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-rw-r--r--src/can-decoder.cpp83
-rw-r--r--src/can-decoder.hpp29
-rw-r--r--src/can-utils.hpp6
-rw-r--r--src/can_decode_message.cpp5
4 files changed, 80 insertions, 43 deletions
diff --git a/src/can-decoder.cpp b/src/can-decoder.cpp
index b163011f..b222bc62 100644
--- a/src/can-decoder.cpp
+++ b/src/can-decoder.cpp
@@ -27,17 +27,17 @@ float decoder_t::parseSignalBitfield(const CanSignal& signal, const CanMessage&
}
openxc_DynamicField decoder_t::noopDecoder(const CanSignal& signal,
- const CanSignal& signals, float value, bool* send)
+ const CanSignal& signals, float value, bool* send)
{
decoded_value = { .has_type = true,
.type = openxc_DynamicField_Type_NUM,
.has_numeric_value = true,
.numeric_value = value };
- return decoded_value;
+ return decoded_value;
}
openxc_DynamicField decoder_t::booleanDecoder(const CanSignal& signal,
- const CanSignal& signals, float value, bool* send)
+ const CanSignal& signals, float value, bool* send)
{
decoded_value = { .has_type = true,
.type = openxc_DynamicField_Type_BOOL,
@@ -47,45 +47,66 @@ openxc_DynamicField decoder_t::booleanDecoder(const CanSignal& signal,
}
openxc_DynamicField decoder_t::ignoreDecoder(const CanSignal& signal,
- const CanSignal& signals, float value, bool* send)
+ const CanSignal& signals, float value, bool* send)
{
- if(send)
- *send = false;
-
- openxc_DynamicField decoded_value = {0};
- return decoded_value;
+ if(send)
+ *send = false;
+
+ openxc_DynamicField decoded_value = {0};
+ return decoded_value;
}
openxc_DynamicField decoder_t::stateDecoder(const CanSignal& signal,
- const CanSignal& signals, float value, bool* send)
+ const CanSignal& signals, float value, bool* send)
+{
+ openxc_DynamicField decoded_value = {0};
+ decoded_value.has_type = true;
+ decoded_value.type = openxc_DynamicField_Type_STRING;
+ decoded_value.has_string_value = true;
+
+ const CanSignalState* signalState = lookupSignalState(value, signal);
+ if(signalState != NULL) {
+ ::strcpy(decoded_value.string_value, signalState->name);
+ } else {
+ *send = false;
+ }
+ return decoded_value;
+}
+
+openxc_DynamicField decoder_t::translateSignal(CanSignal& signal, can_message_t& message,
+ const std::vector<CanSignal>& signals)
{
- openxc_DynamicField decoded_value = {0};
- decoded_value.has_type = true;
- decoded_value.type = openxc_DynamicField_Type_STRING;
- decoded_value.has_string_value = true;
+ if(signal == nullptr || message == nullptr)
+ {
+ return {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL};
+ }
+
+ float value = parseSignalBitfield(signal, message);
+
+ bool send = true;
+ // Must call the decoders every time, regardless of if we are going to
+ // decide to send the signal or not.
+ openxc_DynamicField decoded_value = decodeSignal(signal,
+ value, signals, &send);
- const CanSignalState* signalState = lookupSignalState(value, signal);
- if(signalState != NULL) {
- ::strcpy(decoded_value.string_value, signalState->name);
- } else {
- *send = false;
- }
- return decoded_value;
+ signal.received = true;
+ signal.lastValue = value;
+ return decoded_value;
}
openxc_DynamicField decoder_t::decodeSignal(const CanSignal& signal,
- float value, const std::vector<CanSignal>& signals, bool* send)
+ float value, const std::vector<CanSignal>& signals, bool* send)
{
- SignalDecoder decoder = signal->decoder == NULL ?
- noopDecoder : signal->decoder;
- openxc_DynamicField decoded_value = decoder(signal, signals,
- value, send);
- return decoded_value;
+ SignalDecoder decoder = signal->decoder == NULL ?
+ noopDecoder : signal->decoder;
+ openxc_DynamicField decoded_value = decoder(signal, signals,
+ value, send);
+ return decoded_value;
}
openxc_DynamicField decoder_t::decodeSignal(const CanSignal& signal,
- const can_message_t& message, const std::vector<CanSignal>& signals, bool* send)
+ const can_message_t& message, const std::vector<CanSignal>& signals, bool* send)
{
- float value = parseSignalBitfield(signal, message);
- return decodeSignal(signal, value, signals, send);
-} \ No newline at end of file
+ float value = parseSignalBitfield(signal, message);
+ return decodeSignal(signal, value, signals, send);
+}
diff --git a/src/can-decoder.hpp b/src/can-decoder.hpp
index 7f02d610..ac967300 100644
--- a/src/can-decoder.hpp
+++ b/src/can-decoder.hpp
@@ -53,7 +53,7 @@ class decoder_t
* the signal. If an equivalent isn't found, send is sent to false and the
* return value is undefined.
