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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.
*/
#pragma once
#include <map>
#include <mutex>
#include <queue>
#include <vector>
#include <string>
#include "timer.hpp"
#include "openxc.pb.h"
#include "can-bus.hpp"
#include "can-message.hpp"
extern "C"
{
#include <afb/afb-binding.h>
#include <afb/afb-event-itf.h>
}
#define MESSAGE_SET_ID 0
/**
* @brief Can signal event map making access to afb_event
* externaly to an openxc existing structure.
*
* @desc Event map is making relation between CanSignal generic name
* and the afb_event struct used by application framework to pushed
* to the subscriber.
*/
static std::map<std::string, struct afb_event> subscribed_signals;
std::mutex& get_subscribed_signals_mutex();
/**
* @brief The type signature for a CAN signal decoder.
*
* @desc A SignalDecoder transforms a raw floating point CAN signal into a number,
* string or boolean.
*
* @param[in] CanSignal signal - The CAN signal that we are decoding.
* @param[in] CanSignal signals - The list of all signals.
* @param[in] int signalCount - The length of the signals array.
* @param[in] float value - The CAN signal parsed from the message as a raw floating point
* value.
* @param[out] bool 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)(struct CanSignal& signal,
const std::vector<CanSignal>& signals, float value, bool* send);
/**
* @brief: The type signature for a CAN signal encoder.
*
* @desc A SignalEncoder transforms a number, string or boolean into a raw floating
* point value that fits in the CAN signal.
*
* @params[signal] - The CAN signal to encode.
* @params[value] - The dynamic field to encode.
* @params[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)(struct CanSignal* signal,
openxc_DynamicField* value, bool* send);
/**
* @struct CanSignalState
*
* @brief A state encoded (SED) signal's mapping from numerical values to
* OpenXC state names.
*/
struct CanSignalState {
const int value; /*!< int value - The integer value of the state on the CAN bus.*/
const char* name; /*!< char* name - The corresponding string name for the state in OpenXC. */
};
typedef struct CanSignalState CanSignalState;
/**
* @struct CanSignal
*
* @brief A CAN signal to decode from the bus and output over USB.
*/
struct CanSignal {
struct CanMessageDefinition* message; /*!< message - The message this signal is a part of. */
const char* genericName; /*!< genericName - The name of the signal to be output over USB.*/
uint8_t bitPosition; /*!< 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 bitSize; /*!< bitSize - 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 minValue; /*!< minValue - The minimum value for the processed signal.*/
float maxValue; /*!< maxValue - The maximum value for the processed signal. */
FrequencyClock frequencyClock; /*!< frequencyClock - A FrequencyClock struct to control the maximum frequency to
* process and send this signal. To process every value, set the
* clock's frequency to 0. */
bool sendSame; /*!< sendSame - If true, will re-send even if the value hasn't changed.*/
bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send the
* value if it has changed. */
const CanSignalState* states; /*!< states - An array of CanSignalState describing the mapping
* between numerical and string values for valid states. */
uint8_t stateCount; /*!< stateCount - The length of the states array. */
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 lastValue; /*!< lastValue - The last received value of the signal. If 'received' is false,
* this value is undefined. */
};
typedef struct CanSignal CanSignal;
/** Public: Return the currently active CAN configuration. */
CanMessageSet* getActiveMessageSet();
/** Public: Retrive a list of all possible CAN configurations.
*
* Returns a pointer to an array of all configurations.
*/
CanMessageSet* getMessageSets();
/** Public: Return the length of the array returned by getMessageSets() */
int getMessageSetCount();
/* Public: Return the number of CAN buses configured in the active
* configuration. This is limited to 2, as the hardware controller only has 2
* CAN channels.
*/
int getCanBusCount();
/* Public: Return an array of all CAN messages to be processed in the active
* configuration.
*/
CanMessageDefinition* getMessages();
/* Public: Return signals from an signals array filtered on name.
*/
const std::vector<CanSignal> getSignals();
/* Public: Return the length of the array returned by getSignals(). */
size_t getSignalCount();
/* Public: Return the length of the array returned by getMessages(). */
int getMessageCount();
/**
* @brief Find one or many signals based on its name or id
* passed through openxc_DynamicField.
*
* @param[in] openxc_DynamicField& - a const reference with the key to search into signal.
* Key is either a signal name or its CAN arbitration id.
*
* @return std::vector<std::string> return found CanSignal generic name vector.
*/
std::vector<CanSignal> find_can_signals(const openxc_DynamicField &key);
/**
* @brief Retrieve can arbitration id of a given CanSignal
*
* @param[in] CanSignal& - a const reference to a CanSignal
*
* @return uint32_t - unsigned integer representing the arbitration id.
*/
inline uint32_t get_CanSignal_id(const CanSignal& sig);
/**
* @brief return the subscribed_signals map.
*
* return std::map<std::string, struct afb_event> - map of subscribed signals.
*/
const std::map<std::string, struct afb_event> get_subscribed_signals();
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