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#include "application.hpp"
#include "../can/can-decoder.hpp"
#include "../can/can-encoder.hpp"
#include "can/canread.h"
using openxc::can::read::publishNumericalMessage;
void handleSteeringWheelMessage(CanMessage* message,
CanSignal* signals, int signalCount, Pipeline* pipeline) {
publishNumericalMessage("latitude", 42.0, pipeline);
}
openxc_DynamicField handleInverted(CanSignal* signal, CanSignal* signals,
int signalCount, float value, bool* send) {
return openxc::payload::wrapNumber(value * -1);
}
void initializeMyStuff() { }
void initializeOtherStuff() { }
void myLooper() {
// this function will be called once, each time through the main loop, after
// all CAN message processing has been completed
}
// >>>>> handlers.cpp >>>>>
#include "can/canread.h"
using openxc::can::read::publishNumericalMessage;
void handleSteeringWheelMessage(CanMessage* message,
CanSignal* signals, int signalCount, Pipeline* pipeline) {
publishNumericalMessage("latitude", 42.0, pipeline);
}
openxc_DynamicField handleInverted(CanSignal* signal, CanSignal* signals,
int signalCount, float value, bool* send) {
return openxc::payload::wrapNumber(value * -1);
}
void initializeMyStuff() { }
void initializeOtherStuff() { }
void myLooper() {
// this function will be called once, each time through the main loop, after
// all CAN message processing has been completed
}
// <<<<< handlers.cpp <<<<<
application_t::application_t()
: can_bus_manager_{utils::config_parser_t{"/etc/dev-mapping.conf"}}
, message_set_{
{std::make_shared<message_set_t>(message_set_t{0,"example",
{ // beginning message_definition_ vector
{std::make_shared<message_definition_t>(message_definition_t{"hs",0x128,"ECM_z_5D2",8,0,true,frequency_clock_t(5.00000f),true,
{ // beginning signals vector
{std::make_shared<signal_t> (signal_t{
"engine_speed",// generic_name
12,// bit_position
8,// bit_size
1.00000f,// factor
0.00000f,// offset
0,// min_value
0,// max_value
frequency_clock_t(15.0000f),// frequency
true,// send_same
false,// force_send_changed
{
},// states
false,// writable
nullptr,// decoder
nullptr,// encoder
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
false,// is_big_endian
static_cast<sign_t>(0),// signed
-1,// bit_sign_position
""// unit
})},
{std::make_shared<signal_t> (signal_t{
"GearshiftPosition",// generic_name
41,// bit_position
3,// bit_size
1.00000f,// factor
0.00000f,// offset
0,// min_value
0,// max_value
frequency_clock_t(0.00000f),// frequency
true,// send_same
false,// force_send_changed
{
{1,"FIRST"},
{4,"FOURTH"},
{6,"NEUTRAL"},
{5,"REVERSE"},
{2,"SECOND"},
{3,"THIRD"}
},// states
false,// writable
decoder_t::decode_state,// decoder
nullptr,// encoder
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
false,// is_big_endian
static_cast<sign_t>(0),// signed
-1,// bit_sign_position
""// unit
})},
{std::make_shared<signal_t> (signal_t{
"SteeringWheelAngle",// generic_name
52,// bit_position
12,// bit_size
0.153920f,// factor
0.00000f,// offset
0,// min_value
0,// max_value
frequency_clock_t(0.00000f),// frequency
true,// send_same
false,// force_send_changed
{
},// states
false,// writable
decoder_t::v1_to_v2_gnedSteeringWheelAngle,// decoder
nullptr,// encoder
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
false,// is_big_endian
static_cast<sign_t>(0),// signed
-1,// bit_sign_position
""// unit
})},
{std::make_shared<signal_t> (signal_t{
"steering_wheel_angle_error",// generic_name
44,// bit_position
12,// bit_size
1.00000f,// factor
0.00000f,// offset
0,// min_value
0,// max_value
frequency_clock_t(0.00000f),// frequency
true,// send_same
false,// force_send_changed
{
},// states
