Fix: OBD2_PIDS array initialization

Change-Id: Ic2c297e4ff94a13872f066ca42ee42beb45451ca
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

1 files changed, 98 insertions, 76 deletions

diff --git a/src/can-utils.hpp b/src/can-utils.hpp
index db97b4b..0b0971d 100644
--- a/src/can-utils.hpp
+++ b/src/can-utils.hpp
@@ -17,9 +17,18 @@
 
 #pragma once
 
+#include <map>
+#include <queue>
+#include <vector>
+#include <cstdio>
 #include <string>
+#include <thread>
+#include <linux/can.h>
+
 #include "timer.hpp"
 #include "openxc.pb.h"
+#include <afb/afb-binding.h>
+#include <afb/afb-service-itf.h>
 
 // TODO actual max is 32 but dropped to 24 for memory considerations
 #define MAX_ACCEPTANCE_FILTERS 24
@@ -30,20 +39,21 @@
 
 #define CAN_ACTIVE_TIMEOUT_S 30
 
-/* Public: The type signature for a CAN signal decoder.
+/**
+ * @brief The type signature for a CAN signal decoder.
  *
- * A SignalDecoder transforms a raw floating point CAN signal into a number,
+ * @desc 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.
- * 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.
+ * @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.
  *
- * Returns a decoded value in an openxc_DynamicField struct.
+ * @return a decoded value in an openxc_DynamicField struct.
  */
 typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal* signal,
 		CanSignal* signals, int signalCount, float value, bool* send);
@@ -51,7 +61,7 @@ typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal* signal,
 /**
  * @brief: The type signature for a CAN signal encoder.
  *
- * A SignalEncoder transforms a number, string or boolean into a raw floating
+ * @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. 
@@ -62,7 +72,8 @@ typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal* signal,
 typedef uint64_t (*SignalEncoder)(struct CanSignal* signal,
 		openxc_DynamicField* value, bool* send);
 
-/* Public: The ID format for a CAN message.
+/**
+ * @brief The ID format for a CAN message.
  *
  * STANDARD - standard 11-bit CAN arbitration ID.
  * EXTENDED - an extended frame, with a 29-bit arbitration ID.
@@ -73,13 +84,17 @@ enum CanMessageFormat {
 };
 typedef enum CanMessageFormat CanMessageFormat;
 
-/* A compact representation of a single CAN message, meant to be used in in/out
+/**
+ * @brief 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).
+ * param[in] uint32_t id - The ID of the message.
+ * param[in] CanMessageFormat format - the format of the message's ID.
+ * param[in] uint8_t data  - The message's data field.
+ * @param[in] uint8_t length - the length of the data array (max 8).
+*************************
+* old CanMessage struct *
+*************************
 struct CanMessage {
 	uint32_t id;
 	CanMessageFormat format;
@@ -90,7 +105,7 @@ typedef struct CanMessage CanMessage;
 */
 class can_message_t {
 	private:
-		afb_binding_interface interface_;
+		const struct afb_binding_interface *interface_;
 		uint32_t id_;
 		CanMessageFormat format_;
 		uint8_t data_[CAN_MESSAGE_SIZE];
@@ -115,9 +130,7 @@ class can_message_t {
  * @brief Object representing a can device. Handle opening, closing and reading on the
  * socket. This is the low level object to be use by can_bus_t.
  *
- * @params[*interface_] - afb_binding_interface to the binder. Used to log messages
- * @params[device_name_] - name of the linux device handling the can bus. Generally vcan0, can0, etc.
- *
+ * @params[in] std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc.
  */
 class can_bus_dev_t {
 	private:
@@ -133,6 +146,8 @@ class can_bus_dev_t {
 		bool is_running_;
 
 	public:
+		can_bus_dev_t(const std::string& dev_name);
+
 		int open();
 		int close();
 		bool is_running();
@@ -145,13 +160,13 @@ class can_bus_dev_t {
 /** 
  * @brief Object used to handle decoding and manage event queue to be pushed.
  *
- * @params[*interface_] - afb_binding_interface to the binder. Used to log messages
- * @params[conf_file_ifstream_] - stream of configuration file used to initialize 
- * can_bus_dev_t objects.
+ * @params[in] interface_ - afb_binding_interface pointer to the binder. Used to log messages
+ * @params[in] conf_file_ - configuration file handle used to initialize can_bus_dev_t objects.
  */
 class can_bus_t {
 	private:
-		afb_binding_interface *interface_;
+		const struct afb_binding_interface *interface_;
+		int conf_file_;
 		
 		std::thread th_decoding_;
 		std::thread th_pushing_;
@@ -160,6 +175,7 @@ class can_bus_t {
 		std::queue <openxc_VehicleMessage> vehicle_message_q_;
 
 	public:
+		can_bus_t(const struct afb_binding_interface *itf, int& conf_file);
 		int init_can_dev();
 		std::vector<std::string> read_conf();
 		
