diff options
Diffstat (limited to 'low-can-binding')
40 files changed, 0 insertions, 5157 deletions
diff --git a/low-can-binding/CMakeLists.txt b/low-can-binding/CMakeLists.txt deleted file mode 100644 index a1768ab..0000000 --- a/low-can-binding/CMakeLists.txt +++ /dev/null @@ -1,50 +0,0 @@ -########################################################################### -# Copyright 2015, 2016, 2017 IoT.bzh -# -# author: Fulup Ar Foll <fulup@iot.bzh> -# contrib: 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. -########################################################################### - -# Add target to project dependency list -PROJECT_TARGET_ADD(low-can-binding) - - # Define project Targets - add_library(${TARGET_NAME} MODULE ${TARGET_NAME}.cpp configuration.cpp configuration-generated.cpp - can/can-bus.cpp can/can-bus-dev.cpp can/can-message-set.cpp can/can-message-definition.cpp can/can-message.cpp can/can-signals.cpp can/can-decoder.cpp - diagnostic/diagnostic-message.cpp diagnostic/diagnostic-manager.cpp diagnostic/active-diagnostic-request.cpp - utils/signals.cpp utils/openxc-utils.cpp utils/timer.cpp utils/socket.cpp) - - # Binder exposes a unique public entry point - SET_TARGET_PROPERTIES(${TARGET_NAME} PROPERTIES - PREFIX "" - LINK_FLAGS ${BINDINGS_LINK_FLAG} - OUTPUT_NAME ${TARGET_NAME} - ) - - # Library dependencies (include updates automatically) - TARGET_LINK_LIBRARIES(${TARGET_NAME} - openxc-message-format - nanopb - uds-c - isotp-c - bitfield-c - ${link_libraries} - ) - - # installation directory - INSTALL(TARGETS ${TARGET_NAME} - LIBRARY DESTINATION ${BINDINGS_INSTALL_DIR}) - - build_widget("BINDING") diff --git a/low-can-binding/can/can-bus-dev.cpp b/low-can-binding/can/can-bus-dev.cpp deleted file mode 100644 index fb76498..0000000 --- a/low-can-binding/can/can-bus-dev.cpp +++ /dev/null @@ -1,255 +0,0 @@ -/* -* 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 <map> -#include <mutex> -#include <unistd.h> -#include <string.h> -#include <net/if.h> -#include <sys/ioctl.h> -#include <linux/can/raw.h> - -#include "can-bus-dev.hpp" - -#include "can-bus.hpp" -#include "can-message.hpp" -#include "../low-can-binding.hpp" - -/// @brief Class constructor -/// -/// @param[in] dev_name - String representing the device name into the linux /dev tree -/// @param[in] address - integer identifier of the bus, set using init_can_dev from can_bus_t. -can_bus_dev_t::can_bus_dev_t(const std::string& dev_name, int32_t address) - : device_name_{dev_name}, address_{address} -{} - -std::string can_bus_dev_t::get_device_name() const -{ - return device_name_; -} - -uint32_t can_bus_dev_t::get_address() const -{ - return address_; -} - -/// @brief Open the can socket and returning it -/// -/// We try to open CAN socket and apply the following options -/// timestamp received messages and pass the socket to FD mode. -/// -/// @return -1 if something wrong. -int can_bus_dev_t::open() -{ - const int canfd_on = 1; - const int timestamp_on = 1; - struct ifreq ifr; - struct timeval timeout; - - DEBUG(binder_interface, "open: CAN Handler socket : %d", can_socket_.socket()); - if (can_socket_) - return 0; - - can_socket_.open(PF_CAN, SOCK_RAW, CAN_RAW); - if (can_socket_) - { - DEBUG(binder_interface, "open: CAN Handler socket correctly initialized : %d", can_socket_.socket()); - - // Set timeout for read - can_socket_.setopt(SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout)); - - // Set timestamp for receveid frame - if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, ×tamp_on, sizeof(timestamp_on)) < 0) - WARNING(binder_interface, "open: setsockopt SO_TIMESTAMP error: %s", ::strerror(errno)); - DEBUG(binder_interface, "open: Switch CAN Handler socket to use fd mode"); - - // try to switch the socket into CAN_FD mode - if (can_socket_.setopt(SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0) - { - NOTICE(binder_interface, "open: Can not switch into CAN Extended frame format."); - is_fdmode_on_ = false; - } - else - { - DEBUG(binder_interface, "open: Correctly set up CAN socket to use FD frames."); - is_fdmode_on_ = true; - } - - // Attempts to open a socket to CAN bus - ::strcpy(ifr.ifr_name, device_name_.c_str()); - DEBUG(binder_interface, "open: ifr_name is : %s", ifr.ifr_name); - if(::ioctl(can_socket_.socket(), SIOCGIFINDEX, &ifr) < 0) - { - ERROR(binder_interface, "open: ioctl failed. Error was : %s", strerror(errno)); - } - else - { - txAddress_.can_family = AF_CAN; - txAddress_.can_ifindex = ifr.ifr_ifindex; - - // And bind it to txAddress - DEBUG(binder_interface, "Bind the socket"); - if (can_socket_.bind((struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0) - ERROR(binder_interface, "Bind failed. %s", strerror(errno)); - else return 0; - } - close(); - } - else ERROR(binder_interface, "open: socket could not be created. Error was : %s", ::strerror(errno)); - return -1; -} - -/// @brief Close the bus. -/// -/// @return interger return value of socket.close() function -int can_bus_dev_t::close() -{ - return can_socket_.close(); -} - -/// @brief Read the can socket and retrieve canfd_frame. -/// -/// Read operation are blocking and we try to read CANFD frame -/// rather than classic CAN frame. CANFD frame are retro compatible. -can_message_t can_bus_dev_t::read() -{ - ssize_t nbytes; - struct canfd_frame cfd; - - // Test that socket is really opened - if (!can_socket_) - { - ERROR(binder_interface, "read: Socket unavailable. Closing thread."); - is_running_ = false; - } - - nbytes = ::read(can_socket_.socket(), &cfd, CANFD_MTU); - - // if we did not fit into CAN sized messages then stop_reading. - if (nbytes != CANFD_MTU && nbytes != CAN_MTU) - { - if (errno == ENETDOWN) - ERROR(binder_interface, "read: %s CAN device down", device_name_.c_str()); - ERROR(binder_interface, "read: Incomplete CAN(FD) frame"); - ::memset(&cfd, 0, sizeof(cfd)); - } - - DEBUG(binder_interface, "read: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", cfd.can_id, cfd.len, - cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]); - return can_message_t::convert_from_canfd_frame(cfd, nbytes); -} - -/// @brief start reading threads and set flag is_running_ -/// @param[in] can_bus reference can_bus_t. it will be passed to the thread to allow using can_bus_t queue. -void can_bus_dev_t::start_reading(can_bus_t& can_bus) -{ - DEBUG(binder_interface, "Launching reading thread"); - is_running_ = true; - th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus)); - if(!th_reading_.joinable()) - is_running_ = false; -} - -/// @brief stop the reading thread setting flag is_running_ to false and and wait that the thread finish its job. -void can_bus_dev_t::stop_reading() -{ - is_running_ = false; -} - -/// @brief Thread function used to read the can socket. -/// @param[in] can_bus - object to be used to read the can socket -void can_bus_dev_t::can_reader(can_bus_t& can_bus) -{ - while(is_running_) - { - can_message_t msg = read(); - { - std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex()); - can_bus.push_new_can_message(msg); - } - can_bus.get_new_can_message_cv().notify_one(); - } -} - -/// @brief Send a can message from a can_message_t object. -/// @param[in] can_msg - the can message object to send -/// -/// @return 0 if message snet, -1 if something wrong. -int can_bus_dev_t::send(can_message_t& can_msg) -{ - ssize_t nbytes; - canfd_frame f; - - f = can_msg.convert_to_canfd_frame(); - - if(can_socket_) - { - nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0, - (struct sockaddr*)&txAddress_, sizeof(txAddress_)); - if (nbytes == -1) - { - ERROR(binder_interface, "send_can_message: Sending CAN frame failed."); - return -1; - } - return (int)nbytes; - } - else - { - ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket."); - open(); - } - return 0; -} - -/// @brief Static method used to send diagnostic CAN message -/// that follow isotp SendShimsMessage signature. This method is launched -/// from diagnostic manager's' same name method. It will use the diagnostic -/// manager configured CAN bus device to send the CAN message. -/// -/// @param[in] arbitration_id - CAN arbitration id. -/// @param[in] data - CAN message payload to send -/// @param[in] size - size of the data to send -/// -/// @return True if message sent, false if not. -bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size) -{ - ssize_t nbytes; - canfd_frame f; - - f.can_id = arbitration_id; - f.len = size; - ::memcpy(f.data, data, size); - - if(can_socket_) - { - nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0, - (struct sockaddr*)&txAddress_, sizeof(txAddress_)); - if (nbytes == -1) - { - ERROR(binder_interface, "send_can_message: Sending CAN frame failed."); - return false; - } - return true; - } - else - { - ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket."); - open(); - } - return false; -} diff --git a/low-can-binding/can/can-bus-dev.hpp b/low-can-binding/can/can-bus-dev.hpp deleted file mode 100644 index a612e7d..0000000 --- a/low-can-binding/can/can-bus-dev.hpp +++ /dev/null @@ -1,65 +0,0 @@ -/* - * 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. - */ - -#pragma once - -#include <stdint.h> -#include <linux/can.h> -#include <string> -#include <thread> - -#include "../utils/socket.hpp" - -class can_bus_t; -class can_message_t; - -/// @brief Object representing a can device. Handle opening, closing and reading on the -/// socket. This is the low level object to be initialized and use by can_bus_t. -class can_bus_dev_t -{ -private: - std::string device_name_; ///< a string identifier identitfying the linux CAN device. - utils::socket_t can_socket_; - - int32_t address_; ///< an identifier used through binding that refer to that device - - bool is_fdmode_on_; ///< boolean telling if whether or not the can socket use fdmode. - struct sockaddr_can txAddress_; /// < internal member using to bind to the socket - - std::thread th_reading_; ///< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t - bool is_running_ = false; ///< boolean telling whether or not reading is running or not - void can_reader(can_bus_t& can_bus); - -public: - can_bus_dev_t(const std::string& dev_name, int32_t address); - - std::string get_device_name() const; - uint32_t get_address() const; - - int open(); - int close(); - - void start_reading(can_bus_t& can_bus); - - void stop_reading(); - - can_message_t read(); - - int send(can_message_t& can_msg); - bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size); -}; diff --git a/low-can-binding/can/can-bus.cpp b/low-can-binding/can/can-bus.cpp deleted file mode 100644 index 33f58fd..0000000 --- a/low-can-binding/can/can-bus.cpp +++ /dev/null @@ -1,398 +0,0 @@ -/* - * 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 <map> -#include <cerrno> -#include <vector> -#include <string> -#include <fcntl.h> -#include <unistd.h> -#include <net/if.h> -#include <sys/ioctl.h> -#include <sys/socket.h> -#include <json-c/json.h> -#include <linux/can/raw.h> - -#include "can-bus.hpp" - -#include "can-signals.hpp" -#include "can-decoder.hpp" -#include "../configuration.hpp" -#include "../utils/signals.hpp" -#include "../utils/openxc-utils.hpp" - -extern "C" -{ - #include <afb/afb-binding.h> -} - -/// @brief Class constructor -/// -/// @param[in] conf_file - handle to the json configuration file. -can_bus_t::can_bus_t(int conf_file) - : conf_file_{conf_file} -{ -} - -std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::can_devices_; - -/// @brief Will make the decoding operation on a classic CAN message. It will not -/// handle CAN commands nor diagnostic messages that have their own method to get -/// this happens. -/// -/// It will add to the vehicle_message queue the decoded message and tell the event push -/// thread to process it. -/// -/// @param[in] can_message - a single CAN message from the CAN socket read, to be decode. -/// -/// @return How many signals has been decoded. -int can_bus_t::process_can_signals(can_message_t& can_message) -{ - int processed_signals = 0; - std::vector <can_signal_t*> signals; - openxc_DynamicField search_key, decoded_message; - openxc_VehicleMessage vehicle_message; - - // First we have to found which can_signal_t it is - search_key = build_DynamicField((double)can_message.get_id()); - configuration_t::instance().find_can_signals(search_key, signals); - - // Decoding the message ! Don't kill the messenger ! - for(auto& sig : signals) - { - std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex()); - std::map<std::string, struct afb_event>& s = get_subscribed_signals(); - - // DEBUG message to make easier debugger STL containers... - //DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[sig.generic_name])); - //DEBUG(binder_interface, "Operator[] key string: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[std::string(sig.generic_name)])); - //DEBUG(binder_interface, "Nb elt matched char: %d", (int)s.count(sig.generic_name)); - //DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.generic_name)); - if( s.find(sig->get_name()) != s.end() && afb_event_is_valid(s[sig->get_name()])) - { - decoded_message = decoder_t::translateSignal(*sig, can_message, configuration_t::instance().get_can_signals()); - - openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message); - vehicle_message = build_VehicleMessage(s_message); - - std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(vehicle_message); - processed_signals++; - } - } - - DEBUG(binder_interface, "process_can_signals: %d/%d CAN signals processed.", processed_signals, (int)signals.size()); - return processed_signals; -} - -/// @brief Will make the decoding operation on a diagnostic CAN message.Then it find the subscribed signal -/// corresponding and will add the vehicle_message to the queue of event to pushed before notifying -/// the event push thread to process it. -/// -/// @param[in] manager - the diagnostic manager object that handle diagnostic communication -/// @param[in] can_message - a single CAN message from the CAN socket read, to be decode. -/// -/// @return How many signals has been decoded. -int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message) -{ - int processed_signals = 0; - - std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex()); - std::map<std::string, struct afb_event>& s = 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]))) - { - std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(vehicle_message); - processed_signals++; - } - - return processed_signals; -} - -/// @brief thread to decoding raw CAN messages. -/// -/// Depending on the nature of message, if arbitration ID matches ID for a diagnostic response -/// then decoding a diagnostic message else use classic CAN signals decoding functions. -/// -/// It will take from the can_message_q_ queue the next can message to process then it search -/// about signal subscribed if there is a valid afb_event for it. We only decode signal for which a -/// subscription has been made. Can message will be decoded using translateSignal that will pass it to the -/// corresponding decoding function if there is one assigned for that signal. If not, it will be the default -/// noopDecoder function that will operate on it. -/// -/// TODO: make diagnostic messages parsing optionnal. -void can_bus_t::can_decode_message() -{ - can_message_t can_message; - - while(is_decoding_) - { - { - std::unique_lock<std::mutex> can_message_lock(can_message_mutex_); - new_can_message_cv_.wait(can_message_lock); - while(!can_message_q_.empty()) - { - 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); - else - process_can_signals(can_message); - } - } - new_decoded_can_message_.notify_one(); - } -} - -/// @brief thread to push events to suscribers. It will read subscribed_signals map to look -/// which are events that has to be pushed. -void can_bus_t::can_event_push() -{ - openxc_VehicleMessage v_message; - openxc_SimpleMessage s_message; - json_object* jo; - - while(is_pushing_) - { - std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); - new_decoded_can_message_.wait(decoded_can_message_lock); - while(!vehicle_message_q_.empty()) - { - v_message = next_vehicle_message(); - - s_message = get_simple_message(v_message); - { - std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex()); - std::map<std::string, struct afb_event>& s = get_subscribed_signals(); - if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)])) - { - jo = json_object_new_object(); - jsonify_simple(s_message, jo); - if(afb_event_push(s[std::string(s_message.name)], jo) == 0) - on_no_clients(std::string(s_message.name)); - } - } - } - } -} - -/// @brief Will initialize threads that will decode -/// and push subscribed events. -void can_bus_t::start_threads() -{ - is_decoding_ = true; - th_decoding_ = std::thread(&can_bus_t::can_decode_message, this); - if(!th_decoding_.joinable()) - is_decoding_ = false; - - is_pushing_ = true; - th_pushing_ = std::thread(&can_bus_t::can_event_push, this); - if(!th_pushing_.joinable()) - is_pushing_ = false; -} - -/// @brief Will stop all threads holded by can_bus_t object -/// which are decoding and pushing then will wait that's -/// they'll finish their job. -void can_bus_t::stop_threads() -{ - is_decoding_ = false; - is_pushing_ = false; -} - -/// @brief Will initialize can_bus_dev_t objects after reading -/// the configuration file passed in the constructor. All CAN buses -/// Initialized here will be added to a vector holding them for -/// inventory and later access. -/// -/// That will initialize CAN socket reading too using a new thread. -/// -/// @return 0 if ok, other if not. -int can_bus_t::init_can_dev() -{ - std::vector<std::string> devices_name; - int i = 0; - size_t t; - - devices_name = read_conf(); - - if (! devices_name.empty()) - { - t = devices_name.size(); - - for(const auto& device : devices_name) - { - can_bus_t::can_devices_[device] = std::make_shared<can_bus_dev_t>(device, i); - if (can_bus_t::can_devices_[device]->open() == 0) - { - DEBUG(binder_interface, "Start reading thread"); - NOTICE(binder_interface, "%s device opened and reading", device.c_str()); - can_bus_t::can_devices_[device]->start_reading(*this); - i++; - } - else - { - ERROR(binder_interface, "Can't open device %s", device.c_str()); - return 1; - } - } - - NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, (int)t); - return 0; - } - ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read from configuration file. Did you specify canbus JSON object ?"); - return 1; -} - -/// @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. -std::vector<std::string> can_bus_t::read_conf() -{ - std::vector<std::string> ret; - json_object *jo, *canbus; - int n, i; - const char* taxi; - - FILE *fd = fdopen(conf_file_, "r"); - if (fd) - { - std::string fd_conf_content; - std::fseek(fd, 0, SEEK_END); - fd_conf_content.resize(std::ftell(fd)); - std::rewind(fd); - std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd); - std::fclose(fd); - - DEBUG(binder_interface, "Configuration file content : %s", fd_conf_content.c_str()); - jo = json_tokener_parse(fd_conf_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."); - ret.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); - ret.push_back(std::string(taxi)); - } - else - { - n = json_object_array_length(canbus); - for (i = 0 ; i < n ; i++) - ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i))); - } - return ret; - } - ERROR(binder_interface, "Problem at reading the conf file"); - ret.clear(); - return ret; -} - -/// @brief return new_can_message_cv_ member -/// -/// @return return new_can_message_cv_ member -std::condition_variable& can_bus_t::get_new_can_message_cv() -{ - return new_can_message_cv_; -} - -/// @brief return can_message_mutex_ member -/// -/// @return return can_message_mutex_ member -std::mutex& can_bus_t::get_can_message_mutex() -{ - return 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() -{ - can_message_t can_msg; - - if(!can_message_q_.empty()) - { - can_msg = can_message_q_.front(); - can_message_q_.pop(); - DEBUG(binder_interface, "next_can_message: Here is the next can message : id %X, length %X, data %02X%02X%02X%02X%02X%02X%02X%02X", can_msg.get_id(), can_msg.get_length(), - can_msg.get_data()[0], can_msg.get_data()[1], can_msg.get_data()[2], can_msg.get_data()[3], can_msg.get_data()[4], can_msg.get_data()[5], can_msg.get_data()[6], can_msg.get_data()[7]); - return can_msg; - } - - return can_msg; -} - -/// @brief Push a can_message_t into the queue -/// -/// @param[in] can_msg - the const reference can_message_t object to push into the queue -void can_bus_t::push_new_can_message(const can_message_t& can_msg) -{ - can_message_q_.push(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() -{ - openxc_VehicleMessage v_msg; - - if(! vehicle_message_q_.empty()) - { - v_msg = vehicle_message_q_.front(); - vehicle_message_q_.pop(); - DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped"); - return v_msg; - } - - return v_msg; -} - -/// @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) -{ - vehicle_message_q_.push(v_msg); -} - -/// @brief Return a map with the can_bus_dev_t initialized -/// -/// @return map can_bus_dev_m_ map -const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const -{ - return can_bus_t::can_devices_; -} - -/// @brief Return the shared pointer on the can_bus_dev_t initialized -/// with device_name "bus" -/// -/// @param[in] bus - CAN bus device name to retrieve. -/// -/// @return A shared pointer on an object can_bus_dev_t -std::shared_ptr<can_bus_dev_t> can_bus_t::get_can_device(std::string bus) -{ - return can_bus_t::can_devices_[bus]; -} diff --git a/low-can-binding/can/can-bus.hpp b/low-can-binding/can/can-bus.hpp deleted file mode 100644 index eb47476..0000000 --- a/low-can-binding/can/can-bus.hpp +++ /dev/null @@ -1,94 +0,0 @@ -/* - * 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. - */ - -#pragma once - -#include <mutex> -#include <queue> -#include <thread> -#include <linux/can.h> -#include <condition_variable> - -#include "openxc.pb.h" -#include "can-message.hpp" -#include "can-bus-dev.hpp" -#include "../diagnostic/active-diagnostic-request.hpp" - -#include "../low-can-binding.hpp" - -// TODO actual max is 32 but dropped to 24 for memory considerations -#define MAX_ACCEPTANCE_FILTERS 24 -// TODO this takes up a ton of memory -#define MAX_DYNAMIC_MESSAGE_COUNT 12 - -#define CAN_ACTIVE_TIMEOUT_S 30 - -/// @brief Object used to handle decoding and manage event queue to be pushed. -/// -/// This object is also used to initialize can_bus_dev_t object after reading -/// json conf file describing the CAN devices to use. Thus, those object will read -/// on the device the CAN frame and push them into the can_bus_t can_message_q_ queue. -/// -/// That queue will be later used to be decoded and pushed to subscribers. -class can_bus_t -{ -private: - int conf_file_; ///< configuration file handle used to initialize can_bus_dev_t objects. - - void can_decode_message(); - std::thread th_decoding_; ///< thread that'll handle decoding a can frame - bool is_decoding_ = false; ///< boolean member controling thread while loop - - void can_event_push(); - std::thread th_pushing_; ///< thread that'll handle pushing decoded can frame to subscribers - bool is_pushing_ = false; ///< boolean member controling thread while loop - - std::condition_variable new_can_message_cv_; ///< condition_variable use to wait until there is a new CAN message to read - std::mutex can_message_mutex_; ///< mutex protecting the can_message_q_ queue. - std::queue <can_message_t> can_message_q_; ///< queue that'll store can_message_t to decoded - - 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 - - static std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_devices_; ///< Can device map containing all can_bus_dev_t objects initialized during init_can_dev function - -public: - can_bus_t(int conf_file); - can_bus_t(can_bus_t&&); - - int init_can_dev(); - std::vector<std::string> read_conf(); - - void start_threads(); - void stop_threads(); - - int process_can_signals(can_message_t& can_message); - int process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message); - - 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); - - const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& get_can_devices() const; - static std::shared_ptr<can_bus_dev_t> get_can_device(std::string bus); -}; diff --git a/low-can-binding/can/can-command.hpp b/low-can-binding/can/can-command.hpp deleted file mode 100644 index 4cf20cb..0000000 --- a/low-can-binding/can/can-command.hpp +++ /dev/null @@ -1,55 +0,0 @@ -/* - * 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 "openxc.pb.h" -#include "can-signals.hpp" - -/// -/// @brief The type signature for a function to handle a custom OpenXC command. -/// -/// @param[in] name - the name of the received command. -/// @param[in] value - the value of the received command, in a DynamicField. The actual type -/// may be a number, string or bool. -/// @param[in] event - an optional event from the received command, in a DynamicField. The -/// actual type may be a number, string or bool. -/// @param[in] signals - The list of all signals. -/// @param[in] signalCount - The length of the signals array. -/// -typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value, - openxc_DynamicField* event, can_signal_t* signals, int signalCount); - -/// @struct CanCommand -/// @brief The structure to represent a supported custom OpenXC command. -/// -/// For completely customized CAN commands without a 1-1 mapping between an -/// OpenXC message from the host and a CAN signal, you can define the name of the -/// command and a custom function to handle it in the VI. An example is -/// the "turn_signal_status" command in OpenXC, which has a value of "left" or -/// "right". The vehicle may have separate CAN signals for the left and right -/// turn signals, so you will need to implement a custom command handler to send -/// the correct signals. -/// -/// Command handlers are also useful if you want to trigger multiple CAN messages -/// or signals from a signal OpenXC message. -/// -typedef struct { - const char* generic_name; /*!< generic_name - The name of the command.*/ - CommandHandler handler; /*!< handler - An function to process the received command's data and perform some - * action.*/ -} CanCommand; diff --git a/low-can-binding/can/can-decoder.cpp b/low-can-binding/can/can-decoder.cpp deleted file mode 100644 index 8843059..0000000 --- a/low-can-binding/can/can-decoder.cpp +++ /dev/null @@ -1,233 +0,0 @@ -/* - * 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 "can-decoder.hpp" - -#include "canutil/read.h" -#include "../utils/openxc-utils.hpp" - -/// @brief Parse the signal's bitfield from the given data and return the raw -/// value. -/// -/// @param[in] signal - The signal to parse from the data. -/// @param[in] message - can_message_t to parse -/// -/// @return Returns the raw value of the signal parsed as a bitfield from the given byte -/// array. -/// -float decoder_t::parseSignalBitfield(can_signal_t& signal, const can_message_t& message) -{ - return bitfield_parse_float(message.get_data(), CAN_MESSAGE_SIZE, - signal.get_bit_position(), signal.get_bit_size(), signal.get_factor(), - signal.get_offset()); -} - -/// @brief Wrap a raw CAN signal value in a DynamicField without modification. -/// -/// This is an implementation of the SignalDecoder type signature, and can be -/// used directly in the can_signal_t.decoder field. -/// -/// @param[in] signal - The details of the signal that contains the state mapping. -/// @param[in] signals - The list of all signals -/// @param[in] value - The numerical value that will be wrapped in a DynamicField. -/// @param[out] send - An output argument that will be set to false if the value should -/// not be sent for any reason. -/// -/// @return Returns a DynamicField with the original, unmodified raw CAN signal value as -/// its numeric value. The 'send' argument will not be modified as this decoder -/// always succeeds. -/// -openxc_DynamicField decoder_t::noopDecoder(can_signal_t& signal, - const std::vector<can_signal_t>& signals, float value, bool* send) -{ - openxc_DynamicField decoded_value = build_DynamicField(value); - - return decoded_value; -} -/// @brief Coerces a numerical value to a boolean. -/// -/// This is an implementation of the SignalDecoder type signature, and can be -/// used directly in the can_signal_t.decoder field. -/// -/// @param[in] signal - The details of the signal that contains the state mapping. -/// @param[in] signals - The list of all signals -/// @param[in] value - The numerical value that will be converted to a boolean. -/// @param[out] send - An output argument that will be set to false if the value should -/// not be sent for any reason. -/// -/// @return Returns a DynamicField with a boolean value of false if the raw signal value -/// is 0.0, otherwise true. The 'send' argument will not be modified as this -/// decoder always succeeds. -/// -openxc_DynamicField decoder_t::booleanDecoder(can_signal_t& signal, - const std::vector<can_signal_t>& signals, float value, bool* send) -{ - openxc_DynamicField decoded_value = build_DynamicField(value == 0.0 ? false : true); - - return decoded_value; -} -/// @brief Update the metadata for a signal and the newly received value. -/// -/// This is an implementation of the SignalDecoder type signature, and can be -/// used directly in the can_signal_t.decoder field. -/// -/// This function always flips 'send' to false. -/// -/// @param[in] signal - The details of the signal that contains the state mapping. -/// @param[in] signals - The list of all signals. -/// @param[in] value - The numerical value that will be converted to a boolean. -/// @param[out] send - This output argument will always be set to false, so the caller will -/// know not to publish this value to the pipeline. -/// -/// @return Return value is undefined. -/// -openxc_DynamicField decoder_t::ignoreDecoder(can_signal_t& signal, - const std::vector<can_signal_t>& signals, float value, bool* send) -{ - if(send) - *send = false; - - openxc_DynamicField decoded_value; - - return decoded_value; -} - -/// @brief Find and return the corresponding string state for a CAN signal's -/// raw integer value. -/// -/// This is an implementation of the SignalDecoder type signature, and can be -/// used directly in the can_signal_t.decoder field. -/// -/// @param[in] signal - The details of the signal that contains the state mapping. -/// @param[in] signals - The list of all signals. -/// @param[in] value - The numerical value that should map to a state. -/// @param[out] send - An output argument that will be set to false if the value should -/// not be sent for any reason. -/// -/// @return Returns a DynamicField with a string value if a matching state is found in -/// the signal. If an equivalent isn't found, send is sent to false and the -/// return value is undefined. -/// -openxc_DynamicField decoder_t::stateDecoder(can_signal_t& signal, - const std::vector<can_signal_t>& signals, float value, bool* send) -{ - const std::string signal_state = signal.get_states((uint8_t)value); - openxc_DynamicField decoded_value = build_DynamicField(signal_state); - if(signal_state.size() <= 0) - { - *send = false; - ERROR(binder_interface, "stateDecoder: No state found with index: %d", (int)value); - } - return decoded_value; -} - - -/// @brief Parse a signal from a CAN message, apply any required transforations -/// to get a human readable value and public the result to the pipeline. -/// -/// If the can_signal_t has a non-NULL 'decoder' field, the raw CAN signal value -/// will be passed to the decoder before publishing. -/// -/// @param[in] signal - The details of the signal to decode and forward. -/// @param[in] message - The received CAN message that should contain this signal. -/// @param[in] signals - an array of all active signals. -/// -/// The decoder returns an openxc_DynamicField, which may contain a number, -/// string or boolean. -/// -openxc_DynamicField decoder_t::translateSignal(can_signal_t& signal, can_message_t& message, - const