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#include "application.hpp"
#include "../can/can-decoder.hpp"
// >>>>> 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"}}
, can_message_set_{
{std::make_shared<can_message_set_t>(can_message_set_t{0,"example",
{ // beginning can_message_definition_ vector
{std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x128,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true,
{ // beginning can_signals vector
{std::make_shared<can_signal_t> (can_signal_t{
"engine_speed",
12,
8,
1.00000f,
0.00000,
0,
0,
frequency_clock_t(15.0000f),
true,
false,
{
},
false,
nullptr,
nullptr,
false
})},
{std::make_shared<can_signal_t> (can_signal_t{
"GearshiftPosition",
41,
3,
1.00000f,
0.00000,
0,
0,
frequency_clock_t(0.00000f),
true,
false,
{
{1,"FIRST"},
{4,"FOURTH"},
{6,"NEUTRAL"},
{5,"REVERSE"},
{2,"SECOND"},
{3,"THIRD"}
},
false,
nullptr,
nullptr,
false
})},
{std::make_shared<can_signal_t> (can_signal_t{
"SteeringWheelAngle",
52,
12,
0.153920f,
0.00000,
0,
0,
frequency_clock_t(0.00000f),
true,
false,
{
},
false,
handleUnsignedSteeringWheelAngle,
nullptr,
false
})},
{std::make_shared<can_signal_t> (can_signal_t{
"steering_wheel_angle_error",
44,
12,
1.00000f,
0.00000,
0,
0,
frequency_clock_t(0.00000f),
true,
false,
{
},
false,
ignoreDecoder,
nullptr,
false
})},
{std::make_shared<can_signal_t> (can_signal_t{
"steering_angle_sign",
52,
12,
1.00000f,
0.00000,
0,
0,
frequency_clock_t(0.00000f),
true,
false,
{
},
false,
ignoreDecoder,
nullptr,
false
})}
} // end can_signals vector
})} // end can_message_definition entry
}, // end can_message_definition vector
{ // beginning diagnostic_messages_ vector
{std::make_shared<diagnostic_message_t>(diagnostic_message_t{
12,
"",
0,
0,
UNIT::INVALID,
1.00000f,
handleObd2Pid,
nullptr,
true
})}
, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
12,
"",
0,
0,
UNIT::INVALID,
1.00000f,
nullptr,
nullptr,
true
})}
, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
6,
"",
0,
0,
UNIT::INVALID,
1.00000f,
handleMyDiagRequest,
nullptr,
true
})}
} // end diagnostic_messages_ vector
})} // end can_message_set entry
} // end can_message_set vector
{
for(auto& cms: can_message_set_)
{
std::vector<std::shared_ptr<can_message_definition_t> >& can_messages_definition = cms->get_can_message_definition();
for(auto& cmd : can_messages_definition)
{
cmd->set_parent(cms.get());
std::vector<std::shared_ptr<can_signal_t> >& can_signals = cmd->get_can_signals();
for(auto& sig: can_signals)
{
sig->set_parent(cmd.get());
}
}
std::vector<std::shared_ptr<diagnostic_message_t> >& diagnostic_messages = cms->get_diagnostic_messages();
for(auto& dm : diagnostic_messages)
{
dm->set_parent(cms.get());
}
}
}
const std::string application_t::get_diagnostic_bus() const
{
return "hs";
}
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