diff options
| -rw-r--r-- | src/can-decoder.cpp | 68 | ||||
| -rw-r--r-- | src/can-decoder.hpp | 19 | ||||
| -rw-r--r-- | src/can-signals.cpp | 9 | ||||
| -rw-r--r-- | src/can-utils.hpp | 4 |
4 files changed, 55 insertions, 45 deletions
diff --git a/src/can-decoder.cpp b/src/can-decoder.cpp index b222bc62..bc4d0be7 100644 --- a/src/can-decoder.cpp +++ b/src/can-decoder.cpp @@ -15,70 +15,76 @@ * limitations under the License. */ -#pragma once - #include "can-decoder.hpp" +#include "canutil/read.h" -float decoder_t::parseSignalBitfield(const CanSignal& signal, const CanMessage& message) +float decoder_t::parseSignalBitfield(CanSignal& signal, const can_message_t& message) { - return bitfield_parse_float(message->data, CAN_MESSAGE_SIZE, - signal->bitPosition, signal->bitSize, signal->factor, - signal->offset); + return bitfield_parse_float(message.get_data(), CAN_MESSAGE_SIZE, + signal.bitPosition, signal.bitSize, signal.factor, + signal.offset); } -openxc_DynamicField decoder_t::noopDecoder(const CanSignal& signal, - const CanSignal& signals, float value, bool* send) +openxc_DynamicField decoder_t::noopDecoder(CanSignal& signal, + const std::vector<CanSignal>& signals, float value, bool* send) { - decoded_value = { .has_type = true, - .type = openxc_DynamicField_Type_NUM, - .has_numeric_value = true, - .numeric_value = value }; + openxc_DynamicField decoded_value; + decoded_value.has_type = true; + decoded_value.type = openxc_DynamicField_Type_NUM; + decoded_value.has_numeric_value = true; + decoded_value.numeric_value = value; + return decoded_value; } -openxc_DynamicField decoder_t::booleanDecoder(const CanSignal& signal, - const CanSignal& signals, float value, bool* send) +openxc_DynamicField decoder_t::booleanDecoder(CanSignal& signal, + const std::vector<CanSignal>& signals, float value, bool* send) { - decoded_value = { .has_type = true, - .type = openxc_DynamicField_Type_BOOL, - .has_boolean_value = true, - .numeric_value = value == 0.0 ? false : true }; + openxc_DynamicField decoded_value; + decoded_value.has_type = true; + decoded_value.type = openxc_DynamicField_Type_BOOL; + decoded_value.has_boolean_value = true; + decoded_value.boolean_value = value == 0.0 ? false : true; + return decoded_value; } -openxc_DynamicField decoder_t::ignoreDecoder(const CanSignal& signal, - const CanSignal& signals, float value, bool* send) +openxc_DynamicField decoder_t::ignoreDecoder(CanSignal& signal, + const std::vector<CanSignal>& signals, float value, bool* send) { if(send) *send = false; - openxc_DynamicField decoded_value = {0}; + openxc_DynamicField decoded_value = {0, openxc_DynamicField_Type_BOOL, 0, "", 0, 0, 0, 0}; + return decoded_value; } -openxc_DynamicField decoder_t::stateDecoder(const CanSignal& signal, - const CanSignal& signals, float value, bool* send) +openxc_DynamicField decoder_t::stateDecoder(CanSignal& signal, + const std::vector<CanSignal>& signals, float value, bool* send) { - openxc_DynamicField decoded_value = {0}; + openxc_DynamicField decoded_value = {0, openxc_DynamicField_Type_BOOL, 0, "", 0, 0, 0, 0}; decoded_value.has_type = true; decoded_value.type = openxc_DynamicField_Type_STRING; decoded_value.has_string_value = true; + /* TODO: Handle SignalState const CanSignalState* signalState = lookupSignalState(value, signal); if(signalState != NULL) { ::strcpy(decoded_value.string_value, signalState->name); } else { *send = false; - } + }*/ return decoded_value; } openxc_DynamicField decoder_t::translateSignal(CanSignal& signal, can_message_t& message, const std::vector<CanSignal>& signals) { - if(signal == nullptr || message == nullptr) + if(&signal == nullptr || &message == nullptr) { - return {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}; + openxc_DynamicField ret = {0, openxc_DynamicField_Type_BOOL, 0, "", 0, 0, 0, 0}; + return ret; } float value = parseSignalBitfield(signal, message); @@ -94,17 +100,17 @@ openxc_DynamicField decoder_t::translateSignal(CanSignal& signal, can_message_t& return decoded_value; } -openxc_DynamicField decoder_t::decodeSignal(const CanSignal& signal, +openxc_DynamicField decoder_t::decodeSignal( CanSignal& signal, float value, const std::vector<CanSignal>& signals, bool* send) { - SignalDecoder decoder = signal->decoder == NULL ? - noopDecoder : signal->decoder; + SignalDecoder decoder = signal.decoder == NULL ? + noopDecoder : signal.decoder; openxc_DynamicField decoded_value = decoder(signal, signals, value, send); return decoded_value; } -openxc_DynamicField decoder_t::decodeSignal(const CanSignal& signal, +openxc_DynamicField decoder_t::decodeSignal( CanSignal& signal, const can_message_t& message, const std::vector<CanSignal>& signals, bool* send) { float