std::vector<can_signal_t>& signals) -{ - float value = decoder_t::parseSignalBitfield(signal, message); - DEBUG(binder_interface, "translateSignal: Decoded message from parseSignalBitfield: %f", value); - - bool send = true; - // Must call the decoders every time, regardless of if we are going to - // decide to send the signal or not. - openxc_DynamicField decoded_value = decoder_t::decodeSignal(signal, - value, signals, &send); - - signal.set_received(true); - signal.set_last_value(value); - return decoded_value; -} - -/// @brief Parse a signal from a CAN message and apply any required -/// transforations to get a human readable value. -/// -/// If the can_signal_t has a non-NULL 'decoder' field, the raw CAN signal value -/// will be passed to the decoder before returning. -/// -/// @param[in] signal - The details of the signal to decode and forward. -/// @param[in] value - The numerical value that will be converted to a boolean. -/// @param[in] signals - an array of all active signals. -/// @param[out] send - An output parameter that will be flipped to false if the value could -/// not be decoded. -/// -/// @return The decoder returns an openxc_DynamicField, which may contain a number, -/// string or boolean. If 'send' is false, the return value is undefined. -/// -openxc_DynamicField decoder_t::decodeSignal( can_signal_t& signal, - float value, const std::vector<can_signal_t>& signals, bool* send) -{ - SignalDecoder decoder = signal.get_decoder() == nullptr ? - noopDecoder : signal.get_decoder(); - openxc_DynamicField decoded_value = decoder(signal, signals, - value, send); - return decoded_value; -} - -/// @brief Decode a transformed, human readable value from an raw CAN signal -/// already parsed from a CAN message. -/// -/// This is the same as decodeSignal but you must parse the bitfield value of the signal from the CAN -/// message yourself. This is useful if you need that raw value for something -/// else. -/// -/// @param[in] signal - The details of the signal to decode and forward. -/// @param[in] message - Raw CAN message to decode -/// @param[in] signals - an array of all active signals. -/// @param[out] send - An output parameter that will be flipped to false if the value could -/// not be decoded. -/// -openxc_DynamicField decoder_t::decodeSignal( can_signal_t& signal, - const can_message_t& message, const std::vector<can_signal_t>& signals, bool* send) -{ - float value = parseSignalBitfield(signal, message); - return decodeSignal(signal, value, signals, send); -} - - -/// -/// @brief Decode the payload of an OBD-II PID. -/// -/// This function matches the type signature for a DiagnosticResponseDecoder, so -/// it can be used as the decoder for a DiagnosticRequest. It returns the decoded -/// value of the PID, using the standard formulas (see -/// http://en.wikipedia.org/wiki/OBD-II_PIDs#Mode_01). -/// -/// @param[in] response - the received DiagnosticResponse (the data is in response.payload, -/// a byte array). This is most often used when the byte order is -/// signiticant, i.e. with many OBD-II PID formulas. -/// @param[in] parsed_payload - the entire payload of the response parsed as an int. -/// -/// @return Float decoded value. -/// -float decoder_t::decode_obd2_response(const DiagnosticResponse* response, float parsed_payload) -{ - return diagnostic_decode_obd2_pid(response); -}
\ No newline at end of file diff --git a/low-can-binding/can/can-decoder.hpp b/low-can-binding/can/can-decoder.hpp deleted file mode 100644 index ebe1de2..0000000 --- a/low-can-binding/can/can-decoder.hpp +++ /dev/null @@ -1,49 +0,0 @@ -/* - * 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 "can-signals.hpp" -#include "can-message.hpp" -#include "openxc.pb.h" - -class decoder_t -{ -public: - static float parseSignalBitfield(can_signal_t& signal, const can_message_t& message); - - static openxc_DynamicField stateDecoder(can_signal_t& signal, const std::vector<can_signal_t>& signals, - float value, bool* send); - static openxc_DynamicField booleanDecoder(can_signal_t& signal, const std::vector<can_signal_t>& signals, - float value, bool* send); - static openxc_DynamicField ignoreDecoder(can_signal_t& signal, const std::vector<can_signal_t>& signals, - float value, bool* send); - static openxc_DynamicField noopDecoder(can_signal_t& signal, const std::vector<can_signal_t>& signals, - float value, bool* send); - - static openxc_DynamicField translateSignal(can_signal_t& signal, can_message_t& message, - const std::vector<can_signal_t>& signals); - - static openxc_DynamicField decodeSignal(can_signal_t& signal, const can_message_t& message, - const std::vector<can_signal_t>& signals, bool* send); - - static openxc_DynamicField decodeSignal(can_signal_t& signal, float value, - const std::vector<can_signal_t>& signals, bool* send); - - static float decode_obd2_response(const DiagnosticResponse* response, float parsed_payload); - -};
\ No newline at end of file diff --git a/low-can-binding/can/can-message-definition.cpp b/low-can-binding/can/can-message-definition.cpp deleted file mode 100644 index 206d0b0..0000000 --- a/low-can-binding/can/can-message-definition.cpp +++ /dev/null @@ -1,55 +0,0 @@ -/* - * 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 "can-message-definition.hpp" - -can_message_definition_t::can_message_definition_t(std::uint8_t message_set_id, const std::string bus) - : message_set_id_{message_set_id}, bus_{bus}, last_value_{CAN_MESSAGE_SIZE} -{} - -can_message_definition_t::can_message_definition_t(std::uint8_t message_set_id, - const std::string bus, - uint32_t id, - frequency_clock_t frequency_clock, - bool force_send_changed) - : message_set_id_{message_set_id}, - bus_{bus}, - id_{id}, - frequency_clock_{frequency_clock}, - force_send_changed_{force_send_changed}, - last_value_{CAN_MESSAGE_SIZE} -{} - -can_message_definition_t::can_message_definition_t(std::uint8_t message_set_id, - const std::string bus, - uint32_t id, - can_message_format_t format, - frequency_clock_t frequency_clock, - bool force_send_changed) - : message_set_id_{message_set_id}, - bus_{bus}, - id_{id}, - format_{format}, - frequency_clock_{frequency_clock}, - force_send_changed_{force_send_changed}, - last_value_{CAN_MESSAGE_SIZE} -{} - -uint32_t can_message_definition_t::get_id() const -{ - return id_; -}
\ No newline at end of file diff --git a/low-can-binding/can/can-message-definition.hpp b/low-can-binding/can/can-message-definition.hpp deleted file mode 100644 index 98cb2c5..0000000 --- a/low-can-binding/can/can-message-definition.hpp +++ /dev/null @@ -1,57 +0,0 @@ -/* - * 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. - */ - -/** - * @class can_message_definition_t - * - * @brief The definition of a CAN message. This includes a lot of metadata, so - * to save memory this struct should not be used for storing incoming and - * outgoing CAN messages. - */ - -#pragma once - -#include <vector> -#include <memory> - -#include "can-bus-dev.hpp" -#include "can-message.hpp" -#include "../utils/timer.hpp" - -class can_message_definition_t -{ -private: - std::uint8_t message_set_id_; - std::string bus_; /*!< bus_ - Address of CAN bus device. */ - uint32_t id_; /*!< id_ - The ID of the message.*/ - can_message_format_t format_; /*!< format_ - the format of the message's ID.*/ - frequency_clock_t frequency_clock_; /*!< clock_ - an optional frequency clock to control the output of this - * message, if sent raw, or simply to mark the max frequency for custom - * handlers to retrieve.*/ - bool force_send_changed_; /*!< force_send_changed_ - If true, regardless of the frequency, it will send CAN - * message if it has changed when using raw passthrough.*/ - std::vector<uint8_t> last_value_; /*!< last_value_ - The last received value of the message. Defaults to undefined. - * This is required for the forceSendChanged functionality, as the stack - * needs to compare an incoming CAN message with the previous frame.*/ - -public: - can_message_definition_t(std::uint8_t message_set_id, const std::string bus); - can_message_definition_t(std::uint8_t message_set_id, const std::string bus, uint32_t id, frequency_clock_t frequency_clock, bool force_send_changed); - can_message_definition_t(std::uint8_t message_set_id, const std::string bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed); - - uint32_t get_id() const; -}; diff --git a/low-can-binding/can/can-message-set.cpp b/low-can-binding/can/can-message-set.cpp deleted file mode 100644 index a9f8cf2..0000000 --- a/low-can-binding/can/can-message-set.cpp +++ /dev/null @@ -1,37 +0,0 @@ -/* - * 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 "can-message-set.hpp" - -can_message_set_t::can_message_set_t( - uint8_t index, - const std::string& name, - uint8_t can_bus_count, - unsigned short can_message_count, - unsigned short can_signal_count, - unsigned short can_command_count, - unsigned short obd2_signal_count) - : index_{index} - , name_{name} - , can_bus_count_{can_bus_count} - , can_message_count_{can_message_count} - , can_signal_count_{can_signal_count} - , can_command_count_{can_command_count} - , obd2_signal_count_{obd2_signal_count} -{ -} diff --git a/low-can-binding/can/can-message-set.hpp b/low-can-binding/can/can-message-set.hpp deleted file mode 100644 index 94e2d8d..0000000 --- a/low-can-binding/can/can-message-set.hpp +++ /dev/null @@ -1,47 +0,0 @@ -/* - * 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. - */ - -#pragma once - -#include <cstdint> -#include <string> - -/// @brief A parent wrapper for a particular set of CAN messages and associated -/// CAN buses(e.g. a vehicle or program). -class can_message_set_t -{ -private: - uint8_t index_; /// < A numerical ID for the message set, ideally the index in an array for fast lookup - const std::string name_; /// < The name of the message set. - uint8_t can_bus_count_; /// < The number of CAN buses defined for this message set. - uint16_t can_message_count_; /// < The number of CAN messages (across all buses) defined for this message set. - uint16_t can_signal_count_; /// < The number of CAN signals (across all messages) defined for this message set. - uint16_t can_command_count_; /// < The number of CanCommmands defined for this message set. - uint16_t obd2_signal_count_; /// < The number of obd2 signals defined for this message set. - -public: - can_message_set_t( - uint8_t index, - const std::string& name, - uint8_t can_bus_count, - short unsigned int can_message_count, - short unsigned int can_signal_count, - short unsigned int can_command_count, - short unsigned int obd2_signal_count); - -}; diff --git a/low-can-binding/can/can-message.cpp b/low-can-binding/can/can-message.cpp deleted file mode 100644 index f61de67..0000000 --- a/low-can-binding/can/can-message.cpp +++ /dev/null @@ -1,264 +0,0 @@ -/* - * 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 "can-message.hpp" - -#include <cstring> - -#include "../low-can-binding.hpp" - -/// -/// @brief Class constructor -/// -/// Constructor about can_message_t class. -/// -can_message_t::can_message_t() - : maxdlen_{0}, id_{0}, length_{0}, format_{can_message_format_t::ERROR}, rtr_flag_{false}, flags_{0} -{} - -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) - : maxdlen_{maxdlen}, - id_{id}, - length_{length}, - format_{format}, - rtr_flag_{rtr_flag}, - flags_{flags}, - data_{data} -{} - -/// -/// @brief Retrieve id_ member value. -/// -/// @return id_ class member -/// -uint32_t can_message_t::get_id() const -{ - return id_; -} - -/// -/// @brief Retrieve RTR flag member. -/// -/// @return rtr_flags_ class member -/// -bool can_message_t::get_rtr_flag_() const -{ - return rtr_flag_; -} - -/// -/// @brief Retrieve format_ member value. -/// -/// @return format_ class member -/// -can_message_format_t can_message_t::get_format() const -{ - if (format_ != can_message_format_t::STANDARD || format_ != can_message_format_t::EXTENDED) - return can_message_format_t::ERROR; - return format_; -} - -/// -/// @brief Retrieve flags_ member value. -/// -/// @return flags_ class member -/// -uint8_t can_message_t::get_flags() const -{ - return flags_; -} - -/// -/// @brief Retrieve data_ member value. -/// -/// @return pointer to the first element -/// of class member data_ -/// -const uint8_t* can_message_t::get_data() const -{ - return data_.data(); -} - -/// -/// @brief Retrieve length_ member value. -/// -/// @return length_ class member -/// -uint8_t can_message_t::get_length() const -{ - return length_; -} - -/// -/// @brief Control whether the object is correctly initialized -/// to be sent over the CAN bus -/// -/// @return true if object correctly initialized and false if not. -/// -bool can_message_t::is_correct_to_send() -{ - if (id_ != 0 && length_ != 0 && format_ != can_message_format_t::ERROR) - { - int i; - for(i=0;i<CAN_MESSAGE_SIZE;i++) - if(data_[i] != 0) - return true; - } - return false; -} - -/// -/// @brief Set format_ member value. -/// -/// Preferred way to initialize these members by using -/// convert_from_canfd_frame method. -/// -/// @param[in] new_format - class member -/// -void can_message_t::set_format(const can_message_format_t new_format) -{ - if(new_format == can_message_format_t::STANDARD || new_format == can_message_format_t::EXTENDED || new_format == can_message_format_t::ERROR) - format_ = new_format; - else - ERROR(binder_interface, "ERROR: Can set format, wrong format chosen"); -} - -/// -/// @brief Take a canfd_frame struct to initialize class members -/// -/// This is the preferred way to initialize class members. -/// -/// @param[in] frame - canfd_frame to convert coming from a read of CAN socket -/// @param[in] nbytes - bytes read from socket read operation. -/// -/// @return A can_message_t object fully initialized with canfd_frame values. -/// -can_message_t can_message_t::convert_from_canfd_frame(const struct canfd_frame& frame, size_t nbytes) -{ - uint8_t maxdlen, length, flags = (uint8_t)NULL; - uint32_t id; - can_message_format_t format; - bool rtr_flag; - std::vector<uint8_t> data; - - switch(nbytes) - { - case CANFD_MTU: - DEBUG(binder_interface, "set_max_data_length: Got an CAN FD frame"); - maxdlen = CANFD_MAX_DLEN; - break; - case CAN_MTU: - DEBUG(binder_interface, "set_max_data_length: Got a legacy CAN frame"); - maxdlen = CAN_MAX_DLEN; - break; - default: - ERROR(binder_interface, "set_max_data_length: unsupported CAN frame"); - break; - } - - if (frame.can_id & CAN_ERR_FLAG) - format = can_message_format_t::ERROR; - else if (frame.can_id & CAN_EFF_FLAG) - format = can_message_format_t::EXTENDED; - else - format = can_message_format_t::STANDARD; - - switch(format) - { - case can_message_format_t::STANDARD: - id = frame.can_id & CAN_SFF_MASK; - break; - case can_message_format_t::EXTENDED: - id = frame.can_id & CAN_EFF_MASK; - break; - case can_message_format_t::ERROR: - id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG); - break; - default: - ERROR(binder_interface, "ERROR: Can set id, not a compatible format or format not set prior to set id."); - break; - } - - /* Overwrite length_ if RTR flags is detected. - * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */ - if (frame.can_id & CAN_RTR_FLAG) - { - rtr_flag = true; - if(frame.len && frame.len <= CAN_MAX_DLC) - { - if(rtr_flag) - length = frame.len& 0xF; - else - { - length = (frame.len > maxdlen) ? maxdlen : frame.len; - } - } - } - else - { - length = (frame.len > maxdlen) ? maxdlen : frame.len; - - /* Flags field only present for CAN FD frames*/ - if(maxdlen == CANFD_MAX_DLEN) - flags = frame.flags & 0xF; - - if (data.capacity() < maxdlen) - data.reserve(maxdlen); - int i; - - data.clear(); - /* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/ - for(i=0;i<maxdlen;i++) - { - data.push_back(frame.data[i]); - }; - - DEBUG(binder_interface, "convert_from_canfd_frame: Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", - id, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]); - } - - return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data); -} - -/// -/// @brief Take all initialized class's members and build an -/// canfd_frame struct that can be use to send a CAN message over -/// the bus. -/// -/// @return canfd_frame struct built from class members. -/// -canfd_frame can_message_t::convert_to_canfd_frame() -{ - canfd_frame frame; - - if(is_correct_to_send()) - { - frame.can_id = get_id(); - frame.len = get_length(); - ::memcpy(frame.data, get_data(), length_); - } - else - ERROR(binder_interface, "can_message_t not correctly initialized to be sent"); - - return frame; -} diff --git a/low-can-binding/can/can-message.hpp b/low-can-binding/can/can-message.hpp deleted file mode 100644 index 6fe0317..0000000 --- a/low-can-binding/can/can-message.hpp +++ /dev/null @@ -1,75 +0,0 @@ -/* - * 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 <cstdint> -#include <linux/can.h> - -#include "../utils/timer.hpp" -#include "can-message-set.hpp" - -#define CAN_MESSAGE_SIZE 8 - -class can_bus_dev_t; - -/** - * @enum can_message_format_t - * @brief The ID format for a CAN message. - */ -enum class can_message_format_t { - STANDARD, /*!