Adding header files to get implemented !

Change-Id: Ie4876b3c053988554a97868681b7b08f9c486111
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

1 files changed, 328 insertions, 0 deletions

diff --git a/can-utils.h b/can-utils.h
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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 "timer.h"
+#include "openxc.pb.h"
+
+// TODO actual max is 32 but dropped to 24 for memory considerations
+#define MAX_ACCEPTANCE_FILTERS 24
+// TODO this takes up a ton of memory
+#define MAX_DYNAMIC_MESSAGE_COUNT 12
+
+#define CAN_MESSAGE_SIZE 8
+
+#define CAN_ACTIVE_TIMEOUT_S 30
+
+#define QUEUE_DECLARE(type, max_length) \
+static const int queue_##type##_max_length = max_length; \
+static const int queue_##type##_max_internal_length = max_length + 1; \
+typedef struct queue_##type##_s { \
+    int head; \
+    int tail; \
+    type elements[max_length + 1]; \
+} queue_##type; \
+\
+bool queue_##type##_push(queue_##type* queue, type value); \
+\
+type queue_##type##_pop(queue_##type* queue); \
+\
+type queue_##type##_peek(queue_##type* queue); \
+void queue_##type##_init(queue_##type* queue); \
+int queue_##type##_length(queue_##type* queue); \
+int queue_##type##_available(queue_##type* queue); \
+bool queue_##type##_full(queue_##type* queue); \
+bool queue_##type##_empty(queue_##type* queue); \
+void queue_##type##_snapshot(queue_##type* queue, type* snapshot, int max);
+
+/* Public: The type signature for a CAN signal decoder.
+ *
+ * A SignalDecoder transforms a raw floating point CAN signal into a number,
+ * string or boolean.
+ *
+ * signal - The CAN signal that we are decoding.
+ * signals - The list of all signals.
+ * signalCount - The length of the signals array.
+ * pipeline -  you may want to generate arbitrary additional messages for
+ *      publishing.
+ * value - The CAN signal parsed from the message as a raw floating point
+ *      value.
+ * 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.
+ *
+ * Returns a decoded value in an openxc_DynamicField struct.
+ */
+typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal* signal,
+        CanSignal* signals, int signalCount,
+        openxc::pipeline::Pipeline* pipeline, float value, bool* send);
+
+/* Public: The type signature for a CAN signal encoder.
+ *
+ * A SignalEncoder transforms a number, string or boolean into a raw floating
+ * point value that fits in the CAN signal.
+ *
+ * signal - The CAN signal to encode.
+ * value - The dynamic field to encode.
+ * 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);
+
+/* Public: The ID format for a CAN message.
+ *
+ * STANDARD - standard 11-bit CAN arbitration ID.
+ * EXTENDED - an extended frame, with a 29-bit arbitration ID.
+ */
+enum CanMessageFormat {
+    STANDARD,
+    EXTENDED,
+};
+typedef enum CanMessageFormat CanMessageFormat;
+
+/* Public: A state encoded (SED) signal's mapping from numerical values to
+ * OpenXC state names.
+ *
+ * value - The integer value of the state on the CAN bus.
+ * name  - The corresponding string name for the state in OpenXC.
+ */
+struct CanSignalState {
+    const int value;
+    const char* name;
+};
+typedef struct CanSignalState CanSignalState;
+
+/* Public: A CAN signal to decode from the bus and output over USB.
+ *
+ * message     - The message this signal is a part of.
+ * genericName - The name of the signal to be output over USB.
+ * 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)
+ * bitSize     - The width of the bit field in the CAN message.
+ * factor      - The final value will be multiplied by this factor. Use 1 if you
+ *               don't need a factor.
+ * offset      - The final value will be added to this offset. Use 0 if you
+ *               don't need an offset.
+ * minValue    - The minimum value for the processed signal.
+ * maxValue    - The maximum value for the processed signal.
+ * 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.
+ * sendSame    - If true, will re-send even if the value hasn't changed.
+ * forceSendChanged - If true, regardless of the frequency, it will send the
+ *              value if it has changed.
+ * states      - An array of CanSignalState describing the mapping
+ *               between numerical and string values for valid states.
+ * stateCount  - The length of the states array.
+ * writable    - True if the signal is allowed to be written from the USB host
+ *               back to CAN. Defaults to false.
+ * decoder     - An optional function to decode a signal from the bus to a human
+ *      readable value. If NULL, the default numerical decoder is used.
+ * 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.
+ * received    - True if this signal has ever been received.
+ * lastValue   - The last received value of the signal. If 'received' is false,
+ *      this value is undefined.
+ */
+struct CanSignal {
+    struct CanMessageDefinition* message;
+    const char* genericName;
+    uint8_t bitPosition;
+    uint8_t bitSize;
+    float factor;
+    float offset;
+    float minValue;
+    float maxValue;
+    FrequencyClock frequencyClock;
+    bool sendSame;
+    bool forceSendChanged;
+    const CanSignalState* states;
+    uint8_t stateCount;
+    bool writable;
+    SignalDecoder decoder;
+    SignalEncoder encoder;
+    bool received;
+    float lastValue;
+};
+typedef struct CanSignal CanSignal;
+
+/* Public: The definition of a CAN message. This includes a lot of metadata, so
+ * to save memory this struct should not be used for storing incoming and
+ * outgoing CAN messages.
+ *
+ * bus - A pointer to the bus this message is on.
+ * id - The ID of the message.
+ * format - the format of the message's ID.
+ * frequencyClock - an optional frequency clock to control the output of this
+ *      message, if sent raw, or simply to mark the max frequency for custom
+ *      handlers to retrieve.
