/// /// 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 <map> #include <mutex> #include <vector> #include <string> #include <memory> #include "openxc.pb.h" #include "../utils/timer.hpp" #include "../utils/socketcan-bcm.hpp" #include "can-message.hpp" #include "../diagnostic/diagnostic-message.hpp" extern "C" { #include <afb/afb-binding.h> #include <afb/afb-event-itf.h> } #define MESSAGE_SET_ID 0 class can_signal_t; class can_message_definition_t; /// /// @brief The type signature for a CAN signal decoder. /// /// A SignalDecoder transforms a raw floating point CAN signal into a number, /// string or boolean. /// /// @param[in] signal - The CAN signal that we are decoding. /// @param[in] signals - The list of all signals. /// @param[in] signalCount - The length of the signals array. /// @param[in] value - The CAN signal parsed from the message as a raw floating point /// value. /// @param[out] 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. /// /// @return a decoded value in an openxc_DynamicField struct. /// typedef openxc_DynamicField (*SignalDecoder)(can_signal_t& signal, const std::vector<std::shared_ptr<can_signal_t> > signals, float value, bool* send); /// /// @brief: The type signature for a CAN signal encoder. /// /// A SignalEncoder transforms a number, string or boolean into a raw floating /// point value that fits in the CAN signal. /// /// @param[in] signal - The CAN signal to encode. /// @param[in] value - The dynamic field to encode. /// @param[out] send - An output parameter. If the encoding failed or the CAN signal should /// not be encoded for some other reason, this will be flipped to false. /// typedef uint64_t (*SignalEncoder)(can_signal_t* signal, openxc_DynamicField* value, bool* send); class can_signal_t { private: can_message_definition_t* parent_; /*!< parent_ - pointer to the parent message definition holding this signal*/ utils::socketcan_bcm_t socket_; /*!< socket_ - Specific BCM socket that filter the signal read from CAN device */ std::string generic_name_; /*!< generic_name_ - The name of the signal to be output.*/ static std::string prefix_; /*!< prefix_ - generic_name_ will be prefixed with it. It has to reflect the used protocol. * which make easier to sort message when the come in.*/ uint8_t bit_position_; /*!< 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) */ uint8_t bit_size_; /*!< bit_size_ - The width of the bit field in the CAN message. */ float factor_; /*!< factor_ - The final value will be multiplied by this factor. Use 1 if you * don't need a factor. */ float offset_; /*!< offset_ - The final value will be added to this offset. Use 0 if you * don't need an offset. */ float min_value_; /*!< min_value_ - The minimum value for the processed signal.*/ float max_value_; /*!< max_value_ - The maximum value for the processed signal. */ frequency_clock_t frequency_; /*!< frequency_ - A frequency_clock_t struct to control the maximum frequency to * process and send this signal. To process every value, set the * clock's frequency to 0. */ bool send_same_; /*!< send_same_ - If true, will re-send even if the value hasn't changed.*/ bool force_send_changed_; /*!< force_send_changed_ - If true, regardless of the frequency, it will send the * value if it has changed. */ std::map<uint8_t, std::string> states_; /*!< states_ - A map of CAN signal state describing the mapping * between numerical and string values for valid states. */ bool writable_; /*!< writable - True if the signal is allowed to be written from the USB host * back to CAN. Defaults to false.*/ SignalDecoder decoder_; /*!< decoder_ - An optional function to decode a signal from the bus to a human * readable value. If NULL, the default numerical decoder is used. */ SignalEncoder encoder_; /*!< 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. */ bool received_; /*!< received_ - True if this signal has ever been received.*/ float last_value_; /*!< lastValue_ - The last received value of the signal. If 'received' is false, * this value is undefined. */ public: //can_signal_t(const can_signal_t& b); can_signal_t( std::string generic_name, uint8_t bit_position, uint8_t bit_size, float factor, float offset, float min_value, float max_value, frequency_clock_t frequency, bool send_same, bool force_send_changed, std::map<uint8_t, std::string> states, bool writable, SignalDecoder decoder, SignalEncoder encoder, bool received); utils::socketcan_bcm_t get_socket() const; can_message_definition_t* get_message() const; const std::string& get_generic_name() const; const std::string get_name() const; const std::string& get_prefix() const; uint8_t get_bit_position() const; uint8_t get_bit_size() const; float get_factor() const; float get_offset() const; float get_min_value() const; float get_max_value() const; frequency_clock_t& get_frequency(); bool get_send_same() const; bool get_force_send_changed() const; const std::map<uint8_t, std::string>& get_states() const; const std::string get_states(uint8_t value); size_t get_state_count() const; bool get_writable() const; SignalDecoder& get_decoder(); SignalEncoder& get_encoder(); bool get_received() const; float get_last_value() const; void set_parent(can_message_definition_t* parent); void set_prefix(std::string val); void set_received(bool r); void set_last_value(float val); int create_rx_filter(); };