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authorRomain Forlot <romain.forlot@iot.bzh>2017-07-13 18:51:20 +0200
committerRomain Forlot <romain.forlot@iot.bzh>2017-07-21 12:02:11 +0200
commit2408a177e8260dcda266df9993e6acd528bebbbc (patch)
tree32fbc74e96659d701496a3687ef9c0496dd4fd07 /low-can-binding/can
parent0dc8b87f5d8a03183c1b947640f6315545e4207b (diff)
Be able to write raw frame & encode value to sent
Check whether the argument is a raw frame or a Signal + Value to encode then send. 1 new class to handle encoding part of a value as well as a new method for can_signal_t which return index of a map from its value. Change-Id: I288d2aeec28ce74c9ca35750db18557c9251e1df Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>
Diffstat (limited to 'low-can-binding/can')
-rw-r--r--low-can-binding/can/can-encoder.cpp159
-rw-r--r--low-can-binding/can/can-encoder.hpp33
-rw-r--r--low-can-binding/can/can-signals.cpp14
-rw-r--r--low-can-binding/can/can-signals.hpp1
4 files changed, 207 insertions, 0 deletions
diff --git a/low-can-binding/can/can-encoder.cpp b/low-can-binding/can/can-encoder.cpp
new file mode 100644
index 00000000..b87407f1
--- /dev/null
+++ b/low-can-binding/can/can-encoder.cpp
@@ -0,0 +1,159 @@
+/*
+ * 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-encoder.hpp"
+
+#include "canutil/write.h"
+#include "../utils/openxc-utils.hpp"
+#include "can-message-definition.hpp"
+#include "../binding/low-can-hat.hpp"
+
+/// @brief Write a value into a CAN signal in the destination buffer.
+///
+/// @param[in] signal - The CAN signal to write, including the bit position and bit size.
+/// @param[in] value - The encoded integer value to write into the CAN signal.
+/// @param[out] data - The destination buffer.
+/// @param[in] length - The length of the destination buffer.
+///
+/// @return Returns a can_frame struct initialized and ready to be send.
+const can_frame build_frame(const can_signal_t& signal, uint64_t value)
+{
+ struct can_frame cf;
+ ::memset(&cf, 0, sizeof(cf));
+
+ cf.can_id = signal.get_message()->get_id();
+ cf.can_dlc = CAN_MAX_DLEN;
+ bitfield_encode_float((float)value,
+ signal.get_bit_position(),
+ signal.get_bit_size(),
+ signal.get_factor(),
+ signal.get_offset(),
+ cf.data,
+ CAN_MAX_DLEN);
+
+ return cf;
+}
+
+/// @brief Encode a boolean into an integer, fit for a CAN signal bitfield.
+///
+/// This is a shortcut for encodeDynamicField(CanSignal*, openxc_DynamicField*,
+/// bool*) that takes care of creating the DynamicField object for you with the
+/// boolean value.
+///
+/// @param[in] signal - The CAN signal to encode this value for..
+/// @param[in] value - The boolean value to encode
+/// @param[out] send - An output argument that will be set to false if the value should
+/// not be sent for any reason.
+///
+/// @return Returns the encoded integer. If 'send' is changed to false, the field could
+/// not be encoded and the return value is undefined.
+///
+uint64_t encoder_t::encode_boolean(const can_signal_t& signal, bool value, bool* send)
+{
+ return encode_number(signal, float(value), send);
+}
+/// @brief Encode a float into an integer, fit for a CAN signal's bitfield.
+///
+/// This is a shortcut for encodeDynamicField(CanSignal*, openxc_DynamicField*,
+/// bool*) that takes care of creating the DynamicField object for you with the
+/// float value.
+///
+/// @param[in] signal - The CAN signal to encode this value for.
+/// @param[in] value - The float value to encode.
+/// @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 Returns the encoded integer. If 'send' is changed to false, the field could
+/// not be encoded and the return value is undefined.
+///
+uint64_t encoder_t::encode_number(const can_signal_t& signal, float value, bool* send)
+{
+ return float_to_fixed_point(value, signal.get_factor(), signal.get_offset());
+}
+
+/// @brief Encode a string into an integer, fit for a CAN signal's bitfield.
