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# CAN signaling binder

CAN bus binder, based upon OpenXC vi-firmware project.

Full document can be found under `docs` directory.

# Fast build procedure

Just use autobuild script:

```bash
./conf.d/autobuild/agl/autobuild build
./conf.d/autobuild/agl/autobuild package
```

This will build both projects under build directory for each of them with default configuration.
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/*
 * 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-decoder.hpp"

#include "canutil/read.h"
#include "../utils/openxc-utils.hpp"

/* Public: Parse the signal's bitfield from the given data and return the raw
* value.
*
* @param[in] signal - The signal to parse from the data.
* @param[in] message - can_message_t to parse
*
* @return Returns the raw value of the signal parsed as a bitfield from the given byte
* array.
*/
float decoder_t::parseSignalBitfield(can_signal_t& signal, const can_message_t& message)
{
	 return bitfield_parse_float(message.get_data(), CAN_MESSAGE_SIZE,
			signal.get_bit_position(), signal.get_bit_size(), signal.get_factor(),
			signal.get_offset());
}

/* Public: Wrap a raw CAN signal value in a DynamicField without modification.
*
* This is an implementation of the SignalDecoder type signature, and can be
* used directly in the can_signal_t.decoder field.
*
* @param[in] signal  - The details of the signal that contains the state mapping.
* @param[in] signals - The list of all signals
* @param[in] value - The numerical value that will be wrapped in a DynamicField.
* @param[out]send - An output argument that will be set to false if the value should
*     not be sent for any reason.
*
* @return Returns a DynamicField with the original, unmodified raw CAN signal value as
* its numeric value. The 'send' argument will not be modified as this decoder
* always succeeds.
*/
openxc_DynamicField decoder_t::noopDecoder(can_signal_t& signal,
		const std::vector<can_signal_t>& signals, float value, bool* send)
{
	openxc_DynamicField decoded_value = build_DynamicField(value);

	return decoded_value;
}
/* Public: Coerces a numerical value to a boolean.
*
* This is an implementation of the SignalDecoder type signature, and can be
* used directly in the can_signal_t.decoder field.
*
* @param[in] signal  - The details of the signal that contains the state mapping.
* @param[in] signals - The list of all signals
* @param[in] value - The numerical value that will be converted to a boolean.
* @param[out] send - An output argument that will be set to false if the value should
*     not be sent for any reason.
*
* @return Returns a DynamicField with a boolean value of false if the raw signal value
* is 0.0, otherwise true. The 'send' argument will not be modified as this
* decoder always succeeds.
*/
openxc_DynamicField decoder_t::booleanDecoder(can_signal_t& signal,
		const std::vector<can_signal_t>& signals, float value, bool* send)
{
	openxc_DynamicField decoded_value = build_DynamicField(value == 0.0 ? false : true);

	return decoded_value;
}
/* Public: Update the metadata for a signal and the newly received value.
*
* This is an implementation of the SignalDecoder type signature, and can be
* used directly in the can_signal_t.decoder field.
*
* This function always flips 'send' to false.
*
* @param[in] signal  - The details of the signal that contains the state mapping.
* @param[in] signals - The list of all signals.
* @param[in] value - The numerical value that will be converted to a boolean.
* @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 Return value is undefined.
*/
openxc_DynamicField decoder_t::ignoreDecoder(can_signal_t& signal,
		const std::vector<can_signal_t>& signals, float value, bool* send)
{
	if(send)
	  *send = false;

	openxc_DynamicField decoded_value;

	return decoded_value;
}

/* Public: Find and return the corresponding string state for a CAN signal's
* raw integer value.
*
* This is an implementation of the SignalDecoder type signature, and can be
* used directly in the can_signal_t.decoder field.
*
* @param[in] signal  - The details of the signal that contains the state mapping.
* @param[in] signals - The list of all signals.
* @param[in] value - The numerical value that should map to a state.
* @param[out] send - An output argument that will be set to false if the value should
*     not be sent for any reason.
*
* @return Returns a DynamicField with a string value if a matching state is found in
* the signal. If an equivalent isn't found, send is sent to false and the
* return value is undefined.
*/
openxc_DynamicField decoder_t::stateDecoder(can_signal_t& signal,
		const std::vector<can_signal_t>& signals, float value, bool* send)
{
	const std::string signal_state = signal.get_states((uint8_t)value);
	openxc_DynamicField decoded_value = build_DynamicField(signal_state);
	if(signal_state.size() <= 0)
	{
		*send = false;
		ERROR(binder_interface, "stateDecoder: No state found with index: %d", (int)value);
	}
	return decoded_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 can_signal_t has a non-NULL 'decoder' field, the raw CAN signal value
* will be passed to the decoder before publishing.
*
* @param[in] signal - The details of the signal to decode and forward.
* @param[in] message - The received CAN message that should contain this signal.
* @param[in] signals - an array of all active signals.
*
* The decoder returns an openxc_DynamicField, which may contain a number,
* string or boolean.
*/
openxc_DynamicField decoder_t::translateSignal(can_signal_t& signal, can_message_t& message,
	const std::vector<can_signal_t>& signals)
{
	if(&signal == nullptr || &message == nullptr)
	{
		openxc_DynamicField ret = {0, openxc_DynamicField_Type_BOOL, 0, "", 0, 0, 0, 0};
		return ret;
	}

	float value = decoder_t::parseSignalBitfield(signal, message);
	DEBUG(binder_interface, "translateSignal: Decoded message from parseSignalBitfield: %f", value);

	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 = decoder_t::decodeSignal(signal,
			value, signals, &send);

	signal.set_received(true);
	signal.set_last_value(value);
	return decoded_value;
}

/* Public: 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[in] signals - an array of all active signals.
* @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.
*/
openxc_DynamicField decoder_t::decodeSignal( can_signal_t& signal,
		float value, const std::vector<can_signal_t>& signals, bool* send)
{
	SignalDecoder decoder = signal.get_decoder() == nullptr ?
							noopDecoder : signal.get_decoder();
	openxc_DynamicField decoded_value = decoder(signal, signals,
			value, send);
	return decoded_value;
}

/* Public: Decode a transformed, human readable value from an raw CAN signal
* already parsed from a CAN message.
*
* This is the same as decodeSignal but you must parse the bitfield value of the signal from the CAN
* message yourself. This is useful if you need that raw value for something
* else.
*
* @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[in] signals - an array of all active signals.
* @param[out] send - An output parameter that will be flipped to false if the value could
*      not be decoded.
*/
openxc_DynamicField decoder_t::decodeSignal( can_signal_t& signal,
		const can_message_t& message, const std::vector<can_signal_t>& signals, bool* send)
{
	float value = parseSignalBitfield(signal, message);
	return decodeSignal(signal, value, signals, send);
}


/**
* @brief Decode the payload of an OBD-II PID.
*
* This function matches the type signature for a DiagnosticResponseDecoder, so
* it can be used as the decoder for a DiagnosticRequest. It returns the decoded
* value of the PID, using the standard formulas (see
* http://en.wikipedia.org/wiki/OBD-II_PIDs#Mode_01).
*
* @param[in] response - the received DiagnosticResponse (the data is in response.payload,
*  a byte array). This is most often used when the byte order is
*  signiticant, i.e. with many OBD-II PID formulas.
* @param[in] parsed_payload - the entire payload of the response parsed as an int.
*/
float decoder_t::decode_obd2_response(const DiagnosticResponse* response, float parsedPayload)
{
	return diagnostic_decode_obd2_pid(response);
}