+ * forceSendChanged - If true, regardless of the frequency, it will send CAN
+ *      message if it has changed when using raw passthrough.
+ * lastValue - The last received value of the message. Defaults to undefined.
+ *      This is required for the forceSendChanged functionality, as the stack
+ *      needs to compare an incoming CAN message with the previous frame.
+ */
+struct CanMessageDefinition {
+    struct CanBus* bus;
+    uint32_t id;
+    CanMessageFormat format;
+    FrequencyClock frequencyClock;
+    bool forceSendChanged;
+    uint8_t lastValue[CAN_MESSAGE_SIZE];
+};
+typedef struct CanMessageDefinition CanMessageDefinition;
+
+/* A compact representation of a single CAN message, meant to be used in in/out
+ * buffers.
+ *
+ * id - The ID of the message.
+ * format - the format of the message's ID.
+ * data  - The message's data field.
+ * length - the length of the data array (max 8).
+ */
+struct CanMessage {
+    uint32_t id;
+    CanMessageFormat format;
+    uint8_t data[CAN_MESSAGE_SIZE];
+    uint8_t length;
+};
+typedef struct CanMessage CanMessage;
+
+QUEUE_DECLARE(CanMessage, 8);
+
+/* Private: An entry in the list of acceptance filters for each CanBus.
+ *
+ * This struct is meant to be used with a LIST type from <sys/queue.h>.
+ *
+ * filter - the value for the CAN acceptance filter.
+ * activeUserCount - The number of active consumers of this filter's messages.
+ *      When 0, this filter can be removed.
+ * format - the format of the ID for the filter.
+struct AcceptanceFilterListEntry {
+    uint32_t filter;
+    uint8_t activeUserCount;
+    CanMessageFormat format;
+    LIST_ENTRY(AcceptanceFilterListEntry) entries;
+};
+ */
+
+/* Private: A type of list containing CAN acceptance filters.
+LIST_HEAD(AcceptanceFilterList, AcceptanceFilterListEntry);
+
+struct CanMessageDefinitionListEntry {
+    CanMessageDefinition definition;
+    LIST_ENTRY(CanMessageDefinitionListEntry) entries;
+};
+LIST_HEAD(CanMessageDefinitionList, CanMessageDefinitionListEntry);
+ */
+
+/** Public: A parent wrapper for a particular set of CAN messages and associated
+ *  CAN buses(e.g. a vehicle or program).
+ *
+ *  index - A numerical ID for the message set, ideally the index in an array
+ *      for fast lookup
+ *  name - The name of the message set.
+ *  busCount - The number of CAN buses defined for this message set.
+ *  messageCount - The number of CAN messages (across all buses) defined for
+ *      this message set.
+ *  signalCount - The number of CAN signals (across all messages) defined for
+ *      this message set.
+ *  commandCount - The number of CanCommmands defined for this message set.
+ */
+typedef struct {
+    uint8_t index;
+    const char* name;
+    uint8_t busCount;
+    unsigned short messageCount;
+    unsigned short signalCount;
+    unsigned short commandCount;
+} CanMessageSet;
+
+/* Public: The type signature for a function to handle a custom OpenXC command.
+ *
+ * name - the name of the received command.
+ * value - the value of the received command, in a DynamicField. The actual type
+ *      may be a number, string or bool.
+ * event - an optional event from the received command, in a DynamicField. The
+ *      actual type may be a number, string or bool.
+ * signals - The list of all signals.
+ * signalCount - The length of the signals array.
+ */
+typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
+        openxc_DynamicField* event, CanSignal* signals, int signalCount);
+
+/* Public: The structure to represent a supported custom OpenXC command.
+ *
+ * For completely customized CAN commands without a 1-1 mapping between an
+ * OpenXC message from the host and a CAN signal, you can define the name of the
+ * command and a custom function to handle it in the VI. An example is
+ * the "turn_signal_status" command in OpenXC, which has a value of "left" or
+ * "right". The vehicle may have separate CAN signals for the left and right
+ * turn signals, so you will need to implement a custom command handler to send
+ * the correct signals.
+ *
+ * Command handlers are also useful if you want to trigger multiple CAN messages
+ * or signals from a signal OpenXC message.
+ *
+ * genericName - The name of the command.
+ * handler - An function to process the received command's data and perform some
+ *      action.
+ */
+typedef struct {
+    const char* genericName;
+    CommandHandler handler;
+} CanCommand;
+
+/* Pre initialize actions made before CAN bus initialization
+ *
+ * bus - A CanBus struct defining the bus's metadata
+ * writable - configure the controller in a writable mode. If false, it will be
+ *      configured as "listen only" and will not allow writes or even CAN ACKs.
+ * buses - An array of all CAN buses.
+ * busCount - The length of the buses array.
+ */
+void pre_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCount);
+
+/* Post-initialize actions made after CAN bus initialization and before the
+ * event loop connection.
+ *
+ * bus - A CanBus struct defining the bus's metadata
+ * writable - configure the controller in a writable mode. If false, it will be
+ *      configured as "listen only" and will not allow writes or even CAN ACKs.
+ * buses - An array of all CAN buses.
+ * busCount - The length of the buses array.
+ */
+void post_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCount);
+
+/* Public: Check if the device is connected to an active CAN bus, i.e. it's
+ * received a message in the recent past.
+ *
+ * Returns true if a message was received on the CAN bus within
+ * CAN_ACTIVE_TIMEOUT_S seconds.
+ */
+bool isBusActive(CanBus* bus);
+
+/* Public: Log transfer statistics about all active CAN buses to the debug log.
+ *
+ * buses - an array of active CAN buses.
+ * busCount - the length of the buses array.
+ */
+void logBusStatistics(CanBus* buses, const int busCount);