+///
+/// Be aware that the behavior is undefined if there are multiple values assigned
+/// to a single state. See https://github.com/openxc/vi-firmware/issues/185.
+///
+/// This is a shortcut for encodeDynamicField(CanSignal*, openxc_DynamicField*,
+/// bool*) that takes care of creating the DynamicField object for you with the
+/// string state value.
+///
+/// @param[in] signal - The details of the signal that contains the state mapping.
+/// @param[in] value - The string state value to encode.
+/// @param[out] send - An output argument that will be set to false if the value should
+/// not be sent for any reason.
+///
+/// @return Returns the encoded integer. If 'send' is changed to false, the field could
+/// not be encoded and the return value is undefined.
+///
+uint64_t encoder_t::encode_state(const can_signal_t& signal, const std::string& state, bool* send)
+{
+ uint64_t value = 0;
+ if(state == "")
+ {
+ AFB_DEBUG("Can't write state of "" -- not sending");
+ *send = false;
+ }
+ else
+ {
+ uint64_t signal_state = signal.get_states(state);
+ if(signal_state != -1) {
+ value = signal_state;
+ } else {
+ AFB_DEBUG("Couldn't find a valid signal state for %s", state.c_str());
+ *send = false;
+ }
+ }
+ return 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[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.
+///
+uint64_t encoder_t::encode_DynamicField( can_signal_t& signal, const openxc_DynamicField& field, bool* send)
+{
+ uint64_t value = 0;
+ switch(field.type) {
+ case openxc_DynamicField_Type_STRING:
+ value = encode_state(signal, field.string_value, send);
+ break;
+ case openxc_DynamicField_Type_NUM:
+ value = encode_number(signal, (float)field.numeric_value, send);
+ break;
+ case openxc_DynamicField_Type_BOOL:
+ value = encode_boolean(signal, field.boolean_value, send);
+ break;
+ default:
+ AFB_DEBUG("Dynamic field didn't have a value, can't encode");
+ *send = false;
+ break;
+ }
+ return value;
+}
diff --git a/low-can-binding/can/can-encoder.hpp b/low-can-binding/can/can-encoder.hpp
new file mode 100644
index 00000000..f7e8394f
--- /dev/null
+++ b/low-can-binding/can/can-encoder.hpp
@@ -0,0 +1,33 @@
+/*
+ * 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 encoder_t
+{
+public:
+ static const can_frame build_frame(const can_signal_t& signal, uint64_t value);
+ static uint64_t encode_state(const can_signal_t& signal, const std::string& value, bool* send);
+ static uint64_t encode_boolean(const can_signal_t& signal, bool value, bool* send);
+ static uint64_t encode_number(const can_signal_t& signal, float value, bool* send);
+
+ static uint64_t encode_DynamicField(can_signal_t& signal, const openxc_DynamicField& field, bool* send);
+};
diff --git a/low-can-binding/can/can-signals.cpp b/low-can-binding/can/can-signals.cpp
index 573808aa..45c54cb4 100644
--- a/low-can-binding/can/can-signals.cpp
+++ b/low-can-binding/can/can-signals.cpp
@@ -141,6 +141,20 @@ const std::string can_signal_t::get_states(uint8_t value)
return std::string();
}
+uint64_t can_signal_t::get_states(const std::string& value) const
+{
+ uint64_t ret = -1;
+ for( const auto& state: states_)
+ {
+ if(state.second == value)
+ {
+ ret = (uint64_t)state.first;
+ break;
+ }
+ }
+ return ret;
+}
+
size_t can_signal_t::get_state_count() const
{
return states_.size();
diff --git a/low-can-binding/can/can-signals.hpp b/low-can-binding/can/can-signals.hpp
index f7ff0372..1b27622e 100644
--- a/low-can-binding/can/can-signals.hpp
+++ b/low-can-binding/can/can-signals.hpp
@@ -133,6 +133,7 @@ public:
bool get_force_send_changed() const;
const std::map<uint8_t, std::string>& get_states() const;
const std::string get_states(uint8_t value);
+ uint64_t get_states(const std::string& value) const;
size_t get_state_count() const;
bool get_writable() const;
signal_decoder& get_decoder();