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
|
/*
* 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 "openxc.pb.h"
#include "../utils/timer.hpp"
#include "can-bus.hpp"
#include "can-message.hpp"
#include "can-message-definition.hpp"
#include "../diagnostic/diagnostic-message.hpp"
extern "C"
{
#include <afb/afb-binding.h>
#include <afb/afb-event-itf.h>
}
#define MESSAGE_SET_ID 0
class can_signal_t;
/**
* @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] signal - The CAN signal that we are decoding.
* @param[in] signals - The list of all signals.
* @param[in] signalCount - The length of the signals array.
* @param[in] value - The CAN signal parsed from the message as a raw floating point
* value.
* @param[out] 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)(can_signal_t& signal,
const std::vector<can_signal_t>& 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[in] signal - The CAN signal to encode.
* @params[in] 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)(can_signal_t* signal,
openxc_DynamicField* value, bool* send);
class can_signal_t
{
private:
std::uint8_t message_set_id_;
std::uint8_t message_id_;
std::string generic_name_; /*!< generic_name_ - The name of the signal to be output.*/
static std::string prefix_; /*!< prefix_ - generic_name_ will be prefixed with it. It has to reflect the used protocol.
* which make easier to sort message when the come in.*/
uint8_t bit_position_; /*!< 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 bit_size_; /*!< 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 min_value_; /*!< min_value_ - The minimum value for the processed signal.*/
float max_value_; /*!< max_value_ - The maximum value for the processed signal. */
frequency_clock_t frequency_; /*!< frequency_ - A frequency_clock_t struct to control the maximum frequency to
* process and send this signal. To process every value, set the
* clock's frequency to 0. */
bool send_same_; /*!< send_same_ - If true, will re-send even if the value hasn't changed.*/
bool force_send_changed_; /*!< force_send_changed_ - If true, regardless of the frequency, it will send the
* value if it has changed. */
std::map<uint8_t, std::string> states_; /*!< states_ - A map of CAN signal state describing the mapping
* between numerical and string values for valid states. */
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 last_value_; /*!< lastValue_ - The last received value of the signal. If 'received' is false,
* this value is undefined. */
public:
can_signal_t(
std::uint8_t message_set_id,
std::uint8_t message_id,
std::string generic_name,
uint8_t bit_position,
uint8_t bit_size,
float factor,
float offset,
float min_value,
float max_value,
frequency_clock_t frequency,
bool send_same,
bool force_send_changed,
std::map<uint8_t, std::string> states,
bool writable,
SignalDecoder decoder,
SignalEncoder encoder,
bool received);
const can_message_definition_t& get_message() const;
const std::string& get_generic_name() const;
const std::string get_name() const;
const std::string& get_prefix() const;
uint8_t get_bit_position() const;
uint8_t get_bit_size() const;
float get_factor() const;
float get_offset() const;
float get_min_value() const;
float get_max_value() const;
frequency_clock_t& get_frequency();
bool get_send_same() const;
bool get_force_send_changed() const;
const std::map<uint8_t, std::string>& get_states() const;
const std::string get_states(uint8_t value);
size_t get_state_count() const;
bool get_writable() const;
SignalDecoder& get_decoder();
SignalEncoder& get_encoder();
bool get_received() const;
float get_last_value() const;
void set_prefix(std::string val);
void set_received(bool r);
void set_last_value(float val);
};
|
