diff options
Diffstat (limited to 'low-can-binding')
| -rw-r--r-- | low-can-binding/CMakeLists.txt | 1 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-cb.cpp | 94 | ||||
| -rw-r--r-- | low-can-binding/can/can-encoder.cpp | 159 | ||||
| -rw-r--r-- | low-can-binding/can/can-encoder.hpp | 33 | ||||
| -rw-r--r-- | low-can-binding/can/can-signals.cpp | 14 | ||||
| -rw-r--r-- | low-can-binding/can/can-signals.hpp | 1 |
6 files changed, 272 insertions, 30 deletions
diff --git a/low-can-binding/CMakeLists.txt b/low-can-binding/CMakeLists.txt index fd68e6cf..44ae9ef8 100644 --- a/low-can-binding/CMakeLists.txt +++ b/low-can-binding/CMakeLists.txt @@ -34,6 +34,7 @@ PROJECT_TARGET_ADD(low-can) can/can-message.cpp can/can-signals.cpp can/can-decoder.cpp + can/can-encoder.cpp diagnostic/diagnostic-message.cpp diagnostic/diagnostic-manager.cpp diagnostic/active-diagnostic-request.cpp diff --git a/low-can-binding/binding/low-can-cb.cpp b/low-can-binding/binding/low-can-cb.cpp index a7e4396c..5910f6a2 100644 --- a/low-can-binding/binding/low-can-cb.cpp +++ b/low-can-binding/binding/low-can-cb.cpp @@ -28,6 +28,7 @@ #include "openxc.pb.h" #include "application.hpp" +#include "../can/can-encoder.hpp" #include "../can/can-bus.hpp" #include "../can/can-signals.hpp" #include "../can/can-message.hpp" @@ -372,54 +373,87 @@ void swrite(struct afb_req request) int rc = 0; struct can_frame cf; struct utils::signals_found sf; - struct json_object *args, *json_can_socket, *json_can_id, *json_can_dlc, *json_can_data; + struct json_object* args = nullptr, + *json_name = nullptr, + *json_value = nullptr; + std::map<std::string, std::shared_ptr<low_can_socket_t> >& cd = application_t::instance().get_can_devices(); ::memset(&cf, 0, sizeof(cf)); args = afb_req_json(request); - if (args == NULL || ( - ((!json_object_object_get_ex(args, "canbus_name", &json_can_socket)) && json_object_get_type(json_can_socket) == json_type_string) && - ((!json_object_object_get_ex(args, "can_id", &json_can_id)) && json_object_get_type(json_can_id) == json_type_int) && - ((!json_object_object_get_ex(args, "can_dlc", &json_can_dlc)) && json_object_get_type(json_can_dlc) == json_type_int))) - { - cf.can_id = json_object_get_int(json_can_id); - cf.can_dlc = (uint8_t)json_object_get_int(json_can_dlc); - openxc_DynamicField search_key = build_DynamicField((double)cf.can_id); - sf = utils::signals_manager_t::instance().find_signals(search_key); - } - if((args == NULL || !json_object_object_get_ex(args, "can_data", &json_can_data)) && json_object_get_type(json_can_data) == json_type_array) + // Process about Raw CAN message on CAN bus directly + if (args != NULL && + (json_object_object_get_ex(args, "bus_name", &json_name) && json_object_is_type(json_name, json_type_string) ) && + (json_object_object_get_ex(args, "frame", &json_value) && json_object_is_type(json_value, json_type_object) )) { - struct json_object *x; + struct json_object* json_can_id = nullptr, + *json_can_dlc = nullptr, + *json_can_data = nullptr; - int n = json_object_array_length(json_can_data); - if(n < 8) + if( (json_object_object_get_ex(json_value, "can_id", &json_can_id) && (json_object_is_type(json_can_id, json_type_double) || json_object_is_type(json_can_id, json_type_int))) && + (json_object_object_get_ex(json_value, "can_dlc", &json_can_dlc) && (json_object_is_type(json_can_dlc, json_type_double) || json_object_is_type(json_can_dlc, json_type_int))) && + (json_object_object_get_ex(json_value, "can_data", &json_can_data) && json_object_is_type(json_can_data, json_type_array) )) { - for (int i = 0 ; i < n ; i++) + cf.can_id = json_object_get_int(json_can_id); + cf.can_dlc = (uint8_t)json_object_get_int(json_can_dlc); + + struct json_object *x; + int n = json_object_array_length(json_can_data); + if(n <= 8) { - x = json_object_array_get_idx(json_can_data, i); - cf.data[i] = json_object_get_type(x) == json_type_int ? (uint8_t)json_object_get_int(x) : 0; + for (int i = 0 ; i < n ; i++) + { + x = json_object_array_get_idx(json_can_data, i); + cf.data[i] = json_object_get_type(x) == json_type_int ? (uint8_t)json_object_get_int(x) : 0; + } } - } - } - if (sf.can_signals.empty() && sf.diagnostic_messages.empty()) - { - AFB_WARNING("No signal(s) found for id %d. Message not sent.", cf.can_id); - rc = -1; + const std::string bus_name = json_object_get_string(json_name); + const std::string found_device = application_t::instance().get_can_bus_manager().get_can_device_name(bus_name); + if( ! found_device.empty()) + { + if( cd.count(bus_name) == 0) + {cd[bus_name] = std::make_shared<low_can_socket_t>(low_can_socket_t());} + rc = cd[bus_name]->tx_send(cf, found_device); + } + } + else + { + AFB_ERROR("Frame object malformed (must be \n \"frame\": {\"can_id\": int, \"can_dlc\": int, \"can_data\": [ int, int , int, int ,int , int ,int ,int]}"); + rc = -1; + } } - else + // Search signal then encode value. + else if(args != NULL && + (json_object_object_get_ex(args, "signal_name", &json_name) && json_object_is_type(json_name, json_type_string)) && + (json_object_object_get_ex(args, "signal_value", &json_value) && (json_object_is_type(json_value, json_type_double) || json_object_is_type(json_value, json_type_int)))) { - std::map<std::string, std::shared_ptr<low_can_socket_t> >& cd = application_t::instance().get_can_devices(); - const char* can_socket = json_object_get_string(json_can_socket); - for(const auto& sig: sf.can_signals) + openxc_DynamicField search_key = build_DynamicField(json_object_get_string(json_name)); + sf = utils::signals_manager_t::instance().find_signals(search_key); + + if (sf.can_signals.empty()) + { + AFB_WARNING("No signal(s) found for id %d. Message not sent.", cf.can_id); + rc = -1; + } + else { - if (sig->get_message()->get_bus_name().c_str() == can_socket) + for(const auto& sig: sf.can_signals) { - rc = cd[can_socket]->tx_send(cf, sig); + cf = encoder_t::build_frame(sig, (uint64_t)json_object_get_double(json_value)); + const std::string bus_name = sig->get_message()->get_bus_name(); + if( cd.count(bus_name) == 0) + {cd[bus_name] = std::make_shared<low_can_socket_t>(low_can_socket_t());} + rc = cd[bus_name]->tx_send(cf, sig); } } } + else + { + AFB_ERROR("Request argument malformed. Please use the following syntax:"); + rc = -1; + } if (rc >= 0) afb_req_success(request, NULL, NULL); diff --git a/low-can-binding/can/can-encoder.cpp b/low-can-binding/can/can-encoder.cpp new file mode 100644 index 00000000..b87407f1 --- /dev/null +++ b/low-can-binding/can/can-encoder.cpp @@ -0,0 +1,159 @@ +/* + * 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. + */ + +#include "can-encoder.hpp" + +#include "canutil/write.h" +#include "../utils/openxc-utils.hpp" +#include "can-message-definition.hpp" +#include "../binding/low-can-hat.hpp" + +/// @brief Write a value into a CAN signal in the destination buffer. +/// +/// @param[in] signal - The CAN signal to write, including the bit position and bit size. +/// @param[in] value - The encoded integer value to write into the CAN signal. +/// @param[out] data - The destination buffer. +/// @param[in] length - The length of the destination buffer. +/// +/// @return Returns a can_frame struct initialized and ready to be send. +const can_frame build_frame(const can_signal_t& signal, uint64_t value) +{ + struct can_frame cf; + ::memset(&cf, 0, sizeof(cf)); + + cf.can_id = signal.get_message()->get_id(); + cf.can_dlc = CAN_MAX_DLEN; + bitfield_encode_float((float)value, + signal.get_bit_position(), + signal.get_bit_size(), + signal.get_factor(), + signal.get_offset(), + cf.data, + CAN_MAX_DLEN); + + return cf; +} + +/// @brief Encode a boolean into an integer, fit for a CAN signal bitfield. +/// +/// This is a shortcut for encodeDynamicField(CanSignal*, openxc_DynamicField*, +/// bool*) that takes care of creating the DynamicField object for you with the +/// boolean value. +/// +/// @param[in] signal - The CAN signal to encode this value for.. +/// @param[in] value - The boolean value to encode +/// @param[out] send - An output argument that will be set to false if the value should +/// not be sent for any reason. +/// +/// @return Returns the encoded integer. If 'send' is changed to false, the field could +/// not be encoded and the return value is undefined. +/// +uint64_t encoder_t::encode_boolean(const can_signal_t& signal, bool value, bool* send) +{ + return encode_number(signal, float(value), send); +} +/// @brief Encode a float into an integer, fit for a CAN signal's bitfield. +/// +/// This is a shortcut for encodeDynamicField(CanSignal*, openxc_DynamicField*, +/// bool*) that takes care of creating the DynamicField object for you with the +/// float value. +/// +/// @param[in] signal - The CAN signal to encode this value for. +/// @param[in] value - The float value to encode. +/// @param[out] send - This output argument will always be set to false, so the caller will +/// know not to publish this value to the pipeline. +/// +/// @return Returns the encoded integer. If 'send' is changed to false, the field could +/// not be encoded and the return value is undefined. +/// +uint64_t encoder_t::encode_number(const can_signal_t& signal, float value, bool* send) +{ + return