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Diffstat (limited to 'low-can-binding/binding/low-can-socket.hpp')
| -rw-r--r-- | low-can-binding/binding/low-can-socket.hpp | 90 |
1 files changed, 90 insertions, 0 deletions
diff --git a/low-can-binding/binding/low-can-socket.hpp b/low-can-binding/binding/low-can-socket.hpp new file mode 100644 index 0000000..49e9f93 --- /dev/null +++ b/low-can-binding/binding/low-can-socket.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 <string> +#include <cmath> +#include <utility> + +#include "../can/can-signals.hpp" +#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; ///< 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 An object storing socket to CAN to be used to write on it. +/// This is a simple access to a CAN bus device without subscriptions attached +class low_can_socket_t +{ +protected: + int index_; ///< index_ - index number is the socket (int) casted + struct event_filter_t event_filter_; + + /// Signal part + 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. + + utils::socketcan_bcm_t socket_; ///< socket_ - socket_ that receives CAN messages. + +public: + low_can_socket_t(); + low_can_socket_t(struct event_filter_t event_filter); + low_can_socket_t(const low_can_socket_t& s) = delete; + low_can_socket_t(low_can_socket_t&& s); + virtual ~low_can_socket_t(); + + low_can_socket_t& operator=(const low_can_socket_t& s); + explicit operator bool() const; + + int get_index() const; + const std::shared_ptr<can_signal_t> get_can_signal() const; + const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(uint32_t pid) const; + const std::vector<std::shared_ptr<diagnostic_message_t> > get_diagnostic_message() const; + const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(const std::string& name) const; + const std::string get_name() const; + const std::string get_name(uint32_t pid) const; + float get_frequency() const; + float get_min() const; + float get_max() const; + utils::socketcan_bcm_t& get_socket(); + + void set_event(struct afb_event event); + void set_frequency(float freq); + void set_min(float min); + void set_max(float max); + + struct utils::simple_bcm_msg make_bcm_head(uint32_t opcode, uint32_t can_id = 0, uint32_t flags = 0, const struct timeval& timeout = {0,0}, const struct timeval& frequency_thinning = {0,0}) 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(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); + + int tx_send(const struct can_frame& cf, std::shared_ptr<can_signal_t> sig); +}; |