4 files changed, 92 insertions, 14 deletions

diff --git a/low-can-binding/can/can-decoder.cpp b/low-can-binding/can/can-decoder.cpp
index e901240b..19594afa 100644
--- a/low-can-binding/can/can-decoder.cpp
+++ b/low-can-binding/can/can-decoder.cpp
@@ -23,6 +23,66 @@
 #include "../binding/low-can-hat.hpp"
 #include "../utils/converter.hpp"
 
+/// @brief Handle sign of the signal according to several decoding methods
+///
+/// @param[in] signal - The signal
+/// @param[in] data_signal - The data of the signal
+/// @param[in] new_end_bit - The last bit of in the last byte of the data (data_signal[0])
+/// @param[in] can_data - The whole can data (needed for SIGN BIT EXTERN)
+///
+/// @return Returns the sign of the data
+///
+int decoder_t::handle_sign(const signal_t& signal, std::vector<uint8_t>& data_signal, uint8_t new_end_bit, const std::vector<uint8_t>& can_data)
+{
+	uint8_t data_byte = 0;
+	uint8_t mask = 0;
+	int end_bit = 0;
+
+	if(signal.get_sign() == sign_t::UNSIGNED)
+		return 1;
+	else if(signal.get_sign() == sign_t::SIGN_BIT_EXTERN) {
+		end_bit = signal.get_bit_sign_position()%8;
+		mask = static_cast<uint8_t>((1 << (end_bit + 1)) - 1);
+		data_byte = can_data[signal.get_bit_sign_position()/8] & mask;
+	}
+	else {
+		end_bit = new_end_bit;
+		mask = static_cast<uint8_t>((1 << (end_bit + 1)) - 1);
+		data_byte = data_signal[0] & mask;
+	}
+
+	//if negative: decode with right method
+	if(data_byte  >> end_bit) {
+		switch(signal.get_sign())
+		{
+			//remove the sign bit to get the absolute value
+			case sign_t::SIGN_BIT:
+				data_signal[0] = static_cast<uint8_t>(data_signal[0] & (mask >> 1));
+				break;
+			//same method twos complement = ones complement + 1
+			case sign_t::ONES_COMPLEMENT:
+			case sign_t::TWOS_COMPLEMENT:
+				//complement only until end_bit
+				data_signal[0] = ((data_signal[0] ^ mask) & mask);
+				if(data_signal.size() > 1) {
+					for(int i=1; i < data_signal.size(); i++) {
+						data_signal[i] = data_signal[i] ^ 0xFF;
+					}
+				}
+				if(signal.get_sign() == sign_t::TWOS_COMPLEMENT)
+					data_signal[data_signal.size() - 1] = static_cast<uint8_t>(data_signal[data_signal.size() - 1] + 1);
+				break;
+			case sign_t::SIGN_BIT_EXTERN:
+				break;
+			default:
+				AFB_ERROR("Not a valid sign entry %d, considering the value as unsigned", signal.get_sign());
+				break;
+		}
+		return -1;
+	}
+	return 1;
+}
+
 /// @brief Parses the signal's bitfield from the given data and returns the raw
 /// value.
 ///
@@ -49,16 +109,12 @@ float decoder_t::parse_signal_bitfield(signal_t& signal, std::shared_ptr<message
 	for(int i=new_start_byte;i<=new_end_byte;i++)
 		data_signal.push_back(data[i]);
 
-//	if(bit_size > 255)
-//		AFB_ERROR("Error signal %s to long bit size", signal.get_name().c_str());
-
-//	if(new_start_bit > 255)
-//		AFB_ERROR("Too long signal offset %d", new_start_bit);
+	int sign = decoder_t::handle_sign(signal, data_signal, new_end_bit, data);
 
 	if(data_signal.size() > 65535)
 		AFB_ERROR("Too long data signal %s", signal.get_name().c_str());
 
