diff options
Diffstat (limited to 'CAN-binder/low-can-binding/can/can-signals.cpp')
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-signals.cpp | 262 |
1 files changed, 262 insertions, 0 deletions
diff --git a/CAN-binder/low-can-binding/can/can-signals.cpp b/CAN-binder/low-can-binding/can/can-signals.cpp new file mode 100644 index 00000000..9a876136 --- /dev/null +++ b/CAN-binder/low-can-binding/can/can-signals.cpp @@ -0,0 +1,262 @@ +/* + * 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 "../binding/configuration.hpp" +#include "../utils/signals.hpp" +#include "can-decoder.hpp" +#include "can-message.hpp" +#include "can-bus.hpp" +#include "../diagnostic/diagnostic-message.hpp" +#include "canutil/write.h" + +std::string can_signal_t::prefix_ = "messages"; + +can_signal_t::can_signal_t( + 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) + : parent_{nullptr}, + 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} +{} + +/*can_signal_t::can_signal_t(const can_signal_t& b) + : parent_{b.parent_}, + generic_name_{ b.generic_name_} + , bit_position_{ b.bit_position_} + , bit_size_{ b.bit_size_} + , factor_{ b.factor_ } + , offset_{ b.offset_} + , min_value_{b.min_value_} + , max_value_{b.max_value_} + , frequency_{b.frequency_} + , send_same_{b.send_same_} + , force_send_changed_{b.force_send_changed_} + , states_{b.states_} + , writable_{b.writable_} + , decoder_{b.decoder_} + , encoder_{b.encoder_} + , received_{b.received_} + , last_value_{b.last_value_} +{}*/ + +utils::socketcan_bcm_t can_signal_t::get_socket() const +{ + return socket_; +} + +can_message_definition_t* can_signal_t::get_message() const +{ + return parent_; +} + +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_parent(can_message_definition_t* parent) +{ + parent_ = parent; +} + +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; +} + +void can_signal_t::set_timestamp(uint64_t timestamp) +{ + frequency_.tick(timestamp); +} + +/// @brief Create a RX_SETUP receive job used by the BCM socket. +/// +/// @return 0 if ok else -1 +int can_signal_t::create_rx_filter() +{ + // Make sure that socket has been opened. + if(! socket_) + socket_.open( + get_message()->get_bus_name()); + + uint32_t can_id = get_message()->get_id(); + + struct utils::simple_bcm_msg bcm_msg; + struct can_frame cfd; + + memset(&cfd, 0, sizeof(cfd)); + memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head)); + float val = (float)(1 << bit_size_)-1; + struct timeval freq = frequency_.get_timeval_from_period(); + + bcm_msg.msg_head.opcode = RX_SETUP; + bcm_msg.msg_head.can_id = can_id; + bcm_msg.msg_head.flags = SETTIMER|RX_NO_AUTOTIMER; + bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec ; + bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec; + bcm_msg.msg_head.nframes = 1; + bitfield_encode_float(val, + bit_position_, + bit_size_, + factor_, + offset_, + cfd.data, + CAN_MAX_DLEN); + + bcm_msg.frames = cfd; + + if(socket_ << bcm_msg) + return 0; + return -1; +} |