float_to_fixed_point(value, signal.get_factor(), signal.get_offset()); +} + +/// @brief Encode a string into an integer, fit for a CAN signal's bitfield. +/// +/// Be aware that the behavior is undefined if there are multiple values assigned +/// to a single state. See https://github.com/openxc/vi-firmware/issues/185. +/// +/// This is a shortcut for encodeDynamicField(CanSignal*, openxc_DynamicField*, +/// bool*) that takes care of creating the DynamicField object for you with the +/// string state value. +/// +/// @param[in] signal - The details of the signal that contains the state mapping. +/// @param[in] value - The string state value to encode. +/// @param[out] send - An output argument that will be set to false if the value should +/// not be sent for any reason. +/// +/// @return Returns the encoded integer. If 'send' is changed to false, the field could +/// not be encoded and the return value is undefined. +/// +uint64_t encoder_t::encode_state(const can_signal_t& signal, const std::string& state, bool* send) +{ + uint64_t value = 0; + if(state == "") + { + AFB_DEBUG("Can't write state of "" -- not sending"); + *send = false; + } + else + { + uint64_t signal_state = signal.get_states(state); + if(signal_state != -1) { + value = signal_state; + } else { + AFB_DEBUG("Couldn't find a valid signal state for %s", state.c_str()); + *send = false; + } + } + return value; +} + +/// @brief Parse a signal from a CAN message and apply any required +/// transforations to get a human readable value. +/// +/// If the can_signal_t has a non-NULL 'decoder' field, the raw CAN signal value +/// will be passed to the decoder before returning. +/// +/// @param[in] signal - The details of the signal to decode and forward. +/// @param[in] value - The numerical value that will be converted to a boolean. +/// @param[out] send - An output parameter that will be flipped to false if the value could +/// not be decoded. +/// +/// @return The decoder returns an openxc_DynamicField, which may contain a number, +/// string or boolean. If 'send' is false, the return value is undefined. +/// +uint64_t encoder_t::encode_DynamicField( can_signal_t& signal, const openxc_DynamicField& field, bool* send) +{ + uint64_t value = 0; + switch(field.type) { + case openxc_DynamicField_Type_STRING: + value = encode_state(signal, field.string_value, send); + break; + case openxc_DynamicField_Type_NUM: + value = encode_number(signal, (float)field.numeric_value, send); + break; + case openxc_DynamicField_Type_BOOL: + value = encode_boolean(signal, field.boolean_value, send); + break; + default: + AFB_DEBUG("Dynamic field didn't have a value, can't encode"); + *send = false; + break; + } + return value; +} diff --git a/low-can-binding/can/can-encoder.hpp b/low-can-binding/can/can-encoder.hpp new file mode 100644 index 00000000..f7e8394f --- /dev/null +++ b/low-can-binding/can/can-encoder.hpp @@ -0,0 +1,33 @@ +/* + * 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 "can-signals.hpp" +#include "can-message.hpp" +#include "openxc.pb.h" + +class encoder_t +{ +public: + static const can_frame build_frame(const can_signal_t& signal, uint64_t value); + static uint64_t encode_state(const can_signal_t& signal, const std::string& value, bool* send); + static uint64_t encode_boolean(const can_signal_t& signal, bool value, bool* send); + static uint64_t encode_number(const can_signal_t& signal, float value, bool* send); + + static uint64_t encode_DynamicField(can_signal_t& signal, const openxc_DynamicField& field, bool* send); +}; diff --git a/low-can-binding/can/can-signals.cpp b/low-can-binding/can/can-signals.cpp index 573808aa..45c54cb4 100644 --- a/low-can-binding/can/can-signals.cpp +++ b/low-can-binding/can/can-signals.cpp @@ -141,6 +141,20 @@ const std::string can_signal_t::get_states(uint8_t value) return std::string(); } +uint64_t can_signal_t::get_states(const std::string& value) const +{ + uint64_t ret = -1; + for( const auto& state: states_) + { + if(state.second == value) + { + ret = (uint64_t)state.first; + break; + } + } + return ret; +} + size_t can_signal_t::get_state_count() const { return states_.size(); diff --git a/low-can-binding/can/can-signals.hpp b/low-can-binding/can/can-signals.hpp index f7ff0372..1b27622e 100644 --- a/low-can-binding/can/can-signals.hpp +++ b/low-can-binding/can/can-signals.hpp @@ -133,6 +133,7 @@ public: bool get_force_send_changed() const; const std::map<uint8_t, std::string>& get_states() const; const std::string get_states(uint8_t value); + uint64_t get_states(const std::string& value) const; size_t get_state_count() const; bool get_writable() const; signal_decoder& get_decoder(); |