Rename header file to hpp.

Change-Id: I399e0c0f39b18e63e254825b6322faf77896a264
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

1 files changed, 394 insertions, 0 deletions

diff --git a/src/can-utils.hpp b/src/can-utils.hpp
new file mode 100644
index 00000000..da5f81ca
--- /dev/null
+++ b/src/can-utils.hpp
@@ -0,0 +1,394 @@
+/*
+ * 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 "timer.h"
+#include "openxc.pb.h"
+
+// 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_MESSAGE_SIZE 8
+
+#define CAN_ACTIVE_TIMEOUT_S 30
+
+/* Public: The type signature for a CAN signal decoder.
+ *
+ * A SignalDecoder transforms a raw floating point CAN signal into a number,
+ * string or boolean.
+ *
+ * signal - The CAN signal that we are decoding.
+ * signals - The list of all signals.
+ * signalCount - The length of the signals array.
+ * value - The CAN signal parsed from the message as a raw floating point
+ *		value.
+ * 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.
+ *
+ * Returns a decoded value in an openxc_DynamicField struct.
+ */
+typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal* signal,
+		CanSignal* signals, int signalCount, 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.
+ *
+ * @params[signal] - The CAN signal to encode. 
+ * @params[value] - The dynamic field to encode.
+ * @params[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)(struct CanSignal* signal,
+		openxc_DynamicField* value, bool* send);
+
+/** 
+ * @brief Object representing a can device. Handle opening, closing and reading on the
+ * socket. This is the low level object to be use by can_bus_t.
+ *
+ * @params[*interface_] - afb_binding_interface to the binder. Used to log messages
+ * @params[device_name_] - name of the linux device handling the can bus. Generally vcan0, can0, etc.
+ *
+ */
+class can_bus_dev_t {
+	private:
+		std::string device_name_;
+		int can_socket_;
+
+		int can_socket_;
+		bool is_fdmode_on_;
+		struct sockaddr_can txAddress_;
+
+		bool has_can_message_;
+		std::queue <can_message_t> can_message_q_;
+
+		std::thread th_reading_;
+		bool is_running_;
+
+	public:
+		int open();
+		int close();
+		bool is_running();
+		
+		can_message_t* next_can_message();
+		void push_new_can_message(const can_message_t& can_msg);		
+}
+
+
+/** 
+ * @brief Object used to handle decoding and manage event queue to be pushed.
+ *
+ * @params[*interface_] - afb_binding_interface to the binder. Used to log messages
+ * @params[conf_file_ifstream_] - stream of configuration file used to initialize 
+ * can_bus_dev_t objects.
+ */
+class can_bus_t {
+	private:
+		afb_binding_interface *interface_;
+
+		std::vector<can_bus_dev_t> devices;
+
+		std::thread th_decoding_;
+		std::thread th_pushing_;
+
+		bool has_vehicle_message_;
+		std::queue <openxc_VehicleMessage> vehicle_message_q_;
+
+	public:
+		void start_threads();
+
+		int send_can_message(can_message_t can_msg);
+
+		openxc_VehicleMessage& next_vehicle_message();
+		void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
+};
+
+/* A compact representation of a single CAN message, meant to be used in in/out
+ * buffers.
+ *
+ * id - The ID of the message.
+ * format - the format of the message's ID.
+ * data  - The message's data field.
+ * length - the length of the data array (max 8).