< STANDARD - standard 11-bit CAN arbitration ID. */ - EXTENDED, /*!< EXTENDED - an extended frame, with a 29-bit arbitration ID. */ - ERROR, /*!< ERROR - ERROR code used at initialization to signify that it isn't usable'*/ -}; - -/** - * @class can_message_t - * - * @brief A compact representation of a single CAN message, meant to be used in in/out - * buffers. - */ -class can_message_t { -private: - uint8_t maxdlen_; /*!< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/ - uint32_t id_; /*!< id_ - The ID of the message. */ - uint8_t length_; /*!< length_ - the length of the data array (max 8). */ - can_message_format_t format_; /*!< format_ - the format of the message's ID.*/ - bool rtr_flag_; /*!< rtr_flag_ - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/ - 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.*/ - -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); - - uint32_t get_id() const; - bool get_rtr_flag_() const; - can_message_format_t get_format() const; - uint8_t get_flags() const; - const uint8_t* get_data() const; - uint8_t get_length() const; - - void set_format(const can_message_format_t new_format); - - bool is_correct_to_send(); - -static can_message_t convert_from_canfd_frame(const struct canfd_frame& frame, size_t nbytes); - canfd_frame convert_to_canfd_frame(); -}; diff --git a/low-can-binding/can/can-signals.cpp b/low-can-binding/can/can-signals.cpp deleted file mode 100644 index 6211fa1..0000000 --- a/low-can-binding/can/can-signals.cpp +++ /dev/null @@ -1,186 +0,0 @@ -/* - * 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 <fnmatch.h> - -#include "can-signals.hpp" - -#include "../configuration.hpp" -#include "../utils/signals.hpp" -#include "can-decoder.hpp" -#include "../diagnostic/diagnostic-message.hpp" - -std::string can_signal_t::prefix_ = "messages"; - -can_signal_t::can_signal_t(std::uint8_t message_set_id, - std::uint8_t message_id, - std::string generic_name, - uint8_t bit_position, - uint8_t bit_size, - float factor, - float offset, - float min_value, - float max_value, - frequency_clock_t frequency, - bool send_same, - bool force_send_changed, - std::map<uint8_t, std::string> states, - bool writable, - SignalDecoder decoder, - SignalEncoder encoder, - bool received) - : message_set_id_{ message_set_id } - , message_id_{ message_id } - , generic_name_{ generic_name } - , bit_position_{ bit_position } - , bit_size_{ bit_size } - , factor_{ factor } - , offset_{ offset } - , min_value_{min_value} - , max_value_{max_value} - , frequency_{frequency} - , send_same_{send_same} - , force_send_changed_{force_send_changed} - , states_{states} - , writable_{writable} - , decoder_{decoder} - , encoder_{encoder} - , received_{received} - , last_value_{.0f} -{} - - -const can_message_definition_t& can_signal_t::get_message() const -{ - return configuration_t::instance().get_can_message_definition(message_set_id_, message_id_); -} - -const std::string& can_signal_t::get_generic_name() const -{ - return generic_name_; -} - -const std::string can_signal_t::get_name() const -{ - return prefix_ + "." + generic_name_; -} - -const std::string& can_signal_t::get_prefix() const -{ - return prefix_; -} - -uint8_t can_signal_t::get_bit_position() const -{ - return bit_position_; -} - -uint8_t can_signal_t::get_bit_size() const -{ - return bit_size_; -} - -float can_signal_t::get_factor() const -{ - return factor_; -} - -float can_signal_t::get_offset() const -{ - return offset_; -} - -float can_signal_t::get_min_value() const -{ - return min_value_; -} - -float can_signal_t::get_max_value() const -{ - return max_value_; -} - -frequency_clock_t& can_signal_t::get_frequency() -{ - return frequency_; -} - -bool can_signal_t::get_send_same() const -{ - return send_same_; -} - -bool can_signal_t::get_force_send_changed() const -{ - return force_send_changed_; -} - -const std::map<uint8_t, std::string>& can_signal_t::get_states() const -{ - return states_; -} - -const std::string can_signal_t::get_states(uint8_t value) -{ - if (value < states_.size()) - return states_[value]; - return std::string(); -} - -size_t can_signal_t::get_state_count() const -{ - return states_.size(); -} - -bool can_signal_t::get_writable() const -{ - return writable_; -} - -SignalDecoder& can_signal_t::get_decoder() -{ - return decoder_; -} - -SignalEncoder& can_signal_t::get_encoder() -{ - return encoder_; -} - -bool can_signal_t::get_received() const -{ - return received_; -} -float can_signal_t::get_last_value() const -{ - return last_value_; -} - -void can_signal_t::set_prefix(std::string val) -{ - prefix_ = val; -} - -void can_signal_t::set_received(bool r) -{ - received_ = r; -} - -void can_signal_t::set_last_value(float val) -{ - last_value_ = val; -} diff --git a/low-can-binding/can/can-signals.hpp b/low-can-binding/can/can-signals.hpp deleted file mode 100644 index 34ebeeb..0000000 --- a/low-can-binding/can/can-signals.hpp +++ /dev/null @@ -1,158 +0,0 @@ -/// -/// 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 <map> -#include <mutex> -#include <queue> -#include <vector> -#include <string> - -#include "openxc.pb.h" -#include "../utils/timer.hpp" -#include "can-bus.hpp" -#include "can-message.hpp" -#include "can-message-definition.hpp" -#include "../diagnostic/diagnostic-message.hpp" - -extern "C" -{ - #include <afb/afb-binding.h> - #include <afb/afb-event-itf.h> -} - -#define MESSAGE_SET_ID 0 - -class can_signal_t; - -/// -/// @brief The type signature for a CAN signal decoder. -/// -/// A SignalDecoder transforms a raw floating point CAN signal into a number, -/// string or boolean. -/// -/// @param[in] signal - The CAN signal that we are decoding. -/// @param[in] signals - The list of all signals. -/// @param[in] signalCount - The length of the signals array. -/// @param[in] value - The CAN signal parsed from the message as a raw floating point -/// value. -/// @param[out] send - An output parameter. If the decoding failed or the CAN signal should -/// not send for some other reason, this should be flipped to false. -/// -/// @return a decoded value in an openxc_DynamicField struct. -/// -typedef openxc_DynamicField (*SignalDecoder)(can_signal_t& signal, - const std::vector<can_signal_t>& signals, float value, bool* send); - -/// -/// @brief: The type signature for a CAN signal encoder. -/// -/// A SignalEncoder transforms a number, string or boolean into a raw floating -/// point value that fits in the CAN signal. -/// -/// @param[in] signal - The CAN signal to encode. -/// @param[in] value - The dynamic field to encode. -/// @param[out] send - An output parameter. If the encoding failed or the CAN signal should -/// not be encoded for some other reason, this will be flipped to false. -/// -typedef uint64_t (*SignalEncoder)(can_signal_t* signal, - openxc_DynamicField* value, bool* send); - -class can_signal_t -{ -private: - std::uint8_t message_set_id_; - std::uint8_t message_id_; - 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.*/ - 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_; /*!< bitSize_ - 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. */ - float min_value_; /*!< min_value_ - The minimum value for the processed signal.*/ - float max_value_; /*!< max_value_ - The maximum value for the processed signal. */ - frequency_clock_t frequency_; /*!< frequency_ - A frequency_clock_t struct to control the maximum frequency to - * process and send this signal. To process every value, set the - * clock's frequency to 0. */ - bool send_same_; /*!< send_same_ - If true, will re-send even if the value hasn't changed.*/ - bool force_send_changed_; /*!< force_send_changed_ - If true, regardless of the frequency, it will send the - * value if it has changed. */ - std::map<uint8_t, std::string> states_; /*!< states_ - A map of CAN signal state describing the mapping - * between numerical and string values for valid states. */ - bool writable_; /*!< writable - True if the signal is allowed to be written from the USB host - * back to CAN. Defaults to false.*/ - SignalDecoder decoder_; /*!< decoder_ - An optional function to decode a signal from the bus to a human - * readable value. If NULL, the default numerical decoder is used. */ - SignalEncoder encoder_; /*!< encoder_ - An optional function to encode a signal value to be written to - * CAN into a byte array. If NULL, the default numerical encoder - * is used. */ - bool received_; /*!< received_ - True if this signal has ever been received.*/ - float last_value_; /*!< lastValue_ - The last received value of the signal. If 'received' is false, - * this value is undefined. */ - -public: - can_signal_t( - std::uint8_t message_set_id, - std::uint8_t message_id, - std::string generic_name, - uint8_t bit_position, - uint8_t bit_size, - float factor, - float offset, - float min_value, - float max_value, - frequency_clock_t frequency, - bool send_same, - bool force_send_changed, - std::map<uint8_t, std::string> states, - bool writable, - SignalDecoder decoder, - SignalEncoder encoder, - bool received); - - const can_message_definition_t& get_message() const; - const std::string& get_generic_name() const; - const std::string get_name() const; - const std::string& get_prefix() const; - uint8_t get_bit_position() const; - uint8_t get_bit_size() const; - float get_factor() const; - float get_offset() const; - float get_min_value() const; - float get_max_value() const; - frequency_clock_t& get_frequency(); - bool get_send_same() const; - bool get_force_send_changed() const; - const std::map<uint8_t, std::string>& get_states() const; - const std::string get_states(uint8_t value); - size_t get_state_count() const; - bool get_writable() const; - SignalDecoder& get_decoder(); - SignalEncoder& get_encoder(); - bool get_received() const; - float get_last_value() const; - - void set_prefix(std::string val); - void set_received(bool r); - void set_last_value(float val); -};
\ No newline at end of file diff --git a/low-can-binding/configuration-generated.cpp b/low-can-binding/configuration-generated.cpp deleted file mode 100644 index 2e96570..0000000 --- a/low-can-binding/configuration-generated.cpp +++ /dev/null @@ -1,350 +0,0 @@ -#include "configuration.hpp" -#include "can/can-decoder.hpp" - -configuration_t::configuration_t() - : can_message_set_{{0, "example", 0, 1, 5, 0, 20}} - , can_message_definition_ - { - { - can_message_definition_t(0, "can0", 0x620, can_message_format_t::STANDARD, frequency_clock_t(0.00000f), true) - } - } - , can_signals_ - { - { - { - 0, - 0, - "doors.coffer.open", - 88, - 1, - 0.00000f, - 0, - 0, - 0, - frequency_clock_t(0.00000f), - true, - false, - { - }, - false, - decoder_t::booleanDecoder, - nullptr, - false - }, - { - 0, - 0, - "doors.driver.open", - 78, - 1, - 0.00000f, - 0, - 0, - 0, - frequency_clock_t(0.00000f), - true, - false, - { - }, - false, - decoder_t::booleanDecoder, - nullptr, - false - }, - { - 0, - 0, - "doors.passenger.open", - 79, - 1, - 0.00000f, - 0, - 0, - 0, - frequency_clock_t(0.00000f), - true, - false, - { - }, - false, - decoder_t::booleanDecoder, - nullptr, - false - }, - { - 0, - 0, - "doors.rearleft.open", - 86, - 1, - 0.00000f, - 0, - 0, - 0, - frequency_clock_t(0.00000f), - true, - false, - { - }, - false, - decoder_t::booleanDecoder, - nullptr, - false - }, - { - 0, - 0, - "doors.rearright.open", - 85, - 4, - 0.00000f, - 0, - 0, - 0, - frequency_clock_t(0.00000f), - true, - false, - { - }, - false, - decoder_t::booleanDecoder, - nullptr, - false - } - } - } - , diagnostic_messages_ - { - { - { - 4, - "engine.load", - 0, - 0, - UNIT::INVALID, - 5.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - }, - { - 5, - "engine.coolant.temperature", - 0, - 0, - UNIT::INVALID, - 1.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - }, - { - 10, - "fuel.pressure", - 0, - 0, - UNIT::INVALID, - 1.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - }, - { - 11, - "intake.manifold.pressure", - 0, - 0, - UNIT::INVALID, - 1.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - }, - { - 12, - "engine.speed", - 0, - 0, - UNIT::INVALID, - 5.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - }, - { - 13, - "vehicle.speed", - 0, - 0, - UNIT::INVALID, - 5.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - }, - { - 15, - "intake.air.temperature", - 0, - 0, - UNIT::INVALID, - 1.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - }, - { - 16, - "mass.airflow", - 0, - 0, - UNIT::INVALID, - 5.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - }, - { - 17, - "throttle.position", - 0, - 0, - UNIT::INVALID, - 5.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - }, - { - 31, - "running.time", - 0, - 0, - UNIT::INVALID, - 1.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - }, - { - 45, - "EGR.error", - 0, - 0, - UNIT::INVALID, - 0.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - }, - { - 47, - "fuel.level", - 0, - 0, - UNIT::INVALID, - 1.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - }, - { - 51, - "barometric.pressure", - 0, - 0, - UNIT::INVALID, - 1.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - }, - { - 76, - "commanded.throttle.position", - 0, - 0, - UNIT::INVALID, - 1.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - }, - { - 82, - "ethanol.fuel.percentage", - 0, - 0, - UNIT::INVALID, - 1.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - }, - { - 90, - "accelerator.pedal.position", - 0, - 0, - UNIT::INVALID, - 5.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - }, - { - 91, - "hybrid.battery-pack.remaining.life", - 0, - 0, - UNIT::INVALID, - 5.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - }, - { - 92, - "engine.oil.temperature", - 0, - 0, - UNIT::INVALID, - 1.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - }, - { - 94, - "engine.fuel.rate", - 0, - 0, - UNIT::INVALID, - 1.