false,// writable
decoder_t::v1_to_v2_der,// decoder
nullptr,// encoder
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
false,// is_big_endian
static_cast<sign_t>(0),// signed
-1,// bit_sign_position
""// unit
})},
{std::make_shared<signal_t> (signal_t{
"steering_angle_sign",// generic_name
52,// bit_position
12,// bit_size
1.00000f,// factor
0.00000f,// offset
0,// min_value
0,// max_value
frequency_clock_t(0.00000f),// frequency
true,// send_same
false,// force_send_changed
{
},// states
false,// writable
decoder_t::v1_to_v2_der,// decoder
nullptr,// encoder
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
false,// is_big_endian
static_cast<sign_t>(0),// signed
-1,// bit_sign_position
""// unit
})}
} // end signals vector
})} // end message_definition entry
}, // end message_definition vector
{ // beginning diagnostic_messages_ vector
{std::make_shared<diagnostic_message_t>(diagnostic_message_t{
12,
"",
0,
0,
UNIT::INVALID,
1.00000f,
decoder_t::v1_to_v2_Pid,
nullptr,
true,
false
})}
, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
12,
"",
0,
0,
UNIT::INVALID,
1.00000f,
nullptr,
nullptr,
true,
false
})}
, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
6,
"",
0,
0,
UNIT::INVALID,
1.00000f,
decoder_t::v1_to_v2_agRequest,
nullptr,
true,
false
})}
} // end diagnostic_messages_ vector
})} // end message_set entry
} // end message_set vector
{
for(std::shared_ptr<message_set_t> cms: message_set_)
{
std::vector<std::shared_ptr<message_definition_t>> messages_definition = cms->get_messages_definition();
for(std::shared_ptr<message_definition_t> cmd : messages_definition)
{
cmd->set_parent(cms);
std::vector<std::shared_ptr<signal_t>> signals = cmd->get_signals();
for(std::shared_ptr<signal_t> sig: signals)
{
sig->set_parent(cmd);
}
}
std::vector<std::shared_ptr<diagnostic_message_t>> diagnostic_messages = cms->get_diagnostic_messages();
for(std::shared_ptr<diagnostic_message_t> dm : diagnostic_messages)
{
dm->set_parent(cms);
}
}
}
const std::string application_t::get_diagnostic_bus() const
{
return "hs";
}
openxc_DynamicField decoder_t::v1_to_v2_gnedSteeringWheelAngle(signal_t& signal, std::shared_ptr<message_t> message, bool* send){
float value = decoder_t::parse_signal_bitfield(signal, message);
openxc_DynamicField ret = decoder_t::gnedSteeringWheelAngle(signal, value, send);
if ((signal.get_last_value() == value && !signal.get_send_same()) || !*send ){
*send = false;
}
signal.set_last_value(value);
return ret;
}
openxc_DynamicField decoder_t::v1_to_v2_der(signal_t& signal, std::shared_ptr<message_t> message, bool* send){
float value = decoder_t::parse_signal_bitfield(signal, message);
openxc_DynamicField ret = decoder_t::der(signal, value, send);
if ((signal.get_last_value() == value && !signal.get_send_same()) || !*send ){
*send = false;
}
signal.set_last_value(value);
return ret;
}
openxc_DynamicField decoder_t::v1_to_v2_Pid(signal_t& signal, std::shared_ptr<message_t> message, bool* send){
float value = decoder_t::parse_signal_bitfield(signal, message);
openxc_DynamicField ret = decoder_t::Pid(signal, value, send);
if ((signal.get_last_value() == value && !signal.get_send_same()) || !*send ){
*send = false;
}
signal.set_last_value(value);
return ret;
}
openxc_DynamicField decoder_t::v1_to_v2_agRequest(signal_t& signal, std::shared_ptr<message_t> message, bool* send){
float value = decoder_t::parse_signal_bitfield(signal, message);
openxc_DynamicField ret = decoder_t::agRequest(signal, value, send);
if ((signal.get_last_value() == value && !signal.get_send_same()) || !*send ){
*send = false;
}
signal.set_last_value(value);
return ret;
}
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