribed signal /// -static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals) +static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals, struct event_filter_t& event_filter) { int rets = 0; @@ -200,9 +395,15 @@ static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, // poll a PID for nothing. if(sig->get_supported() && subscribe) { - float frequency = sig->get_frequency(); - diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), (float)frequency); - //TODO: Adding callback requesting ignition status: diag_req, sig.c_str(), false, diagnostic_message_t::decode_obd2_response, diagnostic_message_t::check_ignition_status, frequency); + float frequency; + + if(event_filter.frequency >= 0) + { frequency = event_filter.frequency; } + else + { frequency = sig->get_frequency(); } + + diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), frequency); + //TODO: Adding callback requesting ignition status: diag_req, sig.c_str(), false, diagnostic_message_t::decode_obd2_response, diagnostic_message_t::check_ignition_status, frequency); } else { @@ -214,8 +415,9 @@ static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, return -1; } - ret = subscribe_unsubscribe_signal(request, subscribe, sig->get_name()); - if(ret <= 0) + std::shared_ptr<low_can_subscription_t> can_subscription(new low_can_subscription_t(event_filter)); + ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription); + if(ret < 0) return ret; rets++; DEBUG(binder_interface, "%s: Signal: %s subscribed", __FUNCTION__, sig->get_name().c_str()); @@ -223,25 +425,32 @@ static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, for(const auto& sig: signals.can_signals) { - if(sig->create_rx_filter() <= 0 && - subscribe_unsubscribe_signal(request, subscribe, sig->get_name()) <=0) - { - return -1; - } + std::shared_ptr<low_can_subscription_t> can_subscription(new low_can_subscription_t(event_filter)); + if(can_subscription->create_rx_filter(sig->get_message()->get_bus_device_name(), + sig->get_name(), + sig->get_message()->get_id(), + sig->get_bit_position(), + sig->get_bit_size(), + sig->get_factor(), + sig->get_offset()) < 0) + {return -1;} + else if(subscribe_unsubscribe_signal(request, subscribe, can_subscription) < 0) + {return -1;} + struct sd_event_source* e_source; - sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &e_source, sig->get_socket().socket(), EPOLLIN, read_message, sig.get()); + sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &e_source, can_subscription->get_socket().socket(), EPOLLIN, read_message, sig.get()); rets++; DEBUG(binder_interface, "%s: signal: %s subscribed", __FUNCTION__, sig->get_name().c_str()); } return rets; } -static int process_args(struct afb_req request, const std::map<std::string, struct event_filter_t>& args, bool subscribe) +static int process_args(struct afb_req request, std::map<std::string, struct event_filter_t>& args, bool subscribe) { struct utils::signals_found sf; int ok = 0, total = 0; - for(const auto& sig: args) + for(auto& sig: args) { openxc_DynamicField search_key = build_DynamicField(sig.first); sf = utils::signals_manager_t::instance().find_signals(search_key); @@ -250,38 +459,35 @@ static int process_args(struct afb_req request, const std::map<std::string, stru if (sf.can_signals.empty() && sf.diagnostic_messages.empty()) NOTICE(binder_interface, "%s: No signal(s) found for %s.", __FUNCTION__, sig.first.c_str()); else - ok = subscribe_unsubscribe_signals(request, subscribe, sf); + ok = subscribe_unsubscribe_signals(request, subscribe, sf, sig.second); } NOTICE(binder_interface, "%s: Subscribed/unsubscribe correctly to %d/%d signal(s).", __FUNCTION__, ok, total); return ok; } -static int parse_filter(json_object* event, struct event_filter_t* event_filter) +static int parse_filter(json_object* event, struct event_filter_t& event_filter) { struct json_object *filter, *obj; int ret = 0; if (json_object_object_get_ex(event, "filter", &filter)) { - event_filter->frequency = -1.0; - event_filter->min = -1.0; - event_filter->max = -1.0; if (json_object_object_get_ex(filter, "frequency", &obj) && json_object_get_type(obj) == json_type_double) { - event_filter->frequency = json_object_get_double(obj); + event_filter.frequency = (float)json_object_get_double(obj); ret += 1; } if (json_object_object_get_ex(filter, "min", &obj) && json_object_get_type(obj) == json_type_double) { - event_filter->min = json_object_get_double(obj); + event_filter.min = (float)json_object_get_double(obj); ret += 2; } if (json_object_object_get_ex(filter, "max", &obj) && json_object_get_type(obj) == json_type_double) { - event_filter->max = json_object_get_double(obj); + event_filter.max = (float)json_object_get_double(obj); ret += 4; } } @@ -292,22 +498,21 @@ static int parse_filter(json_object* event, struct event_filter_t* event_filter) static const std::map<std::string, struct event_filter_t> parse_args_from_request(struct afb_req request) { int i, n; - std::map<std::string, struct event_filter_t> ret; + std::map<std::string, struct event_filter_t > ret; struct json_object *args, *event, *x; struct event_filter_t event_filter; - + /* retrieve signals to subscribe */ args = afb_req_json(request); if (args == NULL || !json_object_object_get_ex(args, "event", &event)) { - event = json_object_new_string("*"); - parse_filter(event, &event_filter); + parse_filter(json_object_new_string("*"), event_filter); ret["*"] = event_filter; } else if (json_object_get_type(event) != json_type_array) { const std::string event_pattern = std::string(json_object_get_string(event)); - parse_filter(event, &event_filter); + parse_filter(event, event_filter); ret[event_pattern] = event_filter; } else @@ -317,7 +522,7 @@ static const std::map<std::string, struct event_filter_t> parse_args_from_reques { x = json_object_array_get_idx(event, i); const std::string event_pattern = std::string(json_object_get_string(x)); - parse_filter(x, &event_filter); + parse_filter(x, event_filter); ret[event_pattern] = event_filter; } } @@ -329,7 +534,7 @@ void subscribe(struct afb_req request) { bool subscribe = true; - const std::map<std::string, struct event_filter_t> args = parse_args_from_request(request); + std::map<std::string, struct event_filter_t> args = parse_args_from_request(request); if (process_args(request, args, subscribe) > 0) afb_req_success(request, NULL, NULL); @@ -340,8 +545,8 @@ void subscribe(struct afb_req request) void unsubscribe(struct afb_req request) { bool subscribe = false; - - const std::map<std::string, struct event_filter_t> args = parse_args_from_request(request); + + std::map<std::string, struct event_filter_t> args = parse_args_from_request(request); if (process_args(request, args, subscribe) > 0) afb_req_success(request, NULL, NULL); diff --git a/CAN-binder/low-can-binding/binding/low-can-cb.hpp b/CAN-binder/low-can-binding/binding/low-can-cb.hpp new file mode 100644 index 0000000..1608db7 --- /dev/null +++ b/CAN-binder/low-can-binding/binding/low-can-cb.hpp @@ -0,0 +1,72 @@ +/* + * 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 <string> +#include "../utils/socketcan-bcm.hpp" + +struct event_filter_t +{ + float frequency; + float min; + float max; +}; + +class low_can_subscription_t +{ +private: + int index_; + + /// Signal part + std::string sig_name_; + std::string bus_name_; + uint32_t can_id_; + uint8_t bit_position_; /*!< bitPosition_ - The starting bit of the signal in its CAN message (assuming + * non-inverted bit numbering, i.e. the most significant bit of + * each byte is 0) */ + uint8_t bit_size_; /*!< bit_size_ - The width of the bit field in the CAN message. */ + float factor_; /*!< factor_ - The final value will be multiplied by this factor. Use 1 if you + * don't need a factor. */ + float offset_; /*!