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - }, - { - 99, - "engine.torque", - 0, - 0, - UNIT::INVALID, - 1.00000f, - decoder_t::decode_obd2_response, - nullptr, - true - } - } - } -{ -} - -const std::string configuration_t::get_diagnostic_bus() const -{ - return "can0"; -} - - diff --git a/low-can-binding/configuration.cpp b/low-can-binding/configuration.cpp deleted file mode 100644 index 8a50cbc..0000000 --- a/low-can-binding/configuration.cpp +++ /dev/null @@ -1,156 +0,0 @@ -/* - * 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 "configuration.hpp" - -#include "utils/signals.hpp" -#include "utils/openxc-utils.hpp" - -/// @brief Return singleton instance of configuration object. -configuration_t& configuration_t::instance() -{ - static configuration_t config; - return config; -} - -can_bus_t& configuration_t::get_can_bus_manager() -{ - return can_bus_manager_; -} - -const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& configuration_t::get_can_bus_devices() -{ - return can_bus_manager_.get_can_devices(); -} - -diagnostic_manager_t& configuration_t::get_diagnostic_manager() -{ - return diagnostic_manager_; -} - -uint8_t configuration_t::get_active_message_set() const -{ - return active_message_set_; -} - -const std::vector<can_message_set_t>& configuration_t::get_can_message_set() -{ - return can_message_set_; -} - -std::vector<can_signal_t>& configuration_t::get_can_signals() -{ - return can_signals_[active_message_set_]; -} - -std::vector<diagnostic_message_t>& configuration_t::get_diagnostic_messages() -{ - return diagnostic_messages_[active_message_set_]; -} - -const std::vector<can_message_definition_t>& configuration_t::get_can_message_definition() -{ - return can_message_definition_[active_message_set_]; -} - -const can_message_definition_t& configuration_t::get_can_message_definition(std::uint8_t message_set_id, std::uint8_t message_id) -{ - return can_message_definition_[message_set_id][message_id]; -} - -uint32_t configuration_t::get_signal_id(diagnostic_message_t& sig) const -{ - return sig.get_pid(); -} - -uint32_t configuration_t::get_signal_id(can_signal_t& sig) const -{ - return sig.get_message().get_id(); -} - -void configuration_t::set_active_message_set(uint8_t id) -{ - active_message_set_ = id; -} - -/// @brief return diagnostic messages name found searching through diagnostic messages list. -/// -/// @param[in] key - can contain numeric or string value in order to search against -/// can signals or obd2 signals name. -/// @param[out] found_signals - Vector of signals name found. -/// -void configuration_t::find_diagnostic_messages(const openxc_DynamicField &key, std::vector<diagnostic_message_t*>& found_signals) -{ - switch(key.type) - { - case openxc_DynamicField_Type::openxc_DynamicField_Type_STRING: - lookup_signals_by_name(key.string_value, diagnostic_messages_[active_message_set_], found_signals); - break; - case openxc_DynamicField_Type::openxc_DynamicField_Type_NUM: - lookup_signals_by_id(key.numeric_value, diagnostic_messages_[active_message_set_], found_signals); - break; - default: - ERROR(binder_interface, "find_diagnostic_messages: wrong openxc_DynamicField specified. Use openxc_DynamicField_Type_NUM or openxc_DynamicField_Type_STRING type only."); - break; - } - DEBUG(binder_interface, "find_diagnostic_messages: Found %d signal(s)", (int)found_signals.size()); -} - -diagnostic_message_t* configuration_t::get_diagnostic_message(std::string message_name) const -{ - std::vector<diagnostic_message_t*> found; - configuration_t::instance().find_diagnostic_messages(build_DynamicField(message_name), found); - if(! found.empty()) - return found.front(); - return nullptr; -} - -DiagnosticRequest* configuration_t::get_request_from_diagnostic_message(diagnostic_message_t* diag_msg) const -{ - return new DiagnosticRequest(diag_msg->build_diagnostic_request()); -} - -DiagnosticRequest* configuration_t::get_request_from_diagnostic_message(std::string message_name) const -{ - diagnostic_message_t* diag_msg = get_diagnostic_message(message_name); - if( diag_msg != nullptr) - return new DiagnosticRequest(diag_msg->build_diagnostic_request()); - return nullptr; -} - -/// @brief return signals name found searching through CAN signals list. -/// -/// @param[in] key - can contain numeric or string value in order to search against -/// can signals or obd2 signals name. -/// @param[out] found_signals - provided vector to fill with pointer to matched signals. -/// -void configuration_t::find_can_signals(const openxc_DynamicField& key, std::vector<can_signal_t*>& found_signals) -{ - switch(key.type) - { - case openxc_DynamicField_Type::openxc_DynamicField_Type_STRING: - lookup_signals_by_name(std::string(key.string_value), can_signals_[active_message_set_], found_signals); - break; - case openxc_DynamicField_Type::openxc_DynamicField_Type_NUM: - lookup_signals_by_id(key.numeric_value, can_signals_[active_message_set_], found_signals); - break; - default: - ERROR(binder_interface, "find_can_signals: wrong openxc_DynamicField specified. Use openxc_DynamicField_Type_NUM or openxc_DynamicField_Type_STRING type only."); - break; - } - DEBUG(binder_interface, "find_can_signals: Found %d signal(s)", (int)found_signals.size()); -} diff --git a/low-can-binding/configuration.hpp b/low-can-binding/configuration.hpp deleted file mode 100644 index 017b148..0000000 --- a/low-can-binding/configuration.hpp +++ /dev/null @@ -1,120 +0,0 @@ -/* - * 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 <map> -#include <vector> -#include <string> -#include <fcntl.h> - -#include "can/can-bus.hpp" -#include "can/can-signals.hpp" -#include "can/can-message.hpp" -#include "diagnostic/diagnostic-manager.hpp" - -#include "low-can-binding.hpp" - -/// -/// @brief Class representing a configuration attached to the binding. -/// -/// It regroups all needed objects instance from other class -/// that will be used along the binding life. It gets a global vision -/// on which signals are implemented for that binding. -/// Here, it is only the definition of the class with predefined accessors -/// methods used in the binding. -/// -/// It will be the reference point to needed objects. -/// -class configuration_t -{ - private: - can_bus_t can_bus_manager_ = can_bus_t( - afb_daemon_rootdir_open_locale( - binder_interface->daemon, "etc/can_buses.json", O_RDONLY, NULL)); ///< instanciate the CAN bus - ///< This will read the configuration file and initialize all CAN devices specified in it. - diagnostic_manager_t diagnostic_manager_; ///< Diagnostic manager use to manage diagnostic message communication. - uint8_t active_message_set_ = 0; ///< Which is the active message set ? Default to 0. - - std::vector<can_message_set_t> can_message_set_; - std::vector<std::vector<can_message_definition_t>> can_message_definition_; - std::vector<std::vector<can_signal_t>> can_signals_; - std::vector<std::vector<diagnostic_message_t>> diagnostic_messages_; - - configuration_t(); ///< Private constructor with implementation generated by the AGL generator. - - public: - static configuration_t& instance(); - - can_bus_t& get_can_bus_manager(); - - const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& get_can_bus_devices(); - - const std::string get_diagnostic_bus() const; - - diagnostic_manager_t& get_diagnostic_manager() ; - - uint8_t get_active_message_set() const; - - const std::vector<can_message_set_t>& get_can_message_set(); - - std::vector<can_signal_t>& get_can_signals(); - - std::vector<diagnostic_message_t>& get_diagnostic_messages(); - - const std::vector<std::string>& get_signals_prefix() const; - - const std::vector<can_message_definition_t>& get_can_message_definition(); - const can_message_definition_t& get_can_message_definition(std::uint8_t message_set_id, std::uint8_t message_id); - - uint32_t get_signal_id(diagnostic_message_t& sig) const; - - uint32_t get_signal_id(can_signal_t& sig) const; - - void set_active_message_set(uint8_t id); - - void find_diagnostic_messages(const openxc_DynamicField &key, std::vector<diagnostic_message_t*>& found_signals); - diagnostic_message_t* get_diagnostic_message(std::string message_name) const; - DiagnosticRequest* get_request_from_diagnostic_message(diagnostic_message_t* diag_msg) const; - DiagnosticRequest* get_request_from_diagnostic_message(std::string message_name) const; - - void find_can_signals(const openxc_DynamicField &key, std::vector<can_signal_t*>& found_signals); - -/* - /// TODO: implement this function as method into can_bus class - /// @brief Pre initialize actions made before CAN bus initialization - /// @param[in] bus A CanBus struct defining the bus's metadata - /// @param[in] writable Configure the controller in a writable mode. If false, it will be configured as "listen only" and will not allow writes or even CAN ACKs. - /// @param[in] buses An array of all CAN buses. - void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount); - /// TODO: implement this function as method into can_bus class - /// @brief Post-initialize actions made after CAN bus initialization - /// @param[in] bus A CanBus struct defining the bus's metadata - /// @param[in] writable Configure the controller in a writable mode. If false, it will be configured as "listen only" and will not allow writes or even CAN ACKs. - /// @param[in] buses An array of all CAN buses. - void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount); - /// TODO: implement this function as method into can_bus class - /// @brief Check if the device is connected to an active CAN bus, i.e. it's received a message in the recent past. - /// @return true if a message was received on the CAN bus within CAN_ACTIVE_TIMEOUT_S seconds. - void logBusStatistics(can_bus_dev_t* buses, const int busCount); - /// TODO: implement this function as method into can_bus class - /// @brief Log transfer statistics about all active CAN buses to the debug log. - /// @param[in] buses An array of active CAN buses. - bool isBusActive(can_bus_dev_t* bus); - */ -}; - diff --git a/low-can-binding/diagnostic/active-diagnostic-request.cpp b/low-can-binding/diagnostic/active-diagnostic-request.cpp deleted file mode 100644 index 7ddf1d5..0000000 --- a/low-can-binding/diagnostic/active-diagnostic-request.cpp +++ /dev/null @@ -1,194 +0,0 @@ -/* - * 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 <map> -#include <fnmatch.h> - -#include "active-diagnostic-request.hpp" - -#include "../configuration.hpp" - -#define ERROR_PID 0xFF - -std::string active_diagnostic_request_t::prefix_ = "diagnostic_messages"; - -bool active_diagnostic_request_t::operator==(const active_diagnostic_request_t& b) -{ - return (bus_ == b.bus_ && id_ == b.id_ && handle_ == b.handle_); -} - -active_diagnostic_request_t& active_diagnostic_request_t::operator=(const active_diagnostic_request_t& adr) -{ - if (this != &adr) - { - bus_ = adr.bus_; - id_ = adr.id_; - handle_ = adr.handle_; - name_ = adr.name_; - decoder_ = adr.decoder_; - callback_ = adr.callback_; - recurring_ = adr.recurring_; - wait_for_multiple_responses_ = adr.wait_for_multiple_responses_; - in_flight_ = adr.in_flight_; - frequency_clock_ = adr.frequency_clock_; - timeout_clock_ = adr.timeout_clock_; - } - - return *this; -} - -active_diagnostic_request_t::active_diagnostic_request_t() - : bus_{nullptr}, id_{0}, handle_{nullptr}, name_{""}, - decoder_{nullptr}, callback_{nullptr}, recurring_{false}, wait_for_multiple_responses_{false}, - in_flight_{false}, frequency_clock_{frequency_clock_t()}, timeout_clock_{frequency_clock_t()} -{} - -active_diagnostic_request_t::active_diagnostic_request_t(const std::string& bus, DiagnosticRequest* request, - const std::string& name, bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder, - const DiagnosticResponseCallback callback, float frequencyHz) - : bus_{bus}, id_{request->arbitration_id}, handle_{nullptr}, name_{name}, - decoder_{decoder}, callback_{callback}, recurring_{frequencyHz ? true : false}, wait_for_multiple_responses_{wait_for_multiple_responses}, - in_flight_{false}, frequency_clock_{frequency_clock_t(frequencyHz)}, timeout_clock_{frequency_clock_t(10)} -{} - -uint32_t active_diagnostic_request_t::get_id() const -{ - return id_; -} - -const std::shared_ptr<can_bus_dev_t> active_diagnostic_request_t::get_can_bus_dev() const -{ - return can_bus_t::get_can_device(bus_); -} - -uint16_t active_diagnostic_request_t::get_pid() const -{ - if (handle_->request.has_pid) - return handle_->request.pid; - return ERROR_PID; -} - -DiagnosticRequestHandle* active_diagnostic_request_t::get_handle() -{ - return handle_; -} - -const std::string active_diagnostic_request_t::get_name() const -{ - return name_; -} - -std::string& active_diagnostic_request_t::get_prefix() -{ - return active_diagnostic_request_t::prefix_; -} - -DiagnosticResponseDecoder& active_diagnostic_request_t::get_decoder() -{ - return decoder_; -} - -DiagnosticResponseCallback& active_diagnostic_request_t::get_callback() -{ - return callback_; -} - -bool active_diagnostic_request_t::get_recurring() const -{ - return recurring_; -} - -bool active_diagnostic_request_t::get_in_flight() const -{ - return in_flight_; -} - -frequency_clock_t& active_diagnostic_request_t::get_frequency_clock() -{ - return frequency_clock_; -} - -frequency_clock_t& active_diagnostic_request_t::get_timeout_clock() -{ - return timeout_clock_; -} - -void active_diagnostic_request_t::set_handle(DiagnosticShims& shims, DiagnosticRequest* request) -{ - handle_ = new DiagnosticRequestHandle(generate_diagnostic_request(&shims, request, nullptr)); -} - -void active_diagnostic_request_t::set_in_flight(bool val) -{ - in_flight_ = val; -} - -/// -/// @brief Check if requested signal name is a diagnostic message. If the name -/// begin with the diagnostic message prefix then true else false. -/// -/// @param[in] name - A signal name. -/// -/// @return true if name began with the diagnostic message prefix else false. -/// -bool active_diagnostic_request_t::is_diagnostic_signal(const std::string& name) -{ - const std::string p = active_diagnostic_request_t::prefix_ + "*"; - if(::fnmatch(p.c_str(), name.c_str(), FNM_CASEFOLD) == 0) - return true; - return false; -} - -/// @brief Check is the request should be sent or not -/// -/// @return true if the request is not running or recurring nor completed, -/// or it's recurring, its clock elapsed -/// so it's time to send another one. -bool active_diagnostic_request_t::should_send() -{ - return !in_flight_ && ( (!recurring_ && !request_completed()) || - (recurring_ && frequency_clock_.elapsed(true)) ); -} - -/// @brief check if the timeout clock has elapsed -/// -/// @return true if elapsed, so it is a timeout, else false. -bool active_diagnostic_request_t::timed_out() -{ - // don't use staggered start with the timeout clock - return timeout_clock_.elapsed(false); -} - -/// @brief Returns true if a sufficient response has been received for a -/// diagnostic request. -/// -/// This is true when at least one response has been received and the request is -/// configured to not wait for multiple responses. Functional broadcast requests -/// may often wish to wait the full 100ms for modules to respond. -bool active_diagnostic_request_t::response_received() const -{ - return !wait_for_multiple_responses_ && - handle_->completed; -} - -/// @brief Returns true if the request has timed out waiting for a response, -/// or a sufficient number of responses has been received. -bool active_diagnostic_request_t::request_completed() -{ - return response_received() || - (timed_out() && diagnostic_request_sent(handle_)); -} diff --git a/low-can-binding/diagnostic/active-diagnostic-request.hpp b/low-can-binding/diagnostic/active-diagnostic-request.hpp deleted file mode 100644 index 247eeb1..0000000 --- a/low-can-binding/diagnostic/active-diagnostic-request.hpp +++ /dev/null @@ -1,122 +0,0 @@ -/* - * 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 <vector> - -#include "uds/uds.h" -#include "uds/uds_types.h" -#include "../utils/timer.hpp" -#include "../can/can-bus-dev.hpp" - -class active_diagnostic_request_t; -class diagnostic_manager_t; - -/// @brief The signature for an optional function that can apply the neccessary -/// formula to translate the binary payload into meaningful data. -/// -/// @param[in] response - the received DiagnosticResponse (the data is in response.payload, -/// a byte array). This is most often used when the byte order is signiticant, i.e. with many OBD-II PID formulas. -/// @param[in] parsed_payload - the entire payload of the response parsed as an int. -/// -/// @return float value after decoding. -/// -typedef float (*DiagnosticResponseDecoder)(const DiagnosticResponse* response, - float parsed_payload); - -/// @brief: The signature for an optional function to handle a new diagnostic -/// response. -/// -/// @param[in] request - The original diagnostic request. -/// @param[in] response - The response object that was just received. -/// @param[in] parsed_payload - The payload of the response, parsed as a float. -/// -typedef void (*DiagnosticResponseCallback)(const active_diagnostic_request_t* request, - const DiagnosticResponse* response, float parsed_payload); - -/// -/// @brief An active diagnostic request, either recurring or one-time. -/// -/// Will host a