diff options
Diffstat (limited to 'examples/basic')
| -rw-r--r-- | examples/basic/application-generated.cpp | 294 | ||||
| -rw-r--r-- | examples/basic/basic-signals.cpp | 230 |
2 files changed, 230 insertions, 294 deletions
diff --git a/examples/basic/application-generated.cpp b/examples/basic/application-generated.cpp deleted file mode 100644 index 97482f65..00000000 --- a/examples/basic/application-generated.cpp +++ /dev/null @@ -1,294 +0,0 @@ -#include "application.hpp" -#include "../can/can-decoder.hpp" -#include "../can/can-encoder.hpp" - -#include "can/canread.h" - -using openxc::can::read::publishNumericalMessage; - -void handleSteeringWheelMessage(CanMessage* message, - CanSignal* signals, int signalCount, Pipeline* pipeline) { - publishNumericalMessage("latitude", 42.0, pipeline); -} - -openxc_DynamicField handleInverted(CanSignal* signal, CanSignal* signals, - int signalCount, float value, bool* send) { - return openxc::payload::wrapNumber(value * -1); -} - -void initializeMyStuff() { } - -void initializeOtherStuff() { } - -void myLooper() { - // this function will be called once, each time through the main loop, after - // all CAN message processing has been completed -} - -// >>>>> handlers.cpp >>>>> -#include "can/canread.h" - -using openxc::can::read::publishNumericalMessage; - -void handleSteeringWheelMessage(CanMessage* message, - CanSignal* signals, int signalCount, Pipeline* pipeline) { - publishNumericalMessage("latitude", 42.0, pipeline); -} - -openxc_DynamicField handleInverted(CanSignal* signal, CanSignal* signals, - int signalCount, float value, bool* send) { - return openxc::payload::wrapNumber(value * -1); -} - -void initializeMyStuff() { } - -void initializeOtherStuff() { } - -void myLooper() { - // this function will be called once, each time through the main loop, after - // all CAN message processing has been completed -} - -// <<<<< handlers.cpp <<<<< - -application_t::application_t() - : can_bus_manager_{utils::config_parser_t{"/etc/dev-mapping.conf"}} - , message_set_{ - {std::make_shared<message_set_t>(message_set_t{0,"example", - { // beginning message_definition_ vector - {std::make_shared<message_definition_t>(message_definition_t{"hs",0x128,"ECM_z_5D2",8,0,true,frequency_clock_t(5.00000f),true, - { // beginning signals vector - {std::make_shared<signal_t> (signal_t{ - "engine_speed",// generic_name - 12,// bit_position - 8,// bit_size - 1.00000f,// factor - 0.00000f,// offset - 0,// min_value - 0,// max_value - frequency_clock_t(15.0000f),// frequency - true,// send_same - false,// force_send_changed - { - },// states - false,// writable - nullptr,// decoder - nullptr,// encoder - false,// received - std::make_pair<bool, int>(false, 0),// multiplex - false,// is_big_endian - static_cast<sign_t>(0),// signed - -1,// bit_sign_position - ""// unit - })}, - {std::make_shared<signal_t> (signal_t{ - "GearshiftPosition",// generic_name - 41,// bit_position - 3,// bit_size - 1.00000f,// factor - 0.00000f,// offset - 0,// min_value - 0,// max_value - frequency_clock_t(0.00000f),// frequency - true,// send_same - false,// force_send_changed - { - {1,"FIRST"}, - {4,"FOURTH"}, - {6,"NEUTRAL"}, - {5,"REVERSE"}, - {2,"SECOND"}, - {3,"THIRD"} - },// states - false,// writable - decoder_t::decode_state,// decoder - nullptr,// encoder - false,// received - std::make_pair<bool, int>(false, 0),// multiplex - false,// is_big_endian - static_cast<sign_t>(0),// signed - -1,// bit_sign_position - ""// unit - })}, - {std::make_shared<signal_t> (signal_t{ - "SteeringWheelAngle",// generic_name - 52,// bit_position - 12,// bit_size - 0.153920f,// factor - 0.00000f,// offset - 0,// min_value - 0,// max_value - frequency_clock_t(0.00000f),// frequency - true,// send_same - false,// force_send_changed - { - },// states - false,// writable - decoder_t::v1_to_v2_gnedSteeringWheelAngle,// decoder - nullptr,// encoder - false,// received - std::make_pair<bool, int>(false, 0),// multiplex - false,// is_big_endian - static_cast<sign_t>(0),// signed - -1,// bit_sign_position - ""// unit - })}, - {std::make_shared<signal_t> (signal_t{ - "steering_wheel_angle_error",// generic_name - 44,// bit_position - 12,// bit_size - 1.00000f,// factor - 0.00000f,// offset - 0,// min_value - 0,// max_value - frequency_clock_t(0.00000f),// frequency - true,// send_same - false,// force_send_changed - { - },// states - false,// writable - decoder_t::v1_to_v2_der,// decoder - nullptr,// encoder - false,// received - std::make_pair<bool, int>(false, 0),// multiplex - false,// is_big_endian - static_cast<sign_t>(0),// signed - -1,// bit_sign_position - ""// unit - })}, - {std::make_shared<signal_t> (signal_t{ - "steering_angle_sign",// generic_name - 52,// bit_position - 12,// bit_size - 1.00000f,// factor - 0.00000f,// offset - 0,// min_value - 0,// max_value - frequency_clock_t(0.00000f),// frequency - true,// send_same - false,// force_send_changed - { - },// states - false,// writable - decoder_t::v1_to_v2_der,// decoder - nullptr,// encoder - false,// received - std::make_pair<bool, int>(false, 0),// multiplex - false,// is_big_endian - static_cast<sign_t>(0),// signed - -1,// bit_sign_position - ""// unit - })} - } // end signals vector - })} // end message_definition entry - - }, // end message_definition vector - { // beginning diagnostic_messages_ vector - {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ - 12, - "", - 0, - 0, - UNIT::INVALID, - 1.00000f, - decoder_t::v1_to_v2_Pid, - nullptr, - true, - false - })} -, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ - 12, - "", - 0, - 0, - UNIT::INVALID, - 1.00000f, - nullptr, - nullptr, - true, - false - })} -, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ - 6, - "", - 0, - 0, - UNIT::INVALID, - 1.00000f, - decoder_t::v1_to_v2_agRequest, - nullptr, - true, - false - })} - - } // end diagnostic_messages_ vector - })} // end message_set entry - } // end message_set vector -{ - for(std::shared_ptr<message_set_t> cms: message_set_) - { - std::vector<std::shared_ptr<message_definition_t>> messages_definition = cms->get_messages_definition(); - for(std::shared_ptr<message_definition_t> cmd : messages_definition) - { - cmd->set_parent(cms); - std::vector<std::shared_ptr<signal_t>> signals = cmd->get_signals(); - for(std::shared_ptr<signal_t> sig: signals) - { - sig->set_parent(cmd); - } - } - - std::vector<std::shared_ptr<diagnostic_message_t>> diagnostic_messages = cms->get_diagnostic_messages(); - for(std::shared_ptr<diagnostic_message_t> dm : diagnostic_messages) - { - dm->set_parent(cms); - } - } - } - -const std::string application_t::get_diagnostic_bus() const -{ - return "hs"; -} - - -openxc_DynamicField decoder_t::v1_to_v2_gnedSteeringWheelAngle(signal_t& signal, std::shared_ptr<message_t> message, bool* send){ - float value = decoder_t::parse_signal_bitfield(signal, message); - openxc_DynamicField ret = decoder_t::gnedSteeringWheelAngle(signal, value, send); - if ((signal.get_last_value() == value && !signal.get_send_same()) || !*send ){ - *send = false; - } - signal.set_last_value(value); - return ret; -} - -openxc_DynamicField decoder_t::v1_to_v2_der(signal_t& signal, std::shared_ptr<message_t> message, bool* send){ - float value = decoder_t::parse_signal_bitfield(signal, message); - openxc_DynamicField ret = decoder_t::der(signal, value, send); - if ((signal.get_last_value() == value && !signal.get_send_same()) || !*send ){ - *send = false; - } - signal.set_last_value(value); - return ret; -} - -openxc_DynamicField decoder_t::v1_to_v2_Pid(signal_t& signal, std::shared_ptr<message_t> message, bool* send){ - float value = decoder_t::parse_signal_bitfield(signal, message); - openxc_DynamicField ret = decoder_t::Pid(signal, value, send); - if ((signal.get_last_value() == value && !signal.get_send_same()) || !*send ){ - *send = false; - } - signal.set_last_value(value); - return ret; -} - -openxc_DynamicField decoder_t::v1_to_v2_agRequest(signal_t& signal, std::shared_ptr<message_t> message, bool* send){ - float value = decoder_t::parse_signal_bitfield(signal, message); - openxc_DynamicField ret = decoder_t::agRequest(signal, value, send); - if ((signal.get_last_value() == value && !signal.get_send_same()) || !*send ){ - *send = false; - } - signal.set_last_value(value); - return ret; -} - diff --git a/examples/basic/basic-signals.cpp b/examples/basic/basic-signals.cpp new file mode 100644 index 00000000..14b37aef --- /dev/null +++ b/examples/basic/basic-signals.cpp @@ -0,0 +1,230 @@ +#include <binding/application.hpp> +#include <can/can-decoder.hpp> +#include <can/can-encoder.hpp> + +extern "C" { +CTLP_CAPI_REGISTER("example"); + +#include "can/canread.h" + +using openxc::can::read::publishNumericalMessage; + +void handleSteeringWheelMessage(CanMessage* message, + CanSignal* signals, int signalCount, Pipeline* pipeline) { + publishNumericalMessage("latitude", 42.0, pipeline); +} + +openxc_DynamicField handleInverted(CanSignal* signal, CanSignal* signals, + int signalCount, float value, bool* send) { + return openxc::payload::wrapNumber(value * -1); +} + +void initializeMyStuff() { } + +void initializeOtherStuff() { } + +void myLooper() { + // this function will be called once, each time through the main loop, after + // all CAN message processing has been completed +} + +// >>>>> handlers.cpp >>>>> +#include "can/canread.h" + +using openxc::can::read::publishNumericalMessage; + +void handleSteeringWheelMessage(CanMessage* message, + CanSignal* signals, int signalCount, Pipeline* pipeline) { + publishNumericalMessage("latitude", 42.0, pipeline); +} + +openxc_DynamicField handleInverted(CanSignal* signal, CanSignal* signals, + int signalCount, float value, bool* send) { + return openxc::payload::wrapNumber(value * -1); +} + +void initializeMyStuff() { } + +void initializeOtherStuff() { } + +void myLooper() { + // this function will be called once, each time through the main loop, after + // all CAN message processing has been completed +} + +// <<<<< handlers.cpp <<<<< + +std::shared_ptr<message_set_t> cms = std::make_shared<message_set_t>(message_set_t{0,"example", + { // beginning message_definition_ vector + {std::make_shared<message_definition_t>(message_definition_t{"hs",0x128,"ECM_z_5D2",8,0,frequency_clock_t(5.00000f),true, + { // beginning signals vector + {std::make_shared<signal_t> (signal_t{ + "engine_speed",// generic_name + 12,// bit_position + 8,// bit_size + 1.00000f,// factor + 0.00000f,// offset + 0,// min_value + 0,// max_value + frequency_clock_t(15.0000f),// frequency + true,// send_same + false,// force_send_changed + { + },// states + false,// writable + nullptr,// decoder + nullptr,// encoder + false,// received + std::make_pair<bool, int>(false, 0),// multiplex + static_cast<sign_t>(0),// signed + -1,// bit_sign_position + ""// unit + })}, + {std::make_shared<signal_t> (signal_t{ + "GearshiftPosition",// generic_name + 41,// bit_position + 3,// bit_size + 1.00000f,// factor + 0.00000f,// offset + 0,// min_value + 0,// max_value + frequency_clock_t(0.00000f),// frequency + true,// send_same + false,// force_send_changed + { + {1,"FIRST"}, + {4,"FOURTH"}, + {6,"NEUTRAL"}, + {5,"REVERSE"}, + {2,"SECOND"}, + {3,"THIRD"} + },// states + false,// writable + decoder_t::decode_state,// decoder + nullptr,// encoder + false,// received + std::make_pair<bool, int>(false, 0),// multiplex + static_cast<sign_t>(0),// signed + -1,// bit_sign_position + ""// unit + })}, + {std::make_shared<signal_t> (signal_t{ + "SteeringWheelAngle",// generic_name + 52,// bit_position + 12,// bit_size + 0.153920f,// factor + 0.00000f,// offset + 0,// min_value + 0,// max_value + frequency_clock_t(0.00000f),// frequency + true,// send_same + false,// force_send_changed + { + },// states + false,// writable + decoder_t::gnedSteeringWheelAngle,// decoder + nullptr,// encoder + false,// received + std::make_pair<bool, int>(false, 0),// multiplex + static_cast<sign_t>(0),// signed + -1,// bit_sign_position + ""// unit + })}, + {std::make_shared<signal_t> (signal_t{ + "steering_wheel_angle_error",// generic_name + 44,// bit_position + 12,// bit_size + 1.00000f,// factor + 0.00000f,// offset + 0,// min_value + 0,// max_value + frequency_clock_t(0.00000f),// frequency + true,// send_same + false,// force_send_changed + { + },// states + false,// writable + decoder_t::der,// decoder + nullptr,// encoder + false,// received + std::make_pair<bool, int>(false, 0),// multiplex + static_cast<sign_t>(0),// signed + -1,// bit_sign_position + ""// unit + })}, + {std::make_shared<signal_t> (signal_t{ + "steering_angle_sign",// generic_name + 52,// bit_position + 12,// bit_size + 1.00000f,// factor + 0.00000f,// offset + 0,// min_value + 0,// max_value + frequency_clock_t(0.00000f),// frequency + true,// send_same + false,// force_send_changed + { + },// states + false,// writable + decoder_t::der,// decoder + nullptr,// encoder + false,// received + std::make_pair<bool, int>(false, 0),// multiplex + static_cast<sign_t>(0),// signed + -1,// bit_sign_position + ""// unit + })} + } // end signals vector + })} // end message_definition entry + }, // end message_definition vector + { // beginning diagnostic_messages_ vector + {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 12, + "", + 0, + 0, + UNIT::INVALID, + 1.00000f, + decoder_t::Pid, + nullptr, + true, + false + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 12, + "", + 0, + 0, + UNIT::INVALID, + 1.00000f, + nullptr, + nullptr, + true, + false + })} +, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{ + 6, + "", + 0, + 0, + UNIT::INVALID, + 1.00000f, + decoder_t::agRequest, + nullptr, + true, + false + })} + + } // end diagnostic_messages_ vector +}); // end message_set entry + +CTLP_ONLOAD(plugin, handle) { + afb_api_t api = (afb_api_t) plugin->api; + CtlConfigT* CtlConfig = (CtlConfigT*) afb_api_get_userdata(api); + application_t* app = (application_t*) getExternalData(CtlConfig); + + return app->add_message_set(cms); +} + + +} |