diff options
Diffstat (limited to 'CAN-binder/low-can-binding/can')
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus.cpp | 337 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus.hpp | 94 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-command.hpp | 55 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-decoder.cpp | 244 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-decoder.hpp | 49 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-message-definition.cpp | 100 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-message-definition.hpp | 71 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-message-set.cpp | 59 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-message-set.hpp | 50 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-message.cpp | 389 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-message.hpp | 80 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-signals.cpp | 203 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-signals.hpp | 151 |
13 files changed, 0 insertions, 1882 deletions
diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp deleted file mode 100644 index 6167335..0000000 --- a/CAN-binder/low-can-binding/can/can-bus.cpp +++ /dev/null @@ -1,337 +0,0 @@ -/* - * 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. - */ - -#include <net/if.h> -#include <sys/socket.h> -#include <json-c/json.h> -#include <linux/can/raw.h> -#include <map> -#include <cerrno> -#include <vector> -#include <string> -#include <algorithm> - -#include "can-bus.hpp" - -#include "can-signals.hpp" -#include "can-decoder.hpp" -#include "../binding/application.hpp" -#include "../utils/signals.hpp" -#include "../utils/openxc-utils.hpp" - -/// @brief Class constructor -/// -/// @param[in] conf_file - handle to the json configuration file. -can_bus_t::can_bus_t(utils::config_parser_t conf_file) - : conf_file_{conf_file} -{} - -/// @brief Take a decoded message to determine if its value comply with the wanted -/// filtering values. -/// -/// @param[in] vehicle_message - A decoded message to analyze -/// @param[in] can_subscription - the subscription which will be notified depending -/// on its filtering values. Filtering values are stored in the event_filtermember. -/// -/// @return True if the value is compliant with event filter values, false if not... -bool can_bus_t::apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription) -{ - bool send = false; - if(is_valid(vehicle_message)) - { - float min = std::isnan(can_subscription->get_min()) ? -INFINITY : can_subscription->get_min(); - float max = std::isnan(can_subscription->get_max()) ? INFINITY : can_subscription->get_max(); - double value = get_numerical_from_DynamicField(vehicle_message); - send = (value < min && value > max) ? false : true; - } - return send; -} - -/// @brief Will make the decoding operation on a classic CAN message. It will not -/// handle CAN commands nor diagnostic messages that have their own method to get -/// this happens. -/// -/// It will add to the vehicle_message queue the decoded message and tell the event push -/// thread to process it. -/// -/// @param[in] can_message - a single CAN message from the CAN socket read, to be decode. -/// -/// @return How many signals has been decoded. -void can_bus_t::process_can_signals(const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s) -{ - int subscription_id = can_message.get_sub_id(); - openxc_DynamicField decoded_message; - openxc_VehicleMessage vehicle_message; - - // First we have to found which can_signal_t it is - std::shared_ptr<low_can_subscription_t> sig = s[subscription_id]; - - if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event())) - { - bool send = true; - decoded_message = decoder_t::translateSignal(*sig->get_can_signal(), can_message, application_t::instance().get_all_can_signals(), &send); - openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message); - vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp()); - - if(send && apply_filter(vehicle_message, sig)) - { - std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(subscription_id, vehicle_message); - DEBUG("%s CAN signals processed.", sig->get_name().c_str()); - } - } -} - -/// @brief Will make the decoding operation on a diagnostic CAN message.Then it find the subscribed signal -/// corresponding