diagnostic_message_t class members to describe an on going -/// diagnostic request on the CAN bus. Diagnostic message will be converted to -/// a DiagnosticRequest using ad-hoc method build_diagnostic_request from diagnostic message. -/// Then missing member, that can not be hosted into a DiagnosticRequest struct, will be passed -/// as argument when adding the request to (non)-recurrent vector. Argument will be used to instanciate -/// an active_diagnostic_request_t object before sending it. -/// -class active_diagnostic_request_t { -private: - std::string bus_; ///< bus_ - The CAN bus this request should be made on, or is currently in flight-on - uint32_t id_; ///< id_ - The arbitration ID (aka message ID) for the request. - DiagnosticRequestHandle* handle_; ///< handle_ - A handle for the request to keep track of it between - ///< sending the frames of the request and receiving all frames of the response. - std::string name_; ///< name_ - Human readable name, to be used when publishing received responses. - ///< TODO: If the name is NULL, the published output will use the raw OBD-II response format. - static std::string prefix_; ///< prefix_ - It has to reflect the JSON object which it comes from. It makes easier sorting - ///< incoming CAN messages. - DiagnosticResponseDecoder decoder_; ///< decoder_ - An optional DiagnosticResponseDecoder to parse the payload of responses - ///< to this request. If the decoder is NULL, the output will include the raw payload - ///< instead of a parsed value. - DiagnosticResponseCallback callback_; ///< callback_ - An optional DiagnosticResponseCallback to be notified whenever a - ///< response is received for this request. - bool recurring_; ///< bool recurring_ - If true, this is a recurring request and it will remain as active until explicitly cancelled. - ///< The frequencyClock attribute controls how often a recurrin request is made. - bool wait_for_multiple_responses_; ///< wait_for_multiple_responses_ - False by default, when any response is received for a request - ///< it will be removed from the active list. If true, the request will remain active until the timeout - ///< clock expires, to allow it to receive multiple response (e.g. to a functional broadcast request). - bool in_flight_; ///< in_flight_ - True if the request has been sent and we are waiting for a response. - frequency_clock_t frequency_clock_; ///< frequency_clock_ - A frequency_clock_t object to control the send rate for a - ///< recurring request. If the request is not reecurring, this attribute is not used. - frequency_clock_t timeout_clock_; ///< timeout_clock_ - A frequency_clock_t object to monitor how long it's been since - ///< this request was sent. -public: - bool operator==(const active_diagnostic_request_t& b); - active_diagnostic_request_t& operator=(const active_diagnostic_request_t& adr); - - active_diagnostic_request_t(); - active_diagnostic_request_t(active_diagnostic_request_t&&) = default; - active_diagnostic_request_t(const std::string& bus, DiagnosticRequest* request, - const std::string& name, bool wait_for_multiple_responses, - const DiagnosticResponseDecoder decoder, - const DiagnosticResponseCallback callback, float frequencyHz); - - uint32_t get_id() const; - const std::shared_ptr<can_bus_dev_t> get_can_bus_dev() const; - DiagnosticRequestHandle* get_handle(); - uint16_t get_pid() const; - const std::string get_name() const; - static std::string& get_prefix(); - DiagnosticResponseDecoder& get_decoder(); - DiagnosticResponseCallback& get_callback(); - bool get_recurring() const; - bool get_in_flight() const; - frequency_clock_t& get_frequency_clock(); - frequency_clock_t& get_timeout_clock(); - - void set_handle(DiagnosticShims& shims, DiagnosticRequest* request); - void set_in_flight(bool val); - - static bool is_diagnostic_signal(const std::string& name); - - bool should_send(); - - bool timed_out(); - bool response_received() const; - bool request_completed(); -}; diff --git a/low-can-binding/diagnostic/diagnostic-manager.cpp b/low-can-binding/diagnostic/diagnostic-manager.cpp deleted file mode 100644 index e3a78d0..0000000 --- a/low-can-binding/diagnostic/diagnostic-manager.cpp +++ /dev/null @@ -1,618 +0,0 @@ -/* - * 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 <systemd/sd-event.h> -#include <algorithm> - -#include "diagnostic-manager.hpp" - -#include "../utils/openxc-utils.hpp" -#include "../configuration.hpp" - -#define MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ 10 -#define MAX_SIMULTANEOUS_DIAG_REQUESTS 50 -// There are only 8 slots of in flight diagnostic requests -#define MAX_SIMULTANEOUS_IN_FLIGHT_REQUESTS 8 -#define TIMERFD_ACCURACY 0 -#define MICRO 1000000 - -diagnostic_manager_t::diagnostic_manager_t() - : initialized_{false} -{} - -/// @brief Diagnostic manager isn't initialized at launch but after -/// CAN bus devices initialization. For the moment, it is only possible -/// to have 1 diagnostic bus which are the first bus declared in the JSON -/// description file. Configuration instance will return it. -/// -/// this will initialize DiagnosticShims and cancel all active requests -/// if there are any. -bool diagnostic_manager_t::initialize() -{ - // Mandatory to set the bus before intialize shims. - bus_ = configuration_t::instance().get_diagnostic_bus(); - - init_diagnostic_shims(); - reset(); - - initialized_ = true; - DEBUG(binder_interface, "initialize: Diagnostic Manager initialized"); - return initialized_; -} - -/// @brief initialize shims used by UDS lib and set initialized_ to true. -/// It is needed before used the diagnostic manager fully because shims are -/// required by most member functions. -void diagnostic_manager_t::init_diagnostic_shims() -{ - shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL); - DEBUG(binder_interface, "init_diagnostic_shims: Shims initialized"); -} - -/// @brief Force cleanup all active requests. -void diagnostic_manager_t::reset() -{ - DEBUG(binder_interface, "Clearing existing diagnostic requests"); - cleanup_active_requests(true); -} - -/// @brief send function use by diagnostic library. Only one bus used for now -/// so diagnostic request is sent using the default diagnostic bus not matter of -/// which is specified in the diagnostic message definition. -/// -/// @param[in] arbitration_id - CAN arbitration ID to use when send message. OBD2 broadcast ID -/// is 0x7DF by example. -/// @param[in] data - The data payload for the message. NULL is valid if size is also 0. -/// @param[in] size - The size of the data payload, in bytes. -/// -/// @return true if the CAN message was sent successfully. -bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size) -{ - std::shared_ptr<can_bus_dev_t> can_bus_dev = can_bus_t::get_can_device(configuration_t::instance().get_diagnostic_manager().bus_); - if(can_bus_dev != nullptr) - return can_bus_dev->shims_send(arbitration_id, data, size); - ERROR(binder_interface, "shims_send: Can not retrieve diagnostic bus: %s", configuration_t::instance().get_diagnostic_manager().bus_.c_str()); - return false; -} - -/// @brief The type signature for an optional logging function, if the user -/// wishes to provide one. It should print, store or otherwise display the -/// message. -/// -/// message - A format string to log using the given parameters. -/// ... (vargs) - the parameters for the format string. -/// -void diagnostic_manager_t::shims_logger(const char* format, ...) -{ - va_list args; - va_start(args, format); - - char buffer[256]; - vsnprintf(buffer, 256, format, args); - - DEBUG(binder_interface, "shims_logger: %s", buffer); -} - -/// @brief The type signature for a... OpenXC TODO: not used yet. -void diagnostic_manager_t::shims_timer() -{} - -std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev() -{ - return can_bus_t::get_can_device(bus_); -} - -/// @brief Return diagnostic manager shims member. -DiagnosticShims& diagnostic_manager_t::get_shims() -{ - return shims_; -} - -/// @brief Search for a specific active diagnostic request in the provided requests list -/// and erase it from the vector. This is useful at unsubscription to clean up the list otherwize -/// all received CAN messages will be passed to DiagnosticRequestHandle of all active diagnostic request -/// contained in the vector but no event if connected to, so we will decode uneeded request. -/// -/// @param[in] entry - a pointer of an active_diagnostic_request instance to clean up -/// @param[in] requests_list - a vector where to make the search and cleaning. -void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list) -{ - auto i = std::find(requests_list.begin(), requests_list.end(), entry); - if ( i != requests_list.end()) - requests_list.erase(i); -} - -// @brief TODO: implement cancel_request if needed... Don't know. -void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry) -{ - - /* TODO: implement acceptance filters. - if(entry.arbitration_id_ == OBD2_FUNCTIONAL_BROADCAST_ID) { - for(uint32_t filter = OBD2_FUNCTIONAL_RESPONSE_START; - filter < OBD2_FUNCTIONAL_RESPONSE_START + - OBD2_FUNCTIONAL_RESPONSE_COUNT; - filter++) { - removeAcceptanceFilter(entry.bus_, filter, - CanMessageFormat::STANDARD, getCanBuses(), - getCanBusCount()); - } - } else { - removeAcceptanceFilter(entry.bus_, - entry.arbitration_id_ + - DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET, - CanMessageFormat::STANDARD, getCanBuses(), getCanBusCount()); - }*/ -} - -/// @brief Cleanup a specific request if it isn't running and get complete. As it is almost -/// impossible to get that state for a recurring request without waiting for that, you can -/// force the cleaning operation. -/// -/// @param[in] entry - the request to clean -/// @param[in] force - Force the cleaning or not ? -void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, bool force) -{ - if((force || (entry != nullptr && entry->get_in_flight() && entry->request_completed()))) - { - entry->set_in_flight(false); - - char request_string[128] = {0}; - diagnostic_request_to_string(&entry->get_handle()->request, - request_string, sizeof(request_string)); - if(force && entry->get_recurring()) - { - find_and_erase(entry, recurring_requests_); - cancel_request(entry); - DEBUG(binder_interface, "cleanup_request: Cancelling completed, recurring request: %s", request_string); - } - else - { - DEBUG(binder_interface, "cleanup_request: Cancelling completed, non-recurring request: %s", request_string); - find_and_erase(entry, non_recurring_requests_); - cancel_request(entry); - } - } -} - -/// @brief Clean up all requests lists, recurring and not recurring. -/// -/// @param[in] force - Force the cleaning or not ? If true, that will do -/// the same effect as a call to reset(). -void diagnostic_manager_t::cleanup_active_requests(bool force) -{ - for(auto& entry : non_recurring_requests_) - if (entry != nullptr) - cleanup_request(entry, force); - - for(auto& entry : recurring_requests_) - if (entry != nullptr) - cleanup_request(entry, force); -} - -/// @brief Will return the active_diagnostic_request_t pointer for theDiagnosticRequest or nullptr if -/// not found. -/// -/// @param[in] request - Search key, method will go through recurring list to see if it find that request -/// holded by the DiagnosticHandle member. -active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const DiagnosticRequest* request) -{ - for (auto& entry : recurring_requests_) - { - if(entry != nullptr) - { - if(diagnostic_request_equals(&entry->get_handle()->request, request)) - { - return entry; - break; - } - } - } - return nullptr; -} - -/// @brief Add and send a new one-time diagnostic request. -/// -/// A one-time (aka non-recurring) request can existing in parallel with a -/// recurring request for the same PID or mode, that's not a problem. -/// -/// For an example, see the docs for addRecurringRequest. This function is very -/// similar but leaves out the frequencyHz parameter. -/// -/// @param[in] request - The parameters for the request. -/// @param[in] name - Human readable name this response, to be used when -/// publishing received responses. TODO: If the name is NULL, the published output -/// will use the raw OBD-II response format. -/// @param[in] wait_for_multiple_responses - If false, When any response is received -/// for this request it will be removed from the active list. If true, the -/// request will remain active until the timeout clock expires, to allow it -/// to receive multiple response. Functional broadcast requests will always -/// waint for the timeout, regardless of this parameter. -/// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of -/// responses to this request. If the decoder is NULL, the output will -/// include the raw payload instead of a parsed value. -/// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a -/// response is received for this request. -/// -/// @return true if the request was added successfully. Returns false if there -/// wasn't a free active request entry, if the frequency was too high or if the -/// CAN acceptance filters could not be configured, -bool diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string name, - bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder, - const DiagnosticResponseCallback callback) -{ - cleanup_active_requests(false); - - bool added = true; - - if (non_recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS) - { - // TODO: implement Acceptance Filter - // if(updateRequiredAcceptanceFilters(bus, request)) { - active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request, name, - wait_for_multiple_responses, decoder, callback, 0); - entry->set_handle(shims_, request); - - char request_string[128] = {0}; - diagnostic_request_to_string(&entry->get_handle()->request, request_string, - sizeof(request_string)); - - find_and_erase(entry, non_recurring_requests_); - DEBUG(binder_interface, "Added one-time diagnostic request on bus %s: %s", - bus_.c_str(), request_string); - - non_recurring_requests_.push_back(entry); - } - else - { - WARNING(binder_interface, "There isn't enough request entry. Vector exhausted %d/%d", (int)non_recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS); - non_recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS); - added = false; - } - return added; -} - -bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz) -{ - if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) { - DEBUG(binder_interface, "Requested recurring diagnostic frequency %lf is higher than maximum of %d", - frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ); - return false; - } - return true; -} - -/// @brief Add and send a new recurring diagnostic request. -/// -/// At most one recurring request can be active for the same arbitration ID, mode -/// and (if set) PID on the same bus at one time. If you try and call -/// addRecurringRequest with the same key, it will return an error. -/// -/// TODO: This also adds any neccessary CAN acceptance filters so we can receive the -/// response. If the request is to the functional broadcast ID (0x7df) filters -/// are added for all functional addresses (0x7e8 to 0x7f0). -/// -/// Example: -/// -/// // Creating a functional broadcast, mode 1 request for PID 2. -/// DiagnosticRequest request = { -/// arbitration_id: 0x7df, -/// mode: 1, -/// has_pid: true, -/// pid: 2 -/// }; -/// -/// // Add a recurring request, to be sent at 1Hz, and published with the -/// // name "my_pid_request" -/// addRecurringRequest(&getConfiguration()->diagnosticsManager, -/// canBus, -/// &request, -/// "my_pid_request", -/// false, -/// NULL, -/// NULL, -/// 1); -/// -/// @param[in] request - The parameters for the request. -/// @param[in] name - An optional human readable name this response, to be used when -/// publishing received responses. If the name is NULL, the published output -/// will use the raw OBD-II response format. -/// @param[in] wait_for_multiple_responses - If false, When any response is received -/// for this request it will be removed from the active list. If true, the -/// request will remain active until the