aboutsummaryrefslogtreecommitdiffstats
path: root/openxc_example/generate_example.cpp
blob: 8127a9dda69b4c8d0ca9ba4e1744226ee651423e (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
/* DO NOT MODIFY:  This source is generated by the scripts in the
 * vi-firmware repository.
 *
 * Generated for v7.x of the OpenXC VI firmware.
 */

#include "diagnostics.h"
#include "can/canread.h"
#include "can/canwrite.h"
#include "signals.h"
#include "obd2.h"
#include "util/log.h"
#include "config.h"
#include "shared_handlers.h"

namespace can = openxc::can;

using openxc::util::log::debug;
using openxc::pipeline::Pipeline;
using openxc::config::getConfiguration;
using openxc::can::read::booleanDecoder;
using openxc::can::read::stateDecoder;
using openxc::can::read::ignoreDecoder;
using openxc::diagnostics::obd2::handleObd2Pid;
using namespace openxc::signals::handlers;

#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
}

const int MESSAGE_SET_COUNT = 1;
CanMessageSet MESSAGE_SETS[MESSAGE_SET_COUNT] = {
    { 0, "example", 2, 1, 5, 1 },
};

const int MAX_CAN_BUS_COUNT = 2;
CanBus CAN_BUSES[][MAX_CAN_BUS_COUNT] = {
    { // message set: example
        { speed: 500000,
        address: 1,
        maxMessageFrequency: 0,
        rawWritable: false,
        passthroughCanMessages: false,
        bypassFilters: false,
        loopback: false
        },

        { speed: 125000,
        address: 2,
        maxMessageFrequency: 0,
        rawWritable: false,
        passthroughCanMessages: false,
        bypassFilters: false,
        loopback: false
        },

    },
};

const int MAX_MESSAGE_COUNT = 1;
CanMessageDefinition CAN_MESSAGES[][MAX_MESSAGE_COUNT] = {
    { // message set: example
        { bus: &CAN_BUSES[0][0], id: 0x128, format: STANDARD, frequencyClock: {0.000000}, forceSendChanged: true}, // ECM_z_5D2
    },
};

const int MAX_SIGNAL_STATES = 12;
const int MAX_SIGNALS_WITH_STATES_COUNT = 1;
const CanSignalState SIGNAL_STATES[][MAX_SIGNALS_WITH_STATES_COUNT][MAX_SIGNAL_STATES] = {
    { // message set: example
        { {value: 1, name: "FIRST"}, {value: 2, name: "SECOND"}, {value: 3, name: "THIRD"}, {value: 4, name: "FOURTH"}, {value: 5, name: "REVERSE"}, {value: 6, name: "NEUTRAL"}, { 0, NULL }, { 0, NULL }, { 0, NULL }, { 0, NULL }, { 0, NULL }, { 0, NULL }, },
    },
};

const int MAX_SIGNAL_COUNT = 5;
CanSignal SIGNALS[][MAX_SIGNAL_COUNT] = {
    { // message set: example
        {message: &CAN_MESSAGES[0][0], genericName: "GearshiftPosition", bitPosition: 41, bitSize: 3, factor: 1.000000, offset: 0.000000, minValue: 0.000000, maxValue: 0.000000, frequencyClock: {0.000000}, sendSame: true, forceSendChanged: false, states: SIGNAL_STATES[0][0], stateCount: 6, writable: false, decoder: stateDecoder, encoder: NULL}, // GrshftPos
        {message: &CAN_MESSAGES[0][0], genericName: "SteeringWheelAngle", bitPosition: 52, bitSize: 12, factor: 0.153920, offset: 0.000000, minValue: 0.000000, maxValue: 0.000000, frequencyClock: {0.000000}, sendSame: true, forceSendChanged: false, states: NULL, stateCount: 0, writable: false, decoder: handleUnsignedSteeringWheelAngle, encoder: NULL}, // StrAnglAct
        {message: &CAN_MESSAGES[0][0], genericName: "engine_speed", bitPosition: 12, bitSize: 8, factor: 1.000000, offset: 0.000000, minValue: 0.000000, maxValue: 0.000000, frequencyClock: {15.000000}, sendSame: true, forceSendChanged: false, states: NULL, stateCount: 0, writable: false, decoder: NULL, encoder: NULL}, // EngSpd
        {message: &CAN_MESSAGES[0][0], genericName: "steering_angle_sign", bitPosition: 52, bitSize: 12, factor: 1.000000, offset: 0.000000, minValue: 0.000000, maxValue: 0.000000, frequencyClock: {0.000000}, sendSame: true, forceSendChanged: false, states: NULL, stateCount: 0, writable: false, decoder: ignoreDecoder, encoder: NULL}, // StrAnglSign
        {message: &CAN_MESSAGES[0][0], genericName: "steering_wheel_angle_error", bitPosition: 44, bitSize: 12, factor: 1.000000, offset: 0.000000, minValue: 0.000000, maxValue: 0.000000, frequencyClock: {0.000000}, sendSame: true, forceSendChanged: false, states: NULL, stateCount: 0, writable: false, decoder: ignoreDecoder, encoder: NULL}, // StrAnglErr
    },
};