< offset_ - The final value will be added to this offset. Use 0 if you + * don't need an offset. */ + + /// Filtering part + struct event_filter_t event_filter_ = {-1.0, -1.0, -1.0}; + + utils::socketcan_bcm_t socket_; +public: + low_can_subscription_t(); + low_can_subscription_t(struct event_filter_t event_filter); + low_can_subscription_t(const low_can_subscription_t& s) = delete; + low_can_subscription_t(low_can_subscription_t&& s); + + low_can_subscription_t& operator=(const low_can_subscription_t& s); + explicit operator bool() const; + + int get_index() const; + const std::string get_sig_name() const; + float get_frequency() const; + float get_min() const; + float get_max() const; + utils::socketcan_bcm_t& get_socket(); + + void set_frequency(float freq); + void set_min(float min); + void set_max(float max); + + int create_rx_filter(); + int create_rx_filter(const std::string& bus_name, const std::string& sig_name, uint32_t can_id, uint8_t bit_position, uint8_t bit_size, float factor, float offset); +}; diff --git a/CAN-binder/low-can-binding/binding/low-can-hat.cpp b/CAN-binder/low-can-binding/binding/low-can-hat.cpp index 5cefc81..8713a2c 100644 --- a/CAN-binder/low-can-binding/binding/low-can-hat.cpp +++ b/CAN-binder/low-can-binding/binding/low-can-hat.cpp @@ -17,6 +17,7 @@ */ #include "low-can-hat.hpp" +#include "low-can-cb.hpp" #include <map> #include <queue> diff --git a/CAN-binder/low-can-binding/binding/low-can-hat.hpp b/CAN-binder/low-can-binding/binding/low-can-hat.hpp index c0756f8..a1c8dad 100644 --- a/CAN-binder/low-can-binding/binding/low-can-hat.hpp +++ b/CAN-binder/low-can-binding/binding/low-can-hat.hpp @@ -31,13 +31,7 @@ extern "C" struct afb_binding_interface; extern const struct afb_binding_interface *binder_interface; -struct event_filter_t { - double frequency; - double min; - double max; -}; - -void on_no_clients(std::string message); +void on_no_clients(const std::string& message); int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata); void subscribe(struct afb_req request); diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp index a35eecd..0ce6dc6 100644 --- a/CAN-binder/low-can-binding/can/can-bus.cpp +++ b/CAN-binder/low-can-binding/can/can-bus.cpp @@ -72,9 +72,9 @@ int can_bus_t::process_can_signals(const can_message_t& can_message) for(const auto& sig : signals.can_signals) { std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); - std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals(); + std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s = sm.get_subscribed_signals(); - if( s.find(sig->get_name()) != s.end() && afb_event_is_valid(s[sig->get_name()])) + if( s.find(can_message.get_sub_id()) != s.end() && afb_event_is_valid(s[can_message.get_sub_id()].second)) { bool send = true; decoded_message = decoder_t::translateSignal(*sig, can_message, conf.get_all_can_signals(), &send); @@ -82,10 +82,10 @@ int can_bus_t::process_can_signals(const can_message_t& can_message) if(send) { openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message); - vehicle_message = build_VehicleMessage(s_message); + vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp()); std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(vehicle_message); + push_new_vehicle_message(std::make_pair(can_message.get_sub_id(), vehicle_message)); } processed_signals++; } @@ -110,14 +110,14 @@ int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const c utils::signals_manager_t& sm = utils::signals_manager_t::instance(); std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); - std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals(); + std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s = sm.get_subscribed_signals(); openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message); if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) && - (s.find(vehicle_message.simple_message.name) != s.end() && afb_event_is_valid(s[vehicle_message.simple_message.name]))) + (s.find(can_message.get_sub_id()) != s.end() && afb_event_is_valid(s[can_message.get_sub_id()].second))) { std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(vehicle_message); + push_new_vehicle_message(std::make_pair(can_message.get_sub_id(), vehicle_message)); processed_signals++; } @@ -138,8 +138,6 @@ int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const c /// TODO: make diagnostic messages parsing optionnal. void can_bus_t::can_decode_message() { - can_message_t can_message; - while(is_decoding_) { { @@ -147,10 +145,10 @@ void can_bus_t::can_decode_message() new_can_message_cv_.wait(can_message_lock); while(!can_message_q_.empty()) { - can_message = next_can_message(); + const can_message_t can_message = next_can_message(); - if(configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message)) - process_diagnostic_signals(configuration_t::instance().get_diagnostic_manager(), can_message); + if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message)) + process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), can_message); else process_can_signals(can_message); } @@ -163,7 +161,7 @@ void can_bus_t::can_decode_message() /// which are events that has to be pushed. void can_bus_t::can_event_push() { - openxc_VehicleMessage v_message; + std::pair<int, openxc_VehicleMessage> v_message; openxc_SimpleMessage s_message; json_object* jo; utils::signals_manager_t& sm = utils::signals_manager_t::instance(); @@ -176,15 +174,15 @@ void can_bus_t::can_event_push() { v_message = next_vehicle_message(); - s_message = get_simple_message(v_message); + s_message = get_simple_message(v_message.second); { std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); - std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals(); - if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)])) + std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s = sm.get_subscribed_signals(); + if(s.find(v_message.first) != s.end() && afb_event_is_valid(s[v_message.first].second)) { jo = json_object_new_object(); jsonify_simple(s_message, jo); - if(afb_event_push(s[std::string(s_message.name)], jo) == 0) + if(afb_event_push(s[v_message.first].second, jo) == 0) on_no_clients(std::string(s_message.name)); } } @@ -235,7 +233,7 @@ std::mutex& can_bus_t::get_can_message_mutex() /// @brief Return first can_message_t on the queue /// /// @return a can_message_t -can_message_t can_bus_t::next_can_message() +const can_message_t can_bus_t::next_can_message() { can_message_t can_msg; @@ -262,9 +260,9 @@ void can_bus_t::push_new_can_message(const can_message_t& can_msg) /// @brief Return first openxc_VehicleMessage on the queue /// /// @return a openxc_VehicleMessage containing a decoded can message -openxc_VehicleMessage can_bus_t::next_vehicle_message() +std::pair<int, openxc_VehicleMessage> can_bus_t::next_vehicle_message() { - openxc_VehicleMessage v_msg; + std::pair<int, openxc_VehicleMessage> v_msg; if(! vehicle_message_q_.empty()) { @@ -280,7 +278,7 @@ openxc_VehicleMessage can_bus_t::next_vehicle_message() /// @brief Push a openxc_VehicleMessage into the queue /// /// @param[in] v_msg - const reference openxc_VehicleMessage object to push into the queue -void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg) +void can_bus_t::push_new_vehicle_message(const std::pair<int, openxc_VehicleMessage>& v_msg) { vehicle_message_q_.push(v_msg); } diff --git a/CAN-binder/low-can-binding/can/can-bus.hpp b/CAN-binder/low-can-binding/can/can-bus.hpp index 16d8cf6..934b45d 100644 --- a/CAN-binder/low-can-binding/can/can-bus.hpp +++ b/CAN-binder/low-can-binding/can/can-bus.hpp @@ -18,6 +18,7 @@ #pragma once +#include <utility> #include <mutex> #include <queue> #include <thread> @@ -67,7 +68,7 @@ private: std::condition_variable new_decoded_can_message_; ///< condition_variable use to wait until there is a new vehicle message to read from the queue vehicle_message_q_ 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::queue <std::pair<int, openxc_VehicleMessage> > vehicle_message_q_; ///< queue that'll store openxc_VehicleMessage to pushed std::vector<std::pair<std::string, std::string> > can_devices_; public: @@ -81,11 +82,11 @@ public: void start_threads(); void stop_threads(); - can_message_t next_can_message(); + const can_message_t next_can_message(); void push_new_can_message(const can_message_t& can_msg); std::mutex& get_can_message_mutex(); std::condition_variable& get_new_can_message_cv(); - openxc_VehicleMessage next_vehicle_message(); - void push_new_vehicle_message(const openxc_VehicleMessage& v_msg); + std::pair<int, openxc_VehicleMessage> next_vehicle_message(); + void push_new_vehicle_message(const std::pair<int, openxc_VehicleMessage>& v_msg); }; diff --git a/CAN-binder/low-can-binding/can/can-message.cpp b/CAN-binder/low-can-binding/can/can-message.cpp index abfbfdb..9389494 100644 --- a/CAN-binder/low-can-binding/can/can-message.cpp +++ b/CAN-binder/low-can-binding/can/can-message.cpp @@ -27,7 +27,14 @@ /// Constructor about can_message_t class. /// can_message_t::can_message_t() - : maxdlen_{0}, id_{0}, length_{0}, format_{can_message_format_t::INVALID}, rtr_flag_{false}, flags_{0}, timestamp_{0} + : maxdlen_{0}, + id_{0}, + length_{0}, + format_{can_message_format_t::INVALID}, + rtr_flag_{false}, + flags_{0}, + timestamp_{0}, + sub_id_{-1} {} can_message_t::can_message_t(uint8_t maxdlen, @@ -45,7 +52,8 @@ can_message_t::can_message_t(uint8_t maxdlen, rtr_flag_{rtr_flag}, flags_{flags}, data_{data}, - timestamp_{timestamp} + timestamp_{timestamp}, + sub_id_{-1} {} /// @@ -58,6 +66,11 @@ uint32_t can_message_t::get_id() const return id_; } +int can_message_t::get_sub_id() const +{ + return sub_id_; +} + /// /// @brief Retrieve RTR flag member. /// @@ -121,6 +134,11 @@ uint8_t can_message_t::get_length() const return length_; } +void can_message_t::set_sub_id(int sub_id) +{ + sub_id_ = sub_id; +} + uint64_t can_message_t::get_timestamp() const { return timestamp_; diff --git a/CAN-binder/low-can-binding/can/can-message.hpp b/CAN-binder/low-can-binding/can/can-message.hpp index 1ce1c7a..ced2602 100644 --- a/CAN-binder/low-can-binding/can/can-message.hpp +++ b/CAN-binder/low-can-binding/can/can-message.hpp @@ -52,12 +52,14 @@ private: uint8_t flags_; /*!< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/ std::vector<uint8_t> data_; /*!< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/ uint64_t timestamp_; /*!< timestamp_ - timestamp of the received message*/ + int sub_id_; /*!< sub_id_ - Subscription index. */ public: can_message_t(); can_message_t(uint8_t maxdlen, uint32_t id, uint8_t length, can_message_format_t format, bool rtr_flag_, uint8_t flags, std::vector<uint8_t>& data, uint64_t timestamp); uint32_t get_id() const; + int get_sub_id() const; bool get_rtr_flag_() const; can_message_format_t get_format() const; uint8_t get_flags() const; @@ -66,6 +68,7 @@ public: uint8_t get_length() const; uint64_t get_timestamp() const; + void set_sub_id(int sub_id); void set_timestamp(uint64_t timestamp); void set_format(const can_message_format_t new_format); diff --git a/CAN-binder/low-can-binding/can/can-signals.cpp b/CAN-binder/low-can-binding/can/can-signals.cpp index 324cecc..362e358 100644 --- a/CAN-binder/low-can-binding/can/can-signals.cpp +++ b/CAN-binder/low-can-binding/can/can-signals.cpp @@ -83,12 +83,6 @@ can_signal_t::can_signal_t( , received_{b.received_} , last_value_{b.last_value_} {}*/ - -utils::socketcan_bcm_t can_signal_t::get_socket() const -{ - return socket_; -} - can_message_definition_t* can_signal_t::get_message() const { return parent_; @@ -220,43 +214,3 @@ void can_signal_t::set_timestamp(uint64_t timestamp) frequency_.tick(timestamp); } -/// @brief Create a RX_SETUP receive job used by the BCM socket. -/// -/// @return 0 if ok else -1 -int can_signal_t::create_rx_filter() -{ - // Make sure that socket has been opened. - if(! socket_) - socket_.open( - get_message()->get_bus_device_name()); - - uint32_t can_id = get_message()->get_id(); - - struct utils::simple_bcm_msg bcm_msg; - struct can_frame cfd; - - memset(&cfd, 