timeout clock expires, to allow it -/// to receive multiple response. Functional broadcast requests will always -/// waint for the timeout, regardless of this parameter. -/// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of -/// responses to this request. If the decoder is NULL, the output will -/// include the raw payload instead of a parsed value. -/// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a -/// response is received for this request. -/// @param[in] frequencyHz - The frequency (in Hz) to send the request. A frequency above -/// MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ is not allowed, and will make this -/// function return false. -/// -/// @return true if the request was added successfully. Returns false if there -/// was too much already running requests, if the frequency was too high TODO:or if the -/// CAN acceptance filters could not be configured, -/// -bool diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name, - bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder, - const DiagnosticResponseCallback callback, float frequencyHz) -{ - if(!validate_optional_request_attributes(frequencyHz)) - return false; - - cleanup_active_requests(false); - - bool added = true; - if(find_recurring_request(request) == nullptr) - { - if(recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS) - { - sd_event_source *source; - // TODO: implement Acceptance Filter - //if(updateRequiredAcceptanceFilters(bus, request)) { - active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request, name, - wait_for_multiple_responses, decoder, callback, frequencyHz); - entry->set_handle(shims_, request); - - //start_diagnostic_request(&shims_, entry->get_handle()); - //char request_string[128] = {0}; - //diagnostic_request_to_string(&entry->get_handle()->request, request_string, - // sizeof(request_string)); - - uint64_t usec; - sd_event_now(afb_daemon_get_event_loop(binder_interface->daemon), CLOCK_BOOTTIME, &usec); - if(recurring_requests_.size() > 0) - { - DEBUG(binder_interface, "add_recurring_request: Added 100ms to usec to stagger sending requests"); - usec += 100000; - } - - DEBUG(binder_interface, "add_recurring_request: Added recurring diagnostic request (freq: %f) on bus %s at %ld. Event loop state: %d", - frequencyHz, - bus_.c_str(), - usec, - sd_event_get_state(afb_daemon_get_event_loop(binder_interface->daemon))); - - if(sd_event_add_time(afb_daemon_get_event_loop(binder_interface->daemon), &source, - CLOCK_BOOTTIME, usec, TIMERFD_ACCURACY, send_request, request) < 0) - { - ERROR(binder_interface, "add_recurring_request: Request fails to be schedule through event loop"); - added = false; - } - recurring_requests_.push_back(entry); - } - else - { - WARNING(binder_interface, "add_recurring_request: There isn't enough request entry. Vector exhausted %d/%d", (int)recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS); - recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS); - added = false; - } - } - else - { - DEBUG(binder_interface, "add_recurring_request: Can't add request, one already exists with same key"); - added = false; - } - return added; -} - -/// @brief Returns true if there are two active requests running for the same arbitration ID. -bool diagnostic_manager_t::conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const -{ - return (candidate->get_in_flight() && candidate != request && - candidate->get_can_bus_dev() == request->get_can_bus_dev() && - candidate->get_id() == request->get_id()); -} - - -/// @brief Returns true if there are no other active requests to the same arbitration ID -/// and if there aren't more than 8 requests in flight at the same time. -bool diagnostic_manager_t::clear_to_send(active_diagnostic_request_t* request) const -{ - int total_in_flight = 0; - for ( auto entry : non_recurring_requests_) - { - if(conflicting(request, entry)) - return false; - if(entry->get_in_flight()) - total_in_flight++; - } - - for ( auto entry : recurring_requests_) - { - if(conflicting(request, entry)) - return false; - if(entry->get_in_flight()) - total_in_flight++; - } - - if(total_in_flight > MAX_SIMULTANEOUS_IN_FLIGHT_REQUESTS) - return false; - return true; -} - -int diagnostic_manager_t::reschedule_request(sd_event_source *s, uint64_t usec, active_diagnostic_request_t* adr) -{ - usec = usec + (uint64_t)(adr->get_frequency_clock().frequency_to_period()); - DEBUG(binder_interface, "send_request: Event loop state: %d. usec: %ld", sd_event_get_state(afb_daemon_get_event_loop(binder_interface->daemon)), usec); - if(sd_event_source_set_time(s, usec) >= 0) - if(sd_event_source_set_enabled(s, SD_EVENT_ON) >= 0) - return 0; - sd_event_source_unref(s); - return -1; -} - -/// @brief Systemd timer event callback use to send CAN messages at regular interval. Depending -/// on the diagnostic message frequency. -/// -/// This should be called from systemd binder event loop and the event is created on add_recurring_request -/// -/// @param[in] s - Systemd event source pointer used to reschedule the new iteration. -/// @param[in] usec - previous call timestamp in microseconds. -/// @param[in] userdata - the DiagnosticRequest struct, use to retrieve the active request from the list. -/// -/// @return positive integer if sent and rescheduled or negative value if something wrong. If an error occurs -/// event will be disabled. -int diagnostic_manager_t::send_request(sd_event_source *s, uint64_t usec, void *userdata) -{ - diagnostic_manager_t& dm = configuration_t::instance().get_diagnostic_manager(); - DiagnosticRequest* request = (DiagnosticRequest*)userdata; - active_diagnostic_request_t* adr = dm.find_recurring_request(request); - - dm.cleanup_active_requests(false); - if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev() && adr->should_send() && - dm.clear_to_send(adr)) - { - adr->get_frequency_clock().tick(); - start_diagnostic_request(&dm.shims_, adr->get_handle()); - if(adr->get_handle()->completed && !adr->get_handle()->success) - { - ERROR(binder_interface, "send_request: Fatal error sending diagnostic request"); - sd_event_source_unref(s); - return -1; - } - - adr->get_timeout_clock().tick(); - adr->set_in_flight(true); - } - - if(adr != nullptr && adr->get_recurring()) - { - return dm.reschedule_request(s, usec, adr); - } - - sd_event_source_unref(s); - NOTICE(binder_interface, "send_request: Request doesn't exist anymore. Canceling.'"); - return -2; -} - -/// @brief Will decode the diagnostic response and build the final openxc_VehicleMessage to return. -/// -/// @param[in] adr - A pointer to an active diagnostic request holding a valid diagnostic handle -/// @param[in] response - The response to decode from which the Vehicle message will be built and returned -/// -/// @return A filled openxc_VehicleMessage or a zeroed struct if there is an error. -openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response) -{ - openxc_VehicleMessage message = build_VehicleMessage(); - float value = (float)diagnostic_payload_to_integer(&response); - if(adr->get_decoder() != nullptr) - { - value = adr->get_decoder()(&response, value); - } - - if((response.success && strnlen(adr->get_name().c_str(), adr->get_name().size())) > 0) - { - // If name, include 'value' instead of payload, and leave of response - // details. - message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField(value))); - } - else - { - // If no name, send full details of response but still include 'value' - // instead of 'payload' if they provided a decoder. The one case you - // can't get is the full detailed response with 'value'. We could add - // another parameter for that but it's onerous to carry that around. - message = build_VehicleMessage(adr, response, value); - } - - // If not success but completed then the pid isn't supported - if(!response.success) - { - std::vector<diagnostic_message_t*> found_signals; - configuration_t::instance().find_diagnostic_messages( build_DynamicField(adr->get_name()), found_signals ); - found_signals.front()->set_supported(false); - cleanup_request(adr, true); - NOTICE(binder_interface, "relay_diagnostic_response: PID not supported or ill formed. Please unsubscribe from it. Error code : %d", response.negative_response_code); - message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField("This PID isn't supported by your vehicle."))); - } - - if(adr->get_callback() != nullptr) - { - adr->get_callback()(adr, &response, value); - } - - return message; -} - -/// @brief Will take the CAN message and pass it to the receive functions that will process -/// diagnostic handle for each active diagnostic request then depending on the result we will -/// return pass the diagnostic response to decode it. -/// -/// @param[in] entry - A pointer to an active diagnostic request holding a valid diagnostic handle -/// @param[in] cm - A raw CAN message. -/// -/// @return A pointer to a filled openxc_VehicleMessage or a nullptr if nothing has been found. -openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm) -{ - DiagnosticResponse response = diagnostic_receive_can_frame(&shims_, entry->get_handle(), cm.get_id(), cm.get_data(), cm.get_length()); - if(response.completed && entry->get_handle()->completed) - { - if(entry->get_handle()->success) - return relay_diagnostic_response(entry, response); - } - else if(!response.completed && response.multi_frame) - { - // Reset the timeout clock while completing the multi-frame receive - entry->get_timeout_clock().tick(); - } - - return build_VehicleMessage(); -} - -/// @brief Find the active diagnostic request with the correct DiagnosticRequestHandle -/// member that will understand the CAN message using diagnostic_receive_can_frame function -/// from UDS-C library. Then decode it with an ad-hoc method. -/// -/// @param[in] cm - Raw CAN message received -/// -/// @return VehicleMessage with decoded value. -openxc_VehicleMessage diagnostic_manager_t::find_and_decode_adr(const can_message_t& cm) -{ - openxc_VehicleMessage vehicle_message = build_VehicleMessage(); - - for ( auto entry : non_recurring_requests_) - { - vehicle_message = relay_diagnostic_handle(entry, cm); - if (is_valid(vehicle_message)) - return vehicle_message; - } - - for ( auto entry : recurring_requests_) - { - vehicle_message = relay_diagnostic_handle(entry, cm); - if (is_valid(vehicle_message)) - return vehicle_message; - } - - return vehicle_message; -} - -/// @brief Tell if the CAN message received is a diagnostic response. -/// Request broadcast ID use 0x7DF and assigned ID goes from 0x7E0 to Ox7E7. That allows up to 8 ECU to respond -/// at the same time. The response is the assigned ID + 0x8, so response ID can goes from 0x7E8 to 0x7EF. -/// -/// @param[in] cm - CAN message received from the socket. -/// -/// @return True if the active diagnostic request match the response. -bool diagnostic_manager_t::is_diagnostic_response(const can_message_t& cm) -{ - if (cm.get_id() >= 0x7e8 && cm.get_id() <= 0x7ef) - return true; - return false; -} diff --git a/low-can-binding/diagnostic/diagnostic-manager.hpp b/low-can-binding/diagnostic/diagnostic-manager.hpp deleted file mode 100644 index 3edb2b1..0000000 --- a/low-can-binding/diagnostic/diagnostic-manager.hpp +++ /dev/null @@ -1,99 +0,0 @@ -/* - * 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 <systemd/sd-event.h> -#include <map> -#include <vector> - -#include "uds/uds.h" -#include "openxc.pb.h" -#include "../can/can-bus.hpp" -#include "active-diagnostic-request.hpp" - -/// Each CAN bus needs its own set of shim functions, so this should -/// match the maximum CAN controller count. -/// -#define MAX_SHIM_COUNT can_bus_t.get_can_devices().size() -#define DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET 0x8 - -class active_diagnostic_request_t; - -/// -/// @brief The core structure for running the diagnostics module by the binding. -/// -/// This stores details about the active requests and shims required to connect -/// the diagnostics library to the CAN device. -/// -class diagnostic_manager_t { -protected: - static bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size); - static void shims_logger(const char* m, ...); - static void shims_timer(); - -private: - DiagnosticShims shims_; /*!< shims_ - Shim functions for each CAN bus that plug the diagnostics - * library (uds-c) into the VI's CAN peripheral.*/ - std::string bus_; /*!< bus_ - A pointer to the CAN bus that should be used for all standard OBD-II requests, if the bus is not - * explicitly spcified in the request. Default to the first bus CAN at initialization.*/ - std::vector<active_diagnostic_request_t*> recurring_requests_; /*!< recurringRequests - A list of active recurring diagnostic requests.*/ - std::vector<active_diagnostic_request_t*> non_recurring_requests_; /*!< nonrecurringRequests - A list of active one-time diagnostic requests. When a - * response is received for a non-recurring request or it times out, it is removed*/ - bool initialized_; /*!< * initialized - True if the DiagnosticsManager has been initialized with shims. It will interface with the uds-c lib*/ - - void init_diagnostic_shims(); - void reset(); -public: - diagnostic_manager_t(); - - bool initialize(); - - std::shared_ptr<can_bus_dev_t> get_can_bus_dev(); - DiagnosticShims& get_shims(); - - void find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list); - void cancel_request(active_diagnostic_request_t* entry); - void cleanup_request(active_diagnostic_request_t* entry, bool force); - void cleanup_active_requests(bool force); - active_diagnostic_request_t* find_recurring_request(const DiagnosticRequest* request); - - void checkSupportedPids(const active_diagnostic_request_t& request, - const DiagnosticResponse& response, float parsedPayload); - - // Subscription parts - bool add_request(DiagnosticRequest* request, const std::string name, - bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder, - const DiagnosticResponseCallback callback); - bool validate_optional_request_attributes(float frequencyHz); - bool add_recurring_request(DiagnosticRequest* request, const char* name, - bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder, - const DiagnosticResponseCallback callback, float frequencyHz); - - // Sendig requests part - bool conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const; - bool clear_to_send(active_diagnostic_request_t* request) const; - int reschedule_request(sd_event_source *s, uint64_t usec, active_diagnostic_request_t* adr); - static int send_request(sd_event_source *s, uint64_t usec, void *userdata); - - // Decoding part - openxc_VehicleMessage relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response); - openxc_VehicleMessage relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm); - openxc_VehicleMessage find_and_decode_adr(const can_message_t& cm); - bool is_diagnostic_response(const can_message_t& cm); - -}; diff --git a/low-can-binding/diagnostic/diagnostic-message.cpp b/low-can-binding/diagnostic/diagnostic-message.cpp deleted file mode 100644 index 6f61557..0000000 --- a/low-can-binding/diagnostic/diagnostic-message.cpp +++ /dev/null @@ -1,108 +0,0 @@ -/* - * 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 <map> - -#include "diagnostic-message.hpp" - -#include "../configuration.hpp" -#include "../utils/signals.hpp" - -const char *UNIT_NAMES[10] = { - "POURCENT", - "DEGREES_CELSIUS", - "KPA", - "RPM", - "GRAMS_SEC", - "SECONDS", - "KM", - "KM_H", - "PA", - "NM" -}; - -diagnostic_message_t::diagnostic_message_t(uint8_t pid, const std::string generic_name, const int min, - const int max, enum UNIT unit, float frequency, DiagnosticResponseDecoder decoder, - DiagnosticResponseCallback callback, bool supported) - : pid_{pid}, generic_name_{generic_name}, min_{min}, max_{max}, unit_{unit}, - frequency_{frequency}, decoder_{decoder}, callback_{callback}, supported_{supported} -{} - -uint32_t diagnostic_message_t::get_pid() -{ - return (uint32_t)pid_; -} - -const std::string& diagnostic_message_t::get_generic_name() const -{ - return generic_name_; -} - -const std::string diagnostic_message_t::get_name() const -{ - return active_diagnostic_request_t::get_prefix() + "." + generic_name_; -} - -float diagnostic_message_t::get_frequency() const -{ - return frequency_; -} - -DiagnosticResponseDecoder diagnostic_message_t::get_decoder() const -{ - return decoder_; -} -DiagnosticResponseCallback diagnostic_message_t::get_callback() const -{ - return callback_; -} - -bool diagnostic_message_t::get_supported() const -{ - return supported_; -} - -void diagnostic_message_t::set_supported(bool value) -{ - supported_ = value; -} - -/// -/// @brief Build a DiagnosticRequest struct to be passed -/// to diagnostic manager instance. -/// -const DiagnosticRequest diagnostic_message_t::build_diagnostic_request() -{ - return {/*arbitration_id: */OBD2_FUNCTIONAL_BROADCAST_ID, - /*mode: */0x1, - /*has_pid: */true, - /*pid: */pid_, - /*pid_length: */0, - /*payload[]: */{0}, - /*payload_length: */0, - /*no_frame_padding: */false, - /*DiagnosticRequestType: */DiagnosticRequestType::DIAGNOSTIC_REQUEST_TYPE_PID }; -} - -/// -/// @brief Check if a request is an OBD-II PID request. -/// -/// @return true if the request is a mode 1 request and it has a 1 byte PID. -/// -bool diagnostic_message_t::is_obd2_request(const DiagnosticRequest* request) -{ - return request->mode == 0x1 && request->has_pid && request->pid < 0xff; -} diff --git a/low-can-binding/diagnostic/diagnostic-message.hpp b/low-can-binding/diagnostic/diagnostic-message.hpp deleted file mode 100644 index 064904d..0000000 --- a/low-can-binding/diagnostic/diagnostic-message.hpp +++ /dev/null @@ -1,79 +0,0 @@ -/* - * 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 "uds/uds.h" -#include "../can/can-message.hpp" -#include "active-diagnostic-request.hpp" - -enum UNIT { - POURCENT, - DEGREES_CELSIUS, - KPA, - RPM, - GRAMS_SEC, - SECONDS, - KM, - KM_H, - PA, - NM, - INVALID -}; - -/// -/// @brief - A representation of an OBD-II PID. -/// -class diagnostic_message_t { - private: - uint8_t pid_; /*!