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Diffstat (limited to 'can-utils.h')
| -rw-r--r-- | can-utils.h | 396 |
1 files changed, 0 insertions, 396 deletions
diff --git a/can-utils.h b/can-utils.h deleted file mode 100644 index 8c850e6e..00000000 --- a/can-utils.h +++ /dev/null @@ -1,396 +0,0 @@ -/* - * 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 - -#define QUEUE_DECLARE(type, max_length) \ -static const int queue_##type##_max_length = max_length; \ -static const int queue_##type##_max_internal_length = max_length + 1; \ -typedef struct queue_##type##_s { \ - int head; \ - int tail; \ - type elements[max_length + 1]; \ -} queue_##type; \ -\ -bool queue_##type##_push(queue_##type* queue, type value); \ -\ -type queue_##type##_pop(queue_##type* queue); \ -\ -type queue_##type##_peek(queue_##type* queue); \ -void queue_##type##_init(queue_##type* queue); \ -int queue_##type##_length(queue_##type* queue); \ -int queue_##type##_available(queue_##type* queue); \ -bool queue_##type##_full(queue_##type* queue); \ -bool queue_##type##_empty(queue_##type* queue); \ -void queue_##type##_snapshot(queue_##type* queue, type* snapshot, int max); - -/* 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); - -/* 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. - * 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. - */ -typedef uint64_t (*SignalEncoder)(struct CanSignal* signal, - openxc_DynamicField* value, bool* send); - -/* - * CanBus represent a can device definition gotten from configuraiton file - */ -class CanBus_c { - private: - afb_binding_interface *interface; - - /* Got from conf file */ - std::string deviceName; - - int socket; - bool is_fdmode_on; - struct sockaddr_can txAddress; - - std::thread th_reading; - std::thread th_decoding; - std::thread th_pushing; - std::queue <CanMessage_c> can_message_q; - std::queue <openxc_VehicleMessage> VehicleMessage_q; - - public: - int open(); - int close(); - - void start_threads(); - int send_can_message(CanMessage_c can_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 CanMessage_c { - private: - uint32_t id; - CanMessageFormat format; - uint8_t data[CAN_MESSAGE_SIZE]; - uint8_t length; - - public: - uint32_t get_id(); - int get_format(); - uint8_t get_data(); - uint8_t get_lenght(); - - 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(CanMessage_c, 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; - */ - class CanSignalState_c { - private: - const int value; - const char *name; -}; - -/* 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; - - struct afb_event event; -}; -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; - */ -class CanMessageSet_c { - 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. - * - * 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); |