0, sizeof(cfd)); - memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head)); - float val = (float)(1 << bit_size_)-1; - struct timeval freq = frequency_.get_timeval_from_period(); - - bcm_msg.msg_head.opcode = RX_SETUP; - bcm_msg.msg_head.can_id = can_id; - bcm_msg.msg_head.flags = SETTIMER|RX_NO_AUTOTIMER; - bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec ; - bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec; - bcm_msg.msg_head.nframes = 1; - bitfield_encode_float(val, - bit_position_, - bit_size_, - factor_, - offset_, - cfd.data, - CAN_MAX_DLEN); - - bcm_msg.frames = cfd; - - if(socket_ << bcm_msg) - return 0; - return -1; -} diff --git a/CAN-binder/low-can-binding/can/can-signals.hpp b/CAN-binder/low-can-binding/can/can-signals.hpp index b8fbe4e..2d67f27 100644 --- a/CAN-binder/low-can-binding/can/can-signals.hpp +++ b/CAN-binder/low-can-binding/can/can-signals.hpp @@ -76,7 +76,6 @@ class can_signal_t { private: can_message_definition_t* parent_; /*!< parent_ - pointer to the parent message definition holding this signal*/ - utils::socketcan_bcm_t socket_; /*!< socket_ - Specific BCM socket that filter the signal read from CAN device */ std::string generic_name_; /*!< generic_name_ - The name of the signal to be output.*/ static std::string prefix_; /*!< prefix_ - generic_name_ will be prefixed with it. It has to reflect the used protocol. * which make easier to sort message when the come in.*/ @@ -127,7 +126,6 @@ public: SignalEncoder encoder, bool received); - utils::socketcan_bcm_t get_socket() const; can_message_definition_t* get_message() const; const std::string get_generic_name() const; const std::string get_name() const; @@ -155,6 +153,4 @@ public: void set_received(bool r); void set_last_value(float val); void set_timestamp(uint64_t timestamp); - - int create_rx_filter(); }; diff --git a/CAN-binder/low-can-binding/utils/signals.cpp b/CAN-binder/low-can-binding/utils/signals.cpp index 9dd3bfd..02b8405 100644 --- a/CAN-binder/low-can-binding/utils/signals.cpp +++ b/CAN-binder/low-can-binding/utils/signals.cpp @@ -39,7 +39,7 @@ namespace utils /// @brief return the subscribed_signals map. /// /// @return Map of subscribed signals. - std::map<std::string, struct afb_event>& signals_manager_t::get_subscribed_signals() + std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& signals_manager_t::get_subscribed_signals() { return subscribed_signals_; } diff --git a/CAN-binder/low-can-binding/utils/signals.hpp b/CAN-binder/low-can-binding/utils/signals.hpp index a0fa99d..54d8893 100644 --- a/CAN-binder/low-can-binding/utils/signals.hpp +++ b/CAN-binder/low-can-binding/utils/signals.hpp @@ -27,6 +27,7 @@ #include "../diagnostic/diagnostic-message.hpp" #include "../binding/low-can-hat.hpp" +#include "../binding/low-can-cb.hpp" namespace utils { @@ -40,7 +41,7 @@ namespace utils { private: std::mutex subscribed_signals_mutex_; - std::map<std::string, struct afb_event> subscribed_signals_; + std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> > subscribed_signals_; signals_manager_t(); ///< Private constructor to make singleton class. @@ -48,7 +49,7 @@ namespace utils static signals_manager_t& instance(); std::mutex& get_subscribed_signals_mutex(); - std::map<std::string, struct afb_event>& get_subscribed_signals(); + std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& get_subscribed_signals(); struct signals_found find_signals(const openxc_DynamicField &key); void find_diagnostic_messages(const openxc_DynamicField &key, std::vector<std::shared_ptr<diagnostic_message_t> >& found_signals); diff --git a/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp index 38f4852..1009a42 100644 --- a/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp +++ b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp @@ -90,6 +90,7 @@ namespace utils cm = ::can_message_t::convert_from_frame(msg.frames , nbytes-sizeof(struct bcm_msg_head), timestamp); + cm.set_sub_id((int)s.socket()); return s; } |