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Diffstat (limited to 'CAN-binder/low-can-binding/can/can-signals.hpp')
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-signals.hpp | 160 |
1 files changed, 160 insertions, 0 deletions
diff --git a/CAN-binder/low-can-binding/can/can-signals.hpp b/CAN-binder/low-can-binding/can/can-signals.hpp new file mode 100644 index 00000000..cc4b6da3 --- /dev/null +++ b/CAN-binder/low-can-binding/can/can-signals.hpp @@ -0,0 +1,160 @@ +/// +/// 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 <map> +#include <mutex> +#include <vector> +#include <string> +#include <memory> + +#include "openxc.pb.h" +#include "can-message-definition.hpp" +#include "../utils/timer.hpp" +#include "../utils/socketcan-bcm.hpp" +#include "can-message.hpp" +#include "../diagnostic/diagnostic-message.hpp" + +extern "C" +{ + #include <afb/afb-binding.h> + #include <afb/afb-event-itf.h> +} + +#define MESSAGE_SET_ID 0 + +class can_signal_t; +/// +/// @brief The type signature for a CAN signal decoder. +/// +/// A SignalDecoder transforms a raw floating point CAN signal into a number, +/// string or boolean. +/// +/// @param[in] signal - The CAN signal that we are decoding. +/// @param[in] signals - The list of all signals. +/// @param[in] signalCount - The length of the signals array. +/// @param[in] value - The CAN signal parsed from the message as a raw floating point +/// value. +/// @param[out] 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. +/// +/// @return a decoded value in an openxc_DynamicField struct. +/// +typedef openxc_DynamicField (*SignalDecoder)(can_signal_t& signal, + const std::vector<std::shared_ptr<can_signal_t> > signals, 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. +/// +/// @param[in] signal - The CAN signal to encode. +/// @param[in] value - The dynamic field to encode. +/// @param[out] 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)(can_signal_t* signal, + openxc_DynamicField* value, bool* send); + +class can_signal_t +{ +private: + can_message_definition_t* parent_; /*!< parent_ - pointer to the parent message definition holding this signal*/ + utils::socketcan_bcm_t socket_; /*!< socket_ - Specific BCM socket that filter the signal read from CAN device */ + std::string generic_name_; /*!< generic_name_ - The name of the signal to be output.*/ + static std::string prefix_; /*!< prefix_ - generic_name_ will be prefixed with it. It has to reflect the used protocol. + * which make easier to sort message when the come in.*/ + uint8_t bit_position_; /*!< 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) */ + uint8_t bit_size_; /*!< bit_size_ - The width of the bit field in the CAN message. */ + float factor_; /*!< factor_ - The final value will be multiplied by this factor. Use 1 if you + * don't need a factor. */ + float offset_; /*!< offset_ - The final value will be added to this offset. Use 0 if you + * don't need an offset. */ + float min_value_; /*!< min_value_ - The minimum value for the processed signal.*/ + float max_value_; /*!< max_value_ - The maximum value for the processed signal. */ + frequency_clock_t frequency_; /*!< frequency_ - A frequency_clock_t struct to control the maximum frequency to + * process and send this signal. To process every value, set the + * clock's frequency to 0. */ + bool send_same_; /*!< send_same_ - If true, will re-send even if the value hasn't changed.*/ + bool force_send_changed_; /*!< force_send_changed_ - If true, regardless of the frequency, it will send the + * value if it has changed. */ + std::map<uint8_t, std::string> states_; /*!< states_ - A map of CAN signal state describing the mapping + * between numerical and string values for valid states. */ + bool writable_; /*!< writable - True if the signal is allowed to be written from the USB host + * back to CAN. Defaults to false.*/ + SignalDecoder decoder_; /*!< decoder_ - An optional function to decode a signal from the bus to a human + * readable value. If NULL, the default numerical decoder is used. */ + SignalEncoder encoder_; /*!< 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. */ + bool received_; /*!< received_ - True if this signal has ever been received.*/ + float last_value_; /*!< lastValue_ - The last received value of the signal. If 'received' is false, + * this value is undefined. */ + +public: + 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); + + utils::socketcan_bcm_t get_socket() const; + can_message_definition_t* get_message() const; + const std::string get_generic_name() const; + const std::string get_name() const; + const std::string get_prefix() const; + uint8_t get_bit_position() const; + uint8_t get_bit_size() const; + float get_factor() const; + float get_offset() const; + float get_min_value() const; + float get_max_value() const; + frequency_clock_t& get_frequency(); + bool get_send_same() const; + bool get_force_send_changed() const; + const std::map<uint8_t, std::string>& get_states() const; + const std::string get_states(uint8_t value); + size_t get_state_count() const; + bool get_writable() const; + SignalDecoder& get_decoder(); + SignalEncoder& get_encoder(); + bool get_received() const; + float get_last_value() const; + + void set_parent(can_message_definition_t* parent); + void set_prefix(std::string val); + void set_received(bool r); + void set_last_value(float val); + void set_timestamp(uint64_t timestamp); + + int create_rx_filter(); +}; |