< pid_ - The 1 byte PID.*/ - std::string generic_name_; /*!< generic_name_ - A human readable name to use for this PID when published.*/ - int min_; /*!< min_ - Minimum value that can take this pid */ - int max_; /*!< max_ - Maximum value that can take this pid */ - enum UNIT unit_; /*!< unit_ : Which unit system is used by that pid. See enum UNIT above.*/ - float frequency_; /*!< frequency_ - The frequency to request this PID if supported by the vehicle when automatic, recurring OBD-II requests are enabled.*/ - DiagnosticResponseDecoder decoder_; /*!< decoder_ - An optional DiagnosticResponseDecoder to parse the payload of responses - * to this request. If the decoder is NULL, the output will include the raw payload - * instead of a parsed value.*/ - DiagnosticResponseCallback callback_; /*!< callback_ - An optional DiagnosticResponseCallback to be notified whenever a - * response is received for this request.*/ - - bool supported_; /*!< supported_ - boolean indicating whether this pid is supported by the vehicle or not.*/ - - public: - const char* generic_name = generic_name_.c_str(); - diagnostic_message_t(uint8_t pid, const std::string generic_name, const int min, const int max, enum UNIT unit, float frequency, - DiagnosticResponseDecoder decoder, DiagnosticResponseCallback callback, bool supported); - - uint32_t get_pid(); - const std::string& get_generic_name() const; - const std::string get_name() const; - float get_frequency() const; - DiagnosticResponseDecoder get_decoder() const; - DiagnosticResponseCallback get_callback() const; - bool get_supported() const; - - void set_supported(bool value); - - const DiagnosticRequest build_diagnostic_request(); - - bool is_obd2_response(const can_message_t& can_message); - bool is_obd2_request(const DiagnosticRequest *request); -}; diff --git a/low-can-binding/low-can-binding.cpp b/low-can-binding/low-can-binding.cpp deleted file mode 100644 index 07b3f1e..0000000 --- a/low-can-binding/low-can-binding.cpp +++ /dev/null @@ -1,279 +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-binding.hpp" - -#include <map> -#include <queue> -#include <mutex> -#include <vector> -#include <thread> -#include <time.h> -#include <linux/can.h> -#include <json-c/json.h> - -#include "openxc.pb.h" -#include "configuration.hpp" -#include "can/can-bus.hpp" -#include "can/can-signals.hpp" -#include "can/can-message.hpp" -#include "utils/timer.hpp" -#include "utils/signals.hpp" -#include "diagnostic/diagnostic-message.hpp" -#include "utils/openxc-utils.hpp" - -extern "C" -{ - #include <afb/afb-service-itf.h> -}; - -// Interface between the daemon and the binding -const struct afb_binding_interface *binder_interface; - -void on_no_clients(std::string message) -{ - DiagnosticRequest* diag_req = configuration_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); - if( adr != nullptr) - configuration_t::instance().get_diagnostic_manager().cleanup_request(adr, true); - } -} - -///****************************************************************************** -/// -/// 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) -{ - /* Make the subscription or unsubscription to the event */ - if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[sig_name])) < 0) - { - ERROR(binder_interface, "make_subscription_unsubscription: Operation goes wrong for signal: %s", sig_name.c_str()); - return 0; - } - return 1; -} - -static int create_event_handle(const std::string& sig_name, std::map<std::string, 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])) - { - ERROR(binder_interface, "create_event_handle: Can't create an event for %s, something goes wrong.", sig_name.c_str()); - return 0; - } - return 1; -} - -static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, const std::string& sig) -{ - int ret; - - std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex()); - std::map<std::string, struct afb_event>& s = get_subscribed_signals(); - if (s.find(sig) != s.end()) - { - if (!afb_event_is_valid(s[sig]) && !subscribe) - { - NOTICE(binder_interface, "subscribe_unsubscribe_signal: Event isn't valid, it can't be unsubscribed."); - ret = -1; - } - /*else - { - // Event it isn't valid annymore, recreate it - ret = create_event_handle(sig, s); - }*/ - } - else - { - /* Event doesn't exist , so let's create it */ - struct afb_event empty_event = {nullptr, nullptr}; - subscribed_signals[sig] = empty_event; - ret = create_event_handle(sig, s); - } - - /* Check whether or not the event handler has been correctly created and - * make the subscription/unsubscription operation is so. - */ - if (ret <= 0) - return ret; - return make_subscription_unsubscription(request, sig, s, subscribe); -} - -/// -/// @fn static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const std::vector<can_signal_t>& signals) -/// @brief subscribe to all signals in the vector signals -/// -/// @param[in] afb_req request : contain original request use to subscribe or unsubscribe -/// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription -/// @param[in] can_signal_t vector with can_signal_t to subscribe -/// -/// @return Number of correctly subscribed signal -/// -static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const std::vector<std::string>& signals) -{ - int rets = 0; - - //TODO: Implement way to dynamically call the right function no matter - // how much signals types we have. - - for(const std::string& sig : signals) - { - int ret; - if (active_diagnostic_request_t::is_diagnostic_signal(sig)) - { - diagnostic_message_t* diag_msg = configuration_t::instance().get_diagnostic_message(sig); - DiagnosticRequest* diag_req = configuration_t::instance().get_request_from_diagnostic_message(diag_msg); - - // If the requested diagnostic message isn't supported by the car then unssubcribe. - // no matter what we want, worse case will be a fail unsubscription but at least we don't - // poll a PID for nothing. - if(diag_msg->get_supported() && subscribe) - { - float frequency = diag_msg->get_frequency(); - subscribe = configuration_t::instance().get_diagnostic_manager().add_recurring_request( - diag_req, sig.c_str(), false, diag_msg->get_decoder(), diag_msg->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); - } - else - { - configuration_t::instance().get_diagnostic_manager().cleanup_request( - configuration_t::instance().get_diagnostic_manager().find_recurring_request(diag_req), true); - WARNING(binder_interface, "Signal: %s isn't supported. Canceling operation.", sig.c_str()); - return -1; - } - } - - ret = subscribe_unsubscribe_signal(request, subscribe, sig); - if(ret <= 0) - return ret; - rets++; - - DEBUG(binder_interface, "Signal: %s subscribed", sig.c_str()); - } - return rets; -} - -static int subscribe_unsubscribe_name(struct afb_req request, bool subscribe, const char *name) -{ - std::vector<std::string> signals; - int ret = 0; - - openxc_DynamicField search_key = build_DynamicField(std::string(name)); - signals = find_signals(search_key); - if (signals.empty()) - ret = 0; - - ret = subscribe_unsubscribe_signals(request, subscribe, signals); - NOTICE(binder_interface, "Subscribed/unsubscribe correctly to %d/%d signal(s).", ret, (int)signals.size()); - - return ret; -} - -static void subscribe_unsubscribe(struct afb_req request, bool subscribe) -{ - int ok, i, n; - struct json_object *args, *a, *x; - - /* makes the subscription/unsubscription */ - args = afb_req_json(request); - if (args == NULL || !json_object_object_get_ex(args, "event", &a)) { - ok = subscribe_unsubscribe_name(request, subscribe, "*"); - } else if (json_object_get_type(a) != json_type_array) { - ok = subscribe_unsubscribe_name(request, subscribe, json_object_get_string(a)); - } else { - n = json_object_array_length(a); - ok = 0; - for (i = 0 ; i < n ; i++) { - x = json_object_array_get_idx(a, i); - if (subscribe_unsubscribe_name(request, subscribe, json_object_get_string(x))) - ok++; - } - ok = (ok == n); - } - - /* send the report */ - if (ok) - afb_req_success(request, NULL, NULL); - else - afb_req_fail(request, "error", NULL); -} - -extern "C" -{ - static void subscribe(struct afb_req request) - { - subscribe_unsubscribe(request, true); - } - - static void unsubscribe(struct afb_req request) - { - subscribe_unsubscribe(request, false); - } - - static const struct afb_verb_desc_v1 verbs[]= - { - { .name= "subscribe", .session= AFB_SESSION_NONE, .callback= subscribe, .info= "subscribe to notification of CAN bus messages." }, - { .name= "unsubscribe", .session= AFB_SESSION_NONE, .callback= unsubscribe, .info= "unsubscribe a previous subscription." } - }; - - static const struct afb_binding binding_desc { - AFB_BINDING_VERSION_1, - { - "Low level CAN bus service", - "low-can", - verbs - } - }; - - const struct afb_binding *afbBindingV1Register (const struct afb_binding_interface *itf) - { - binder_interface = itf; - - return &binding_desc; - } - - /// @brief Initialize the binding. - /// - /// @param[in] service Structure which represent the Application Framework Binder. - /// - /// @return Exit code, zero if success. - int afbBindingV1ServiceInit(struct afb_service service) - { - can_bus_t& can_bus_manager = configuration_t::instance().get_can_bus_manager(); - - /// Initialize CAN socket - if(can_bus_manager.init_can_dev() == 0) - { - can_bus_manager.start_threads(); - - /// Initialize Diagnostic manager that will handle obd2 requests. - /// We pass by default the first CAN bus device to its Initialization. - /// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus. - if(configuration_t::instance().get_diagnostic_manager().initialize()) - return 0; - } - - ERROR(binder_interface, "There was something wrong with CAN device Initialization. Check your config file maybe"); - return 1; - } -}; diff --git a/low-can-binding/low-can-binding.hpp b/low-can-binding/low-can-binding.hpp deleted file mode 100644 index ed5741d..0000000 --- a/low-can-binding/low-can-binding.hpp +++ /dev/null @@ -1,33 +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. - */ - -#pragma once - -#include <cstddef> -#include <string> - -extern "C" -{ - #include <afb/afb-binding.h> -}; - -extern "C" struct afb_binding_interface; - -extern const struct afb_binding_interface *binder_interface; - -void on_no_clients(std::string message);
\ No newline at end of file diff --git a/low-can-binding/packaging/wgt/config.xml b/low-can-binding/packaging/wgt/config.xml deleted file mode 100644 index d735ce2..0000000 --- a/low-can-binding/packaging/wgt/config.xml +++ /dev/null @@ -1,11 +0,0 @@ -<?xml version="1.0" encoding="UTF-8"?> -<widget xmlns="http://www.w3.org/ns/widgets" id="@PROJECT_NAME@" version="@PROJECT_VERSION@"> - <name>@PROJECT_NAME@</name> - <icon src="icon.png"/> - <content src="libs" type="application/vnd.agl.service"/> - <description>This is a demo application used to control and dialog with HVAC system</description> - <author>Romain Forlot <romain.forlot@iot.bzh></author> - <license>APL 2.0</license> -</widget> - - diff --git a/low-can-binding/packaging/wgt/etc/can_buses.json b/low-can-binding/packaging/wgt/etc/can_buses.json deleted file mode 100644 index c4292df..0000000 --- a/low-can-binding/packaging/wgt/etc/can_buses.json +++ /dev/null @@ -1,3 +0,0 @@ -{ - "canbus": "can0" -} diff --git a/low-can-binding/packaging/wgt/icon.png b/low-can-binding/packaging/wgt/icon.png Binary files differdeleted file mode 100644 index 9bd6a6e..0000000 --- a/low-can-binding/packaging/wgt/icon.png +++ /dev/null diff --git a/low-can-binding/utils/config-parser.cpp b/low-can-binding/utils/config-parser.cpp deleted file mode 100644 index e73b0f9..0000000 --- a/low-can-binding/utils/config-parser.cpp +++ /dev/null @@ -1,84 +0,0 @@ -/* - * 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/low-can-binding/utils/config-parser.hpp b/low-can-binding/utils/config-parser.hpp deleted file mode 100644 index e6bd9d2..0000000 --- a/low-can-binding/utils/config-parser.hpp +++ /dev/null @@ -1,43 +0,0 @@ -/* - * 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/low-can-binding/utils/openxc-utils.cpp b/low-can-binding/utils/openxc-utils.cpp deleted file mode 100644 index 52b49d2..0000000 --- a/low-can-binding/utils/openxc-utils.cpp +++ /dev/null @@ -1,282 +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 "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/low-can-binding/utils/openxc-utils.hpp b/low-can-binding/utils/openxc-utils.hpp deleted file mode 100644 index d36b359..0000000 --- a/low-can-binding/utils/openxc-utils.hpp +++ /dev/null @@ -1,42 +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. - */ - -#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/low-can-binding/utils/signals.cpp b/low-can-binding/utils/signals.cpp deleted file mode 100644 index 2e14a98..0000000 --- a/low-can-binding/utils/signals.cpp +++ /dev/null @@ -1,76 +0,0 @@ -/* - * 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/low-can-binding/utils/signals.hpp b/low-can-binding/utils/signals.hpp deleted file mode 100644 index e941756..0000000 --- a/low-can-binding/utils/signals.hpp +++ /dev/null @@ -1,90 +0,0 @@ -/* - * 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/low-can-binding/utils/socket.cpp b/low-can-binding/utils/socket.cpp deleted file mode 100644 index e75e27f..0000000 --- a/low-can-binding/utils/socket.cpp +++ /dev/null @@ -1,89 +0,0 @@ -/* - * 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/low-can-binding/utils/socket.hpp b/low-can-binding/utils/socket.hpp deleted file mode 100644 index b42eee6..0000000 --- a/low-can-binding/utils/socket.hpp +++ /dev/null @@ -1,46 +0,0 @@ -#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/low-can-binding/utils/timer.cpp b/low-can-binding/utils/timer.cpp deleted file mode 100644 index a35a3e9..0000000 --- a/low-can-binding/utils/timer.cpp +++ /dev/null @@ -1,102 +0,0 @@ -/* - * 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/low-can-binding/utils/timer.hpp b/low-can-binding/utils/timer.hpp deleted file mode 100644 index f565904..0000000 --- a/low-can-binding/utils/timer.hpp +++ /dev/null @@ -1,53 +0,0 @@ -/* - * 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 |