value = parseSignalBitfield(signal, message); diff --git a/src/can-decoder.hpp b/src/can-decoder.hpp index ac967300..200035d3 100644 --- a/src/can-decoder.hpp +++ b/src/can-decoder.hpp @@ -34,7 +34,7 @@ class decoder_t * Returns the raw value of the signal parsed as a bitfield from the given byte * array. */ - float parseSignalBitfield(const CanSignal& signal, const can_message_t& message); + float parseSignalBitfield(CanSignal& signal, const can_message_t& message); /* Public: Find and return the corresponding string state for a CAN signal's * raw integer value. @@ -53,7 +53,7 @@ class decoder_t * the signal. If an equivalent isn't found, send is sent to false and the * return value is undefined. */ - static openxc_DynamicField stateDecoder(const CanSignal& signal, const CanSignal& signals, + static openxc_DynamicField stateDecoder(CanSignal& signal, const std::vector<CanSignal>& signals, float value, bool* send); /* Public: Coerces a numerical value to a boolean. @@ -72,7 +72,7 @@ class decoder_t * is 0.0, otherwise true. The 'send' argument will not be modified as this * decoder always succeeds. */ - static openxc_DynamicField booleanDecoder(const CanSignal& signal, const CanSignal& signals, + static openxc_DynamicField booleanDecoder(CanSignal& signal, const std::vector<CanSignal>& signals, float value, bool* send); /* Public: Update the metadata for a signal and the newly received value. @@ -91,7 +91,7 @@ class decoder_t * * The return value is undefined. */ - static openxc_DynamicField ignoreDecoder(const CanSignal& signal, const CanSignal& signals, + openxc_DynamicField ignoreDecoder(CanSignal& signal, const std::vector<CanSignal>& signals, float value, bool* send); /* Public: Wrap a raw CAN signal value in a DynamicField without modification. @@ -110,8 +110,8 @@ class decoder_t * its numeric value. The 'send' argument will not be modified as this decoder * always succeeds. */ - static openxc_DynamicField noopDecoder(const CanSignal& signal, const CanSignal& signals, - float value); + static openxc_DynamicField noopDecoder(CanSignal& signal, const std::vector<CanSignal>& signals, + float value, bool* send); /* Public: Parse a signal from a CAN message, apply any required transforations @@ -139,15 +139,14 @@ class decoder_t * signal - The details of the signal to decode and forward. * message - The CAN message that contains the signal. * signals - an array of all active signals. - * signalCount - The length of the signals array. * send - An output parameter that will be flipped to false if the value could * not be decoded. * * 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 decodeSignal(const CanSignal& signal, const can_message_t& message, - const std::vector<CanSignal>& signals); + openxc_DynamicField decodeSignal(CanSignal& signal, const can_message_t& message, + const std::vector<CanSignal>& signals, bool* send); /* Public: Decode a transformed, human readable value from an raw CAN signal * already parsed from a CAN message. @@ -157,6 +156,6 @@ class decoder_t * message yourself. This is useful if you need that raw value for something * else. */ - openxc_DynamicField decodeSignal(const CanSignal& signal, float value, + openxc_DynamicField decodeSignal(CanSignal& signal, float value, const std::vector<CanSignal>& signals, bool* send); };
\ No newline at end of file diff --git a/src/can-signals.cpp b/src/can-signals.cpp index 54c03425..add6654d 100644 --- a/src/can-signals.cpp +++ b/src/can-signals.cpp @@ -19,14 +19,19 @@ #include <fnmatch.h> +#include "can-decoder.hpp" #include "low-can-binding.hpp" +std::vector<std::vector<CanMessageDefinition>> CAN_MESSAGES = { + {{620, CanMessageFormat::STANDARD, {10, 0, nullptr}, false, (uint8_t)NULL}}, +}; + /** * @brief Dumb SIGNALS array. It is composed by CanMessageSet * SIGNALS[MESSAGE_SET_ID][CanSignal] */ -std::vector<std::vector<CanSignal>> SIGNALS { - {}// message set: example +std::vector<std::vector<CanSignal>> SIGNALS = { + {{&(CAN_MESSAGES[0][0]), "can.driver_door.open", 2, 4, 1.000000, 0.000000, 0.000000, 0.000000, {10, 0, nullptr}, false, true, nullptr, 0, false, decoder_t::booleanDecoder, nullptr, false, (float)NULL}}, }; /** diff --git a/src/can-utils.hpp b/src/can-utils.hpp index 50d5eb99..29a41f26 100644 --- a/src/can-utils.hpp +++ b/src/can-utils.hpp @@ -52,8 +52,8 @@ * * @return a decoded value in an openxc_DynamicField struct. */ -typedef openxc_DynamicField (*SignalDecoder)(const struct CanSignal& signal, - const CanSignal& signals, float value, bool* send); +typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal& signal, + const std::vector<CanSignal>& signals, float value, bool* send); /** * @brief: The type signature for a CAN signal encoder. |