diff options
| -rw-r--r-- | can-utils.h | 80 | ||||
| -rw-r--r-- | timer.h | 19 |
2 files changed, 80 insertions, 19 deletions
diff --git a/can-utils.h b/can-utils.h index 0a4fa246..20e37fc3 100644 --- a/can-utils.h +++ b/can-utils.h @@ -60,8 +60,6 @@ void queue_##type##_snapshot(queue_##type* queue, type* snapshot, int max); * signal - The CAN signal that we are decoding. * signals - The list of all signals. * signalCount - The length of the signals array. - * pipeline - you may want to generate arbitrary additional messages for - * publishing. * 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 @@ -70,15 +68,14 @@ void queue_##type##_snapshot(queue_##type* queue, type* snapshot, int max); * Returns a decoded value in an openxc_DynamicField struct. */ typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal* signal, - CanSignal* signals, int signalCount, - openxc::pipeline::Pipeline* pipeline, float value, bool* send); + CanSignal* signals, int signalCount, float value, bool* send); /* Public: 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. * - * signal - The CAN signal to encode. + * signal - The CAN signal to encode. * value - The dynamic field to encode. * 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. @@ -86,7 +83,7 @@ typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal* signal, typedef uint64_t (*SignalEncoder)(struct CanSignal* signal, openxc_DynamicField* value, bool* send); -/* CanBus represent a can device definition get from configuraiton file */ +/* CanBus represent a can device definition gotten from configuraiton file */ class CanBus { private: /* Got from conf file */ @@ -123,12 +120,17 @@ typedef enum CanMessageFormat CanMessageFormat; * * 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; + */ + class CanSignalState { + private: + const int value; + const char *name; + } /* Public: A CAN signal to decode from the bus and output over USB. * @@ -163,7 +165,6 @@ typedef struct CanSignalState CanSignalState; * 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; @@ -185,6 +186,28 @@ struct CanSignal { float lastValue; }; typedef struct CanSignal CanSignal; + */ + +class CanSignal { + private: + const char *generic_name; + uint8_t bit_position; + uint8_t bit_size; + float factor; + float offset; + float min_value; + float max_value; + FrequencyClock clock; + bool send_same; + bool force_send_changed; + const CanSignalState *states; + uint8_t state_count; + bool writable; + SignalDecoder decoder; + SignalEncoder encoder; + bool received; + float last_value; +} /* 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 @@ -193,7 +216,7 @@ typedef struct CanSignal CanSignal; * bus - A pointer to the bus this message is on. * id - The ID of the message. * format - the format of the message's ID. - * frequencyClock - an optional frequency clock to control the output of this + * 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 @@ -201,7 +224,6 @@ typedef struct CanSignal CanSignal; * 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; @@ -211,6 +233,16 @@ struct CanMessageDefinition { uint8_t lastValue[CAN_MESSAGE_SIZE]; }; typedef struct CanMessageDefinition CanMessageDefinition; + */ + class CanMessageDefinition { + private: + CanBus *bus + uint32_t id; + CanMessageFormat format; + FrequencyClock clock; + bool force_send_changed; + uint8_t last_value[CAN_MESSAGE_SIZE]; + } /* A compact representation of a single CAN message, meant to be used in in/out * buffers. @@ -219,7 +251,6 @@ typedef struct CanMessageDefinition CanMessageDefinition; * 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; @@ -227,6 +258,14 @@ struct CanMessage { uint8_t length; }; typedef struct CanMessage CanMessage; +*/ +class CanMessage { + private: + uint32_t id; + CanMessageFormat format; + uint8_t data[CAN_MESSAGE_SIZE]; + uint8_t length; +} QUEUE_DECLARE(CanMessage, 8); @@ -268,7 +307,6 @@ LIST_HEAD(CanMessageDefinitionList, CanMessageDefinitionListEntry); * 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; @@ -277,6 +315,16 @@ typedef struct { unsigned short signalCount; unsigned short commandCount; } CanMessageSet; + */ +class CanMessageSet { + private: + uint8_t index; + const char * name; + uint8_t busCount; + unsigned short messageCount; + unsigned short signalCount; + unsigned short commandCount; +} /* Public: The type signature for a function to handle a custom OpenXC command. * @@ -307,11 +355,17 @@ typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value, * 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 { + private: + const char* genericName; + CommandHandler handler; +} /* Pre initialize actions made before CAN bus initialization * @@ -17,16 +17,23 @@ #pragma once -typedef unsigned long (*TimeFunction)(); +//typedef unsigned long (*TimeFunction)(); /* Public: A frequency counting clock. - * * - * * frequency - the clock freuquency in Hz. - * * lastTime - the last time (in milliseconds since startup) that the clock - * * ticked. - * */ + * + * frequency - the clock frequency in Hz. + * last_time - the last time (in milliseconds since startup) that the clock + * ticked. + * time_function - a function returning current time in ms typedef struct { float frequency; unsigned long lastTick; TimeFunction timeFunction; } FrequencyClock; + */ + +class FrequencyClock { + private: + float frequency; + unsigned long last_tick; +}
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