+struct CanMessage {
+	uint32_t id;
+	CanMessageFormat format;
+	uint8_t data[CAN_MESSAGE_SIZE];
+	uint8_t length;
+};
+typedef struct CanMessage CanMessage;
+*/
+class can_message_t {
+	private:
+		afb_binding_interface interface_;
+		uint32_t id_;
+		CanMessageFormat format_;
+		uint8_t data_[CAN_MESSAGE_SIZE];
+		uint8_t length_;
+
+	public:
+		uint32_t get_id() const;
+		int get_format() const;
+		uint8_t get_data() const;
+		uint8_t get_lenght() const;
+
+		void set_id(uint32_t id);
+		void set_format(CanMessageFormat format);
+		void set_data(uint8_t data);
+		void set_lenght(uint8_t length);
+
+		void convert_from_canfd_frame(canfd_frame frame);
+		canfd_frame convert_to_canfd_frame();
+};
+
+QUEUE_DECLARE(can_message_t, 8);
+
+/* Public: The ID format for a CAN message.
+ *
+ * STANDARD - standard 11-bit CAN arbitration ID.
+ * EXTENDED - an extended frame, with a 29-bit arbitration ID.
+ */
+enum CanMessageFormat {
+	STANDARD,
+	EXTENDED,
+};
+typedef enum CanMessageFormat CanMessageFormat;
+
+/* Public: A state encoded (SED) signal's mapping from numerical values to
+ * OpenXC state names.
+ *
+ * value - The integer value of the state on the CAN bus.
+ * name  - The corresponding string name for the state in OpenXC.
+ */
+struct CanSignalState {
+	const int value;
+	const char* name;
+};
+typedef struct CanSignalState CanSignalState;
+
+/* Public: A CAN signal to decode from the bus and output over USB.
+ *
+ * message	   - The message this signal is a part of.
+ * genericName - The name of the signal to be output over USB.
+ * 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)
+ * bitSize	   - The width of the bit field in the CAN message.
+ * factor	   - The final value will be multiplied by this factor. Use 1 if you
+ *				 don't need a factor.
+ * offset	   - The final value will be added to this offset. Use 0 if you
+ *				 don't need an offset.
+ * minValue    - The minimum value for the processed signal.
+ * maxValue    - The maximum value for the processed signal.
+ * frequencyClock - A FrequencyClock struct to control the maximum frequency to
+ *				process and send this signal. To process every value, set the
+ *				clock's frequency to 0.
+ * sendSame    - If true, will re-send even if the value hasn't changed.
+ * forceSendChanged - If true, regardless of the frequency, it will send the
+ *				value if it has changed.
+ * states	   - An array of CanSignalState describing the mapping
+ *				 between numerical and string values for valid states.
+ * stateCount  - The length of the states array.
+ * writable    - True if the signal is allowed to be written from the USB host
+ *				 back to CAN. Defaults to false.
+ * decoder	   - An optional function to decode a signal from the bus to a human
+ *		readable value. If NULL, the default numerical decoder is used.
+ * 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.
+ * received    - True if this signal has ever been received.
+ * lastValue   - The last received value of the signal. If 'received' is false,
+ *		this value is undefined.
+ */
+struct CanSignal {
+	struct CanMessageDefinition* message;
+	const char* genericName;
+	uint8_t bitPosition;
+	uint8_t bitSize;
+	float factor;
+	float offset;
+	float minValue;
+	float maxValue;
+	FrequencyClock frequencyClock;
+	bool sendSame;
+	bool forceSendChanged;
+	const CanSignalState* states;
+	uint8_t stateCount;
+	bool writable;
+	SignalDecoder decoder;
+	SignalEncoder encoder;
+	bool received;
+	float lastValue;
+};
+typedef struct CanSignal CanSignal;
+
+/* Public: 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.
+ *
+ * bus - A pointer to the bus this message is on.
+ * id - The ID of the message.
+ * format - the format of the message's ID.
+ * 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.
+ * forceSendChanged - If true, regardless of the frequency, it will send CAN
+ *		message if it has changed when using raw passthrough.
+ * lastValue - 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.
+ */
+struct CanMessageDefinition {
+	struct CanBus* bus;
+	uint32_t id;
+	CanMessageFormat format;
+	FrequencyClock frequencyClock;
+	bool forceSendChanged;
+	uint8_t lastValue[CAN_MESSAGE_SIZE];
+};
+typedef struct CanMessageDefinition CanMessageDefinition;
+
+/* Private: An entry in the list of acceptance filters for each CanBus.