*/
- openxc_DynamicField stateDecoder(const CanSignal& signal, const CanSignal& signals,
+ static openxc_DynamicField stateDecoder(const CanSignal& signal, const CanSignal& signals,
float value, bool* send);
/* Public: Coerces a numerical value to a boolean.
@@ -72,7 +72,7 @@ class decoder_t
* is 0.0, otherwise true. The 'send' argument will not be modified as this
* decoder always succeeds.
*/
- openxc_DynamicField booleanDecoder(const CanSignal& signal, const CanSignal& signals,
+ static openxc_DynamicField booleanDecoder(const CanSignal& signal, const CanSignal& signals,
float value, bool* send);
/* Public: Update the metadata for a signal and the newly received value.
@@ -91,7 +91,7 @@ class decoder_t
*
* The return value is undefined.
*/
- openxc_DynamicField ignoreDecoder(const CanSignal& signal, const CanSignal& signals,
+ static openxc_DynamicField ignoreDecoder(const CanSignal& signal, const CanSignal& signals,
float value, bool* send);
/* Public: Wrap a raw CAN signal value in a DynamicField without modification.
@@ -110,9 +110,26 @@ class decoder_t
* its numeric value. The 'send' argument will not be modified as this decoder
* always succeeds.
*/
- openxc_DynamicField noopDecoder(const CanSignal& signal, const CanSignal& signals,
- float value, bool* send);
+ static openxc_DynamicField noopDecoder(const CanSignal& signal, const CanSignal& signals,
+ float value);
+
+ /* Public: Parse a signal from a CAN message, apply any required transforations
+ * to get a human readable value and public the result to the pipeline.
+ *
+ * If the CanSignal has a non-NULL 'decoder' field, the raw CAN signal value
+ * will be passed to the decoder before publishing.
+ *
+ * signal - The details of the signal to decode and forward.
+ * message - The received CAN message that should contain this signal.
+ * signals - an array of all active signals.
+ *
+ * The decoder returns an openxc_DynamicField, which may contain a number,
+ * string or boolean.
+ */
+ openxc_DynamicField translateSignal(CanSignal& signal, can_message_t& message,
+ const std::vector<CanSignal>& signals);
+
/* Public: Parse a signal from a CAN message and apply any required
* transforations to get a human readable value.
*
@@ -130,7 +147,7 @@ class decoder_t
* string or boolean. If 'send' is false, the return value is undefined.
*/
openxc_DynamicField decodeSignal(const CanSignal& signal, const can_message_t& message,
- const std::vector<CanSignal>& signals, bool* send);
+ const std::vector<CanSignal>& signals);
/* Public: Decode a transformed, human readable value from an raw CAN signal
* already parsed from a CAN message.
diff --git a/src/can-utils.hpp b/src/can-utils.hpp
index 76dc75b3..5938169a 100644
--- a/src/can-utils.hpp
+++ b/src/can-utils.hpp
@@ -50,8 +50,8 @@
*
* @return a decoded value in an openxc_DynamicField struct.
*/
-typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal* signal,
- CanSignal* signals, int signalCount, float value, bool* send);
+typedef openxc_DynamicField (*SignalDecoder)(const struct CanSignal& signal,
+ const CanSignal& signals, float value, bool* send);
/**
* @brief: The type signature for a CAN signal encoder.
@@ -463,7 +463,7 @@ typedef struct CanSignal CanSignal;
* outgoing CAN messages.
*/
struct CanMessageDefinition {
- struct CanBus* bus; /*!< bus - A pointer to the bus this message is on. */
+ //can_bus_dev_t bus; /*!< bus - A pointer to the bus this message is on. */
uint32_t id; /*!< id - The ID of the message.*/
CanMessageFormat format; /*!< format - the format of the message's ID.*/
FrequencyClock frequencyClock; /*!< clock - an optional frequency clock to control the output of this
diff --git a/src/can_decode_message.cpp b/src/can_decode_message.cpp
index 3c1825d1..c311e98a 100644
--- a/src/can_decode_message.cpp
+++ b/src/can_decode_message.cpp
@@ -32,7 +32,6 @@ void can_decode_message(can_bus_t &can_bus)
std::vector <CanSignal>::iterator signals_i;
openxc_VehicleMessage vehicle_message;
openxc_DynamicField search_key, decoded_message;
- bool send = true;
decoder_t decoder;
@@ -49,7 +48,7 @@ void can_decode_message(can_bus_t &can_bus)
signals = find_can_signals(search_key);
/* Decoding the message ! Don't kill the messenger ! */
- for(const auto& sig : signals)
+ for(auto& sig : signals)
{
{
std::lock_guard<std::mutex> subscribed_signals_lock(subscribed_signals_mutex);
@@ -59,7 +58,7 @@ void can_decode_message(can_bus_t &can_bus)
if(it_event != subscribed_signals.end() &&
afb_event_is_valid(it_event->second))
{
- decoded_message = decoder.decodeSignal(sig, can_message, getSignals(), &send);
+ decoded_message = decoder.translateSignal(sig, can_message, getSignals());
openxc_SimpleMessage s_message = build_SimpleMessage(sig.genericName, decoded_message);
vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message);