-	return bitfield_parse_float(data_signal.data(), (uint16_t) data_signal.size(),
+	return static_cast<float>(sign) * bitfield_parse_float(data_signal.data(), (uint16_t) data_signal.size(),
 			new_start_bit, bit_size, signal.get_factor(),
 			signal.get_offset());
 }
@@ -294,7 +350,10 @@ openxc_DynamicField decoder_t::decode_state(signal_t& signal, std::shared_ptr<me
 ///
 openxc_DynamicField decoder_t::translate_signal(signal_t& signal, std::shared_ptr<message_t> message, bool* send)
 {
-
+	if(!signal.get_message()->frame_layout_is_little())
+	{
+		signal.set_bit_position(converter_t::bit_position_swap(signal.get_bit_position(),signal.get_bit_size()));
+	}
 	// Must call the decoders every time, regardless of if we are going to
 	// decide to send the signal or not.
 	openxc_DynamicField decoded_value = decoder_t::decode_signal(signal,
diff --git a/low-can-binding/can/can-decoder.hpp b/low-can-binding/can/can-decoder.hpp
index a5e3acbe..02a2c7e1 100644
--- a/low-can-binding/can/can-decoder.hpp
+++ b/low-can-binding/can/can-decoder.hpp
@@ -24,6 +24,7 @@
 class decoder_t
 {
 public:
+	static int handle_sign(const signal_t& signal, std::vector<uint8_t>& data_signal, uint8_t new_end_bit, const std::vector<uint8_t>& can_data);
 	static float parse_signal_bitfield(signal_t& signal, std::shared_ptr<message_t> message);
 
 	static openxc_DynamicField decode_state(signal_t& signal, std::shared_ptr<message_t> message, bool* send);
diff --git a/low-can-binding/can/signals.cpp b/low-can-binding/can/signals.cpp
index 2b87dc6f..da8df988 100755
--- a/low-can-binding/can/signals.cpp
+++ b/low-can-binding/can/signals.cpp
@@ -46,7 +46,8 @@ signal_t::signal_t(
 	bool received,
 	std::pair<bool, int> multiplex,
 	bool is_big_endian,
-	bool is_signed,
+	sign_t sign,
+	int32_t bit_sign_position,
 	std::string unit)
 	: parent_{nullptr},
 	 generic_name_{ generic_name }
@@ -67,7 +68,8 @@ signal_t::signal_t(
 	, last_value_{.0f}
 	, multiplex_{multiplex}
 	, is_big_endian_{is_big_endian}
-	, is_signed_{is_signed}
+	, sign_{sign}
+	, bit_sign_position_{bit_sign_position}
 	, unit_{unit}
 {}
 
@@ -235,9 +237,14 @@ bool signal_t::get_is_big_endian() const
 	return is_big_endian_;
 }
 
-bool signal_t::get_is_signed() const
+sign_t signal_t::get_sign() const
 {
-	return is_signed_;
+	return sign_;
+}
+
+int32_t signal_t::get_bit_sign_position() const
+{
+	return bit_sign_position_;
 }
 
 const std::string signal_t::get_unit() const
diff --git a/low-can-binding/can/signals.hpp b/low-can-binding/can/signals.hpp
index d9453c50..bf779981 100755
--- a/low-can-binding/can/signals.hpp
+++ b/low-can-binding/can/signals.hpp
@@ -60,6 +60,14 @@ typedef openxc_DynamicField (*signal_decoder)(signal_t& signal, std::shared_ptr<
 typedef uint64_t (*signal_encoder)(signal_t& signal,
 		 const openxc_DynamicField& field, bool* send);
 
+enum sign_t
+{
+		UNSIGNED = 0,
+		SIGN_BIT = 1,
+		ONES_COMPLEMENT = 2,
+		TWOS_COMPLEMENT = 3,
+		SIGN_BIT_EXTERN = 4
+};
 
 class signal_t
 {
@@ -100,7 +108,8 @@ private:
 										If bool is true, that indicate that is a multiplexor
 										If int is different of 0, that indicate the link with a multiplexor */
 	bool is_big_endian_; /*!< is_big_endian - True if the signal's data are meant to be read as a big_endian */
-	bool is_signed_; /* !< is_signed_ - True if the data is signed */
+	sign_t sign_; /* !< sign_ - if the data is signed it indicates the encode */
+	int32_t bit_sign_position_; /*!< bit_sign_position_ - The bit that indicates the sign of the signal in its CAN message*/
 	std::string unit_; /* !< unit_ - The unit of the data */
 
 public:
@@ -123,7 +132,8 @@ public:
 		bool received,
 		std::pair<bool, int> multiplex,
 		bool is_big_endian,
-		bool is_signed,
+		sign_t sign,
+		int32_t bit_sign_position,
 		std::string unit);
 
 
@@ -164,7 +174,8 @@ public:
 	std::pair<float, uint64_t> get_last_value_with_timestamp() const;
 	std::pair<bool, int> get_multiplex() const;
 	bool get_is_big_endian() const;
-	bool get_is_signed() const;
+	sign_t get_sign() const;
+	int32_t get_bit_sign_position() const;
 	const std::string get_unit() const;
 
 	void set_parent(std::shared_ptr<message_definition_t> parent);