@@ -172,11 +188,12 @@ class can_bus_t {
 		bool has_vehicle_message() const;
 };
 
-/* Public: A state encoded (SED) signal's mapping from numerical values to
+/**
+ * @brief 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.
+ * @param[in] in value - The integer value of the state on the CAN bus.
+ * @param[in] char* name  - The corresponding string name for the state in OpenXC.
  */
 struct CanSignalState {
 	const int value;
@@ -184,38 +201,39 @@ struct CanSignalState {
 };
 typedef struct CanSignalState CanSignalState;
 
-/* Public: A CAN signal to decode from the bus and output over USB.
+/**
+ * @brief 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
+ * @param[in] message	   - The message this signal is a part of.
+ * @param[in] genericName - The name of the signal to be output over USB.
+ * @param[in] 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
+ * @param[in] bitSize	   - The width of the bit field in the CAN message.
+ * @param[in] 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
+ * @param[in] 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
+ * @param[in] minValue    - The minimum value for the processed signal.
+ * @param[in] maxValue    - The maximum value for the processed signal.
+ * @param[in] 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
+ * @param[in] sendSame    - If true, will re-send even if the value hasn't changed.
+ * @param[in] forceSendChanged - If true, regardless of the frequency, it will send the
  *				value if it has changed.
- * states	   - An array of CanSignalState describing the mapping
+ * @param[in] 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
+ * @param[in] stateCount  - The length of the states array.
+ * @param[in] 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
+ * @param[in] decoder	   - An optional function to decode a signal from the bus to a human
+ *				readable value. If NULL, the default numerical decoder is used.
+ * @param[in] 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,
+ * @param[in] received    - True if this signal has ever been received.
+ * @param[in] lastValue   - The last received value of the signal. If 'received' is false,
  *		this value is undefined.
  */
 struct CanSignal {
@@ -240,19 +258,20 @@ struct CanSignal {
 };
 typedef struct CanSignal CanSignal;
 
-/* Public: The definition of a CAN message. This includes a lot of metadata, so
+/**
+ * @brief 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.
- * clock - an optional frequency clock to control the output of this
+ * @param[in] bus - A pointer to the bus this message is on.
+ * @param[in] id - The ID of the message.
+ * @param[in] format - the format of the message's ID.
+ * @param[in] clock - 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
+ * @param[in] 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.
+ * @param[in] 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.
  */
@@ -292,18 +311,19 @@ struct CanMessageDefinitionListEntry {
 LIST_HEAD(CanMessageDefinitionList, CanMessageDefinitionListEntry);
  */
 
-/** Public: A parent wrapper for a particular set of CAN messages and associated
+/**
+ * @brief 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
+ *	@param[in] 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
+ *	@param[in] name - The name of the message set.
+ *	@param[in] busCount - The number of CAN buses defined for this message set.
+ *	@param[in] 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
+ *	@param[in] signalCount - The number of CAN signals (across all messages) defined for
  *		this message set.
- *	commandCount - The number of CanCommmands defined for this message set.
+ *	@param[in] commandCount - The number of CanCommmands defined for this message set.
  */
  typedef struct {
 	uint8_t index;
@@ -314,15 +334,16 @@ LIST_HEAD(CanMessageDefinitionList, CanMessageDefinitionListEntry);
 	unsigned short commandCount;
 } CanMessageSet;
 
-/* Public: The type signature for a function to handle a custom OpenXC command.
+/**
+ * @brief 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
+ * @param[in] char* name - the name of the received command.
+ * @param[in] openxc_DynamicField* 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
+ * @param[in] openxc_DynamicField* 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.
+ * @param[in] CanSignal* signals - The list of all signals.
+ * @param[in] int signalCount - The length of the signals array.
  */
 typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
 		openxc_DynamicField* event, CanSignal* signals, int signalCount);
@@ -349,15 +370,16 @@ typedef struct {
 	CommandHandler handler;
 } CanCommand;
 
-/* Pre initialize actions made before CAN bus initialization
+/**
+ * @brief 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
+ * @param[in] can_bus_dev_t bus - A CanBus struct defining the bus's metadata
+ * @param[in] bool 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.
+ * @param[in] buses - An array of all CAN buses.
+ * @param[in] int busCount - The length of the buses array.
  */
-void pre_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCount);
+void pre_initialize(can_bus_dev_t* bus, bool writable, CanBus* buses, const int busCount);
 
 /* Post-initialize actions made after CAN bus initialization and before the
  * event loop connection.
@@ -368,7 +390,7 @@ void pre_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCoun
  * 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);
+void post_initialize(can_bus_dev_t* 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.
@@ -376,7 +398,7 @@ void post_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCou
  * Returns true if a message was received on the CAN bus within
  * CAN_ACTIVE_TIMEOUT_S seconds.
  */
-bool isBusActive(CanBus* bus);
+bool isBusActive(can_bus_dev_t* bus);
 
 /* Public: Log transfer statistics about all active CAN buses to the debug log.
  *