diff options
Diffstat (limited to 'can-utils.h')
| -rw-r--r-- | can-utils.h | 341 |
1 files changed, 159 insertions, 182 deletions
diff --git a/can-utils.h b/can-utils.h index 4b5102cb..8c850e6e 100644 --- a/can-utils.h +++ b/can-utils.h @@ -6,7 +6,7 @@ * 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 + * 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, @@ -34,9 +34,9 @@ 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]; \ + int head; \ + int tail; \ + type elements[max_length + 1]; \ } queue_##type; \ \ bool queue_##type##_push(queue_##type* queue, type value); \ @@ -60,14 +60,14 @@ void queue_##type##_snapshot(queue_##type* queue, type* snapshot, int max); * 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. + * 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. + * 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); + CanSignal* signals, int signalCount, float value, bool* send); /* Public: The type signature for a CAN signal encoder. * @@ -80,13 +80,15 @@ typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal* signal, * 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); + 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; @@ -94,27 +96,69 @@ class CanBus_c { bool is_fdmode_on; struct sockaddr_can txAddress; - std::thread th_reading; - std::thread th_decoding; - std::thread th_pushing; + 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(); + 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_c { - STANDARD, - EXTENDED, +enum CanMessageFormat { + STANDARD, + EXTENDED, }; -typedef enum CanMessageFormat_c CanMessageFormat; +typedef enum CanMessageFormat CanMessageFormat; /* Public: A state encoded (SED) signal's mapping from numerical values to * OpenXC state names. @@ -122,94 +166,74 @@ typedef enum CanMessageFormat_c 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; + const int value; + const char* name; }; typedef struct CanSignalState CanSignalState; */ class CanSignalState_c { - private: - const int value; - const char *name; + 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. + * 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. + * 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. + * 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. + * 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. + * 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. + * 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 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; - */ - -class CanSignal_c { - private: - CanMessageDefinition *message; - const char *generic_name; - uint8_t bit_position; - uint8_t bit_size; - float factor; - float offset; - float min_value; - float max_value; - FrequencyClock_t 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 @@ -219,70 +243,23 @@ class CanSignal_c { * 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. + * 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. + * 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. + * 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]; + struct CanBus* bus; + uint32_t id; + CanMessageFormat format; + FrequencyClock frequencyClock; + bool forceSendChanged; + uint8_t lastValue[CAN_MESSAGE_SIZE]; }; typedef struct CanMessageDefinition CanMessageDefinition; - */ - class CanMessageDefinition_c { - private: - CanBus *bus - uint32_t id; - CanMessageFormat format; - FrequencyClock_t 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. - * - * 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_canfd_frame_to_CanMessage(canfd_frame frame); -}; - -QUEUE_DECLARE(CanMessage_c, 8); /* Private: An entry in the list of acceptance filters for each CanBus. * @@ -290,13 +267,13 @@ QUEUE_DECLARE(CanMessage_c, 8); * * 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. + * 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; + uint32_t filter; + uint8_t activeUserCount; + CanMessageFormat format; + LIST_ENTRY(AcceptanceFilterListEntry) entries; }; */ @@ -304,55 +281,55 @@ struct AcceptanceFilterListEntry { LIST_HEAD(AcceptanceFilterList, AcceptanceFilterListEntry); struct CanMessageDefinitionListEntry { - CanMessageDefinition definition; - LIST_ENTRY(CanMessageDefinitionListEntry) entries; + 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). + * 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. + * 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; + 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; + 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. + * 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. + * 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); + openxc_DynamicField* event, CanSignal* signals, int signalCount); /* Public: The structure to represent a supported custom OpenXC command. * @@ -369,24 +346,24 @@ 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. + * action. typedef struct { - const char* genericName; - CommandHandler handler; + const char* genericName; + CommandHandler handler; } CanCommand; */ class CanCommand_c { - private: - const char* genericName; - CommandHandler handler; + 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. + * 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. */ @@ -397,7 +374,7 @@ void pre_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCoun * * 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. + * 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. */ |