void openxc::signals::initialize(openxc::diagnostics::DiagnosticsManager* diagnosticsManager) {
    switch(getConfiguration()->messageSetIndex) {
    case 0: // message set: example
        initializeMyStuff();
        break;
    }
}

void openxc::signals::loop() {
    switch(getConfiguration()->messageSetIndex) {
    case 0: // message set: example
        myLooper();
        break;
    }
}

const int MAX_COMMAND_COUNT = 1;
CanCommand COMMANDS[][MAX_COMMAND_COUNT] = {
    { // message set: example
        { genericName: "turn_signal_status", handler: handleTurnSignalCommand },
    },
};

void openxc::signals::decodeCanMessage(Pipeline* pipeline, CanBus* bus, CanMessage* message) {
    switch(getConfiguration()->messageSetIndex) {
    case 0: // message set: example
        switch(bus->address) {
        case 1:
            switch (message->id) {
            case 0x128: // ECM_z_5D2
                handleSteeringWheelMessage(message, SIGNALS[0], getSignalCount(), pipeline);
                can::read::translateSignal(&SIGNALS[0][0], message, SIGNALS[0], getSignalCount(), pipeline); // GrshftPos
                can::read::translateSignal(&SIGNALS[0][1], message, SIGNALS[0], getSignalCount(), pipeline); // StrAnglAct
                can::read::translateSignal(&SIGNALS[0][2], message, SIGNALS[0], getSignalCount(), pipeline); // EngSpd
                can::read::translateSignal(&SIGNALS[0][3], message, SIGNALS[0], getSignalCount(), pipeline); // StrAnglSign
                can::read::translateSignal(&SIGNALS[0][4], message, SIGNALS[0], getSignalCount(), pipeline); // StrAnglErr
                break;
            }
            break;
        case 2:
            switch (message->id) {
            }
            break;
        }
        break;
    }
}


CanCommand* openxc::signals::getCommands() {
    return COMMANDS[getActiveMessageSet()->index];
}

int openxc::signals::getCommandCount() {
    return getActiveMessageSet()->commandCount;
}

CanMessageDefinition* openxc::signals::getMessages() {
    return CAN_MESSAGES[getActiveMessageSet()->index];
}

int openxc::signals::getMessageCount() {
    return getActiveMessageSet()->messageCount;
}

CanSignal* openxc::signals::getSignals() {
    return SIGNALS[getActiveMessageSet()->index];
}

int openxc::signals::getSignalCount() {
    return getActiveMessageSet()->signalCount;
}

CanBus* openxc::signals::getCanBuses() {
    return CAN_BUSES[getActiveMessageSet()->index];
}

int openxc::signals::getCanBusCount() {
    return getActiveMessageSet()->busCount;
}

CanMessageSet* openxc::signals::getActiveMessageSet() {
    return &MESSAGE_SETS[getConfiguration()->messageSetIndex];
}

CanMessageSet* openxc::signals::getMessageSets() {
    return MESSAGE_SETS;
}

int openxc::signals::getMessageSetCount() {
    return MESSAGE_SET_COUNT;
}