+ *
+ * This struct is meant to be used with a LIST type from <sys/queue.h>.
+ *
+ * filter - the value for the CAN acceptance filter.
+ * activeUserCount - The number of active consumers of this filter's messages.
+ *		When 0, this filter can be removed.
+ * format - the format of the ID for the filter.
+struct AcceptanceFilterListEntry {
+	uint32_t filter;
+	uint8_t activeUserCount;
+	CanMessageFormat format;
+	LIST_ENTRY(AcceptanceFilterListEntry) entries;
+};
+ */
+
+/* Private: A type of list containing CAN acceptance filters.
+LIST_HEAD(AcceptanceFilterList, AcceptanceFilterListEntry);
+
+struct CanMessageDefinitionListEntry {
+	CanMessageDefinition definition;
+	LIST_ENTRY(CanMessageDefinitionListEntry) entries;
+};
+LIST_HEAD(CanMessageDefinitionList, CanMessageDefinitionListEntry);
+ */
+
+/** Public: A parent wrapper for a particular set of CAN messages and associated
+ *	CAN buses(e.g. a vehicle or program).
+ *
+ *	index - A numerical ID for the message set, ideally the index in an array
+ *		for fast lookup
+ *	name - The name of the message set.
+ *	busCount - The number of CAN buses defined for this message set.
+ *	messageCount - The number of CAN messages (across all buses) defined for
+ *		this message set.
+ *	signalCount - The number of CAN signals (across all messages) defined for
+ *		this message set.
+ *	commandCount - The number of CanCommmands defined for this message set.
+ */
+ typedef struct {
+	uint8_t index;
+	const char* name;
+	uint8_t busCount;
+	unsigned short messageCount;
+	unsigned short signalCount;
+	unsigned short commandCount;
+} CanMessageSet;
+
+/* Public: The type signature for a function to handle a custom OpenXC command.
+ *
+ * name - the name of the received command.
+ * value - the value of the received command, in a DynamicField. The actual type
+ *		may be a number, string or bool.
+ * event - an optional event from the received command, in a DynamicField. The
+ *		actual type may be a number, string or bool.
+ * signals - The list of all signals.
+ * signalCount - The length of the signals array.
+ */
+typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
+		openxc_DynamicField* event, CanSignal* signals, int signalCount);
+
+/* Public: 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.
+ *
+ * genericName - The name of the command.
+ * handler - An function to process the received command's data and perform some
+ *		action.
+typedef struct {
+	const char* genericName;
+	CommandHandler handler;
+} CanCommand;
+ */
+
+class CanCommand_c {
+	private:
+		const char* genericName;
+		CommandHandler handler;
+};
+
+/* Pre initialize actions made before CAN bus initialization
+ *
+ * bus - A CanBus struct defining the bus's metadata
+ * 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.
+ * buses - An array of all CAN buses.
+ * busCount - The length of the buses array.
+ */
+void pre_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCount);
+
+/* Post-initialize actions made after CAN bus initialization and before the
+ * event loop connection.
+ *
+ * bus - A CanBus struct defining the bus's metadata
+ * 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.
+ * buses - An array of all CAN buses.
+ * busCount - The length of the buses array.
+ */
+void post_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCount);
+
+/* Public: Check if the device is connected to an active CAN bus, i.e. it's
+ * received a message in the recent past.
+ *
+ * Returns true if a message was received on the CAN bus within
+ * CAN_ACTIVE_TIMEOUT_S seconds.
+ */
+bool isBusActive(CanBus* bus);
+
+/* Public: Log transfer statistics about all active CAN buses to the debug log.
+ *
+ * buses - an array of active CAN buses.
+ * busCount - the length of the buses array.
+ */
+void logBusStatistics(CanBus* buses, const int busCount);