and will add the vehicle_message to the queue of event to pushed before notifying -/// the event push thread to process it. -/// -/// @param[in] manager - the diagnostic manager object that handle diagnostic communication -/// @param[in] can_message - a single CAN message from the CAN socket read, to be decode. -/// -/// @return How many signals has been decoded. -void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s) -{ - int subscription_id = can_message.get_sub_id(); - - openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message); - if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) && - s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event())) - { - if (apply_filter(vehicle_message, s[subscription_id])) - { - std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(subscription_id, vehicle_message); - DEBUG("%s CAN signals processed.", s[subscription_id]->get_name().c_str()); - } - } -} - -/// @brief thread to decoding raw CAN messages. -/// -/// Depending on the nature of message, if arbitration ID matches ID for a diagnostic response -/// then decoding a diagnostic message else use classic CAN signals decoding functions. -/// -/// It will take from the can_message_q_ queue the next can message to process then it search -/// about signal subscribed if there is a valid afb_event for it. We only decode signal for which a -/// subscription has been made. Can message will be decoded using translateSignal that will pass it to the -/// corresponding decoding function if there is one assigned for that signal. If not, it will be the default -/// noopDecoder function that will operate on it. -/// -/// TODO: make diagnostic messages parsing optionnal. -void can_bus_t::can_decode_message() -{ - utils::signals_manager_t& sm = utils::signals_manager_t::instance(); - - while(is_decoding_) - { - std::unique_lock<std::mutex> can_message_lock(can_message_mutex_); - new_can_message_cv_.wait(can_message_lock); - while(!can_message_q_.empty()) - { - const can_message_t can_message = next_can_message(); - can_message_lock.unlock(); - - { - std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); - std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals(); - if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message)) - {process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), can_message, s);} - else - {process_can_signals(can_message, s);} - } - can_message_lock.lock(); - } - new_decoded_can_message_.notify_one(); - can_message_lock.unlock(); - } -} - -/// @brief thread to push events to suscribers. It will read subscribed_signals map to look -/// which are events that has to be pushed. -void can_bus_t::can_event_push() -{ - openxc_SimpleMessage s_message; - json_object* jo; - utils::signals_manager_t& sm = utils::signals_manager_t::instance(); - - while(is_pushing_) - { - std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); - new_decoded_can_message_.wait(decoded_can_message_lock); - while(!vehicle_message_q_.empty()) - { - std::pair<int, openxc_VehicleMessage> v_message = next_vehicle_message(); - decoded_can_message_lock.unlock(); - { - std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); - std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals(); - s_message = get_simple_message(v_message.second); - if(s.find(v_message.first) != s.end() && afb_event_is_valid(s[v_message.first]->get_event())) - { - jo = json_object_new_object(); - jsonify_simple(s_message, jo); - if(afb_event_push(s[v_message.first]->get_event(), jo) == 0) - { - if(v_message.second.has_diagnostic_response) - {on_no_clients(s[v_message.first], v_message.second.diagnostic_response.pid, s);} - else - {on_no_clients(s[v_message.first], s);} - } - } - } - decoded_can_message_lock.lock(); - } - decoded_can_message_lock.unlock(); - } -} - -/// @brief Will initialize threads that will decode -/// and push subscribed events. -void can_bus_t::start_threads() -{ - is_decoding_ = true; - th_decoding_ = std::thread(&can_bus_t::can_decode_message, this); - th_decoding_.detach(); - - is_pushing_ = true; - th_pushing_ = std::thread(&can_bus_t::can_event_push, this); - th_pushing_.detach(); -} - -/// @brief Will stop all threads holded by can_bus_t object -/// which are decoding and pushing then will wait that's -/// they'll finish their job. -void can_bus_t::stop_threads() -{ - is_decoding_ = false; - is_pushing_ = false; -} - -/// @brief return new_can_message_cv_ member -/// -/// @return return new_can_message_cv_ member -std::condition_variable& can_bus_t::get_new_can_message_cv() -{ - return new_can_message_cv_; -} - -/// @brief return can_message_mutex_ member -/// -/// @return return can_message_mutex_ member -std::mutex& can_bus_t::get_can_message_mutex() -{ - return can_message_mutex_; -} - -/// @brief Return first can_message_t on the queue -/// -/// @return a can_message_t -const can_message_t can_bus_t::next_can_message() -{ - can_message_t can_msg; - - if(!can_message_q_.empty()) - { - can_msg = can_message_q_.front(); - can_message_q_.pop(); - DEBUG("Here is the next can message : id %X, length %X, data %02X%02X%02X%02X%02X%02X%02X%02X", can_msg.get_id(), can_msg.get_length(), - can_msg.get_data()[0], can_msg.get_data()[1], can_msg.get_data()[2], can_msg.get_data()[3], can_msg.get_data()[4], can_msg.get_data()[5], can_msg.get_data()[6], can_msg.get_data()[7]); - return can_msg; - } - - return can_msg; -} - -/// @brief Push a can_message_t into the queue -/// -/// @param[in] can_msg - the const reference can_message_t object to push into the queue -void can_bus_t::push_new_can_message(const can_message_t& can_msg) -{ - can_message_q_.push(can_msg); -} - -/// @brief Return first openxc_VehicleMessage on the queue -/// -/// @return a openxc_VehicleMessage containing a decoded can message -std::pair<int, openxc_VehicleMessage> can_bus_t::next_vehicle_message() -{ - std::pair<int, openxc_VehicleMessage> v_msg; - - if(! vehicle_message_q_.empty()) - { - v_msg = vehicle_message_q_.front(); - vehicle_message_q_.pop(); - DEBUG("next vehicle message poped"); - return v_msg; - } - - return v_msg; -} - -/// @brief Push a openxc_VehicleMessage into the queue -/// -/// @param[in] v_msg - const reference openxc_VehicleMessage object to push into the queue -void can_bus_t::push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg) -{ - vehicle_message_q_.push(std::make_pair(subscription_id, v_msg)); -} - -/// @brief Fills the CAN device map member with value from device -/// mapping configuration file read at initialization. -void can_bus_t::set_can_devices() -{ - can_devices_ = conf_file_.get_devices_name(); - - if(can_devices_.empty()) - { - ERROR("No mapping found in config file: '%s'. Check it that it have a CANbus-mapping section.", - conf_file_.filepath().c_str()); - } -} - - -/// @brief Return the CAN device index from the map -/// map are sorted so index depend upon alphabetical sorting. -int can_bus_t::get_can_device_index(const std::string& bus_name) const -{ - int i = 0; - for(const auto& d: can_devices_) - { - if(d.first == bus_name) - break; - i++; - } - return i; -} - -/// @brief Return CAN device name from a logical CAN device name gotten from -/// the signals.json description file which comes from a CAN databases file in -/// general. -const std::string can_bus_t::get_can_device_name(const std::string& id_name) const -{ - std::string ret; - for(const auto& d: can_devices_) - { - if(d.first == id_name) - { - ret = d.second; - break; - } - } - return ret; -} diff --git a/CAN-binder/low-can-binding/can/can-bus.hpp b/CAN-binder/low-can-binding/can/can-bus.hpp deleted file mode 100644 index a76d3e8..0000000 --- a/CAN-binder/low-can-binding/can/can-bus.hpp +++ /dev/null @@ -1,94 +0,0 @@ -/* - * Copyright (C) 2015, 2016, 2017 "IoT.bzh" - * Author "Romain Forlot" <romain.forlot@iot.bzh> - * Author "Loïc Collignon" <loic.collignon@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 <utility> -#include <mutex> -#include <queue> -#include <thread> -#include <linux/can.h> -#include <condition_variable> - -#include "openxc.pb.h" -#include "can-message.hpp" -#include "../utils/config-parser.hpp" -#include "../binding/low-can-hat.hpp" -#include "../binding/low-can-subscription.hpp" - -// 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_ACTIVE_TIMEOUT_S 30 - -class diagnostic_manager_t; - -/// @brief Object used to handle decoding and manage event queue to be pushed. -/// -/// This object is also used to initialize can_bus_dev_t object after reading -/// json conf file describing the CAN devices to use. Thus, those object will read -/// on the device the CAN frame and push them into the can_bus_t can_message_q_ queue. -/// -/// That queue will be later used to be decoded and pushed to subscribers. -class can_bus_t -{ -private: - utils::config_parser_t conf_file_; ///< configuration file handle used to initialize can_bus_dev_t objects. - - bool apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription); - void process_can_signals(const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s); - void process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s); - - void can_decode_message(); - std::thread th_decoding_; ///< thread that'll handle decoding a can frame - bool is_decoding_ = false; ///< boolean member controling thread while loop - - void can_event_push(); - std::thread th_pushing_; ///< thread that'll handle pushing decoded can frame to subscribers - bool is_pushing_ = false; ///< boolean member controling thread while loop - - std::condition_variable new_can_message_cv_; ///< condition_variable use to wait until there is a new CAN message to read - std::mutex can_message_mutex_; ///< mutex protecting the can_message_q_ queue. - std::queue <can_message_t> can_message_q_; ///< queue that'll store can_message_t to decoded - - std::condition_variable new_decoded_can_message_; ///< condition_variable use to wait until there is a new vehicle message to read from the queue vehicle_message_q_ - std::mutex decoded_can_message_mutex_; ///< mutex protecting the vehicle_message_q_ queue. - std::queue <std::pair<int, openxc_VehicleMessage> > vehicle_message_q_; ///< queue that'll store openxc_VehicleMessage to pushed - - std::vector<std::pair<std::string, std::string> > can_devices_; ///< can_devices_ - holds a mapping between logical CAN devices names and linux CAN devices names. -public: - explicit can_bus_t(utils::config_parser_t conf_file); - can_bus_t(can_bus_t&&); - - void set_can_devices(); - int get_can_device_index(const std::string& bus_name) const; - const std::string get_can_device_name(const std::string& id_name) const; - - void start_threads(); - void stop_threads(); - - const can_message_t next_can_message(); - void push_new_can_message(const can_message_t& can_msg); - std::mutex& get_can_message_mutex(); - std::condition_variable& get_new_can_message_cv(); - - std::pair<int, openxc_VehicleMessage> next_vehicle_message(); - void push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg); -}; diff --git a/CAN-binder/low-can-binding/can/can-command.hpp b/CAN-binder/low-can-binding/can/can-command.hpp deleted file mode 100644 index 4cf20cb..0000000 --- a/CAN-binder/low-can-binding/can/can-command.hpp +++ /dev/null @@ -1,55 +0,0 @@ -/* - * 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 "openxc.pb.h" -#include "can-signals.hpp" - -/// -/// @brief The type signature for a function to handle a custom OpenXC command. -/// -/// @param[in] name - the name of the received command. -/// @param[in] value - the value of the received command, in a DynamicField. The actual type -/// may be a number, string or bool. -/// @param[in] event - an optional event from the received command, in a DynamicField. The -/// actual type may be a number, string or bool. -/// @param[in] signals - The list of all signals. -/// @param[in] signalCount - The length of the signals array. -/// -typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value, - openxc_DynamicField* event, can_signal_t* signals, int signalCount); - -/// @struct CanCommand -/// @brief 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. -/// -typedef struct { - const char* generic_name; /*!< generic_name - The name of the command.*/ - CommandHandler handler; /*!< handler - An function to process the received command's data and perform some - * action.*/ -} CanCommand; diff --git a/CAN-binder/low-can-binding/can/can-decoder.cpp b/CAN-binder/low-can-binding/can/can-decoder.cpp deleted file mode 100644 index 61bfe75..0000000 --- a/CAN-binder/low-can-binding/can/can-decoder.cpp +++ /dev/null @@ -1,244 +0,0 @@ -/* - * 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. - */ - -#include "can-decoder.hpp" - -#include "canutil/read.h" -#include "../utils/openxc-utils.hpp" -#include "can-message-definition.hpp" -#include "../binding/low-can-hat.hpp" - -/// @brief Parse the signal's bitfield from the given data and return the raw -/// value. -/// -/// @param[in] signal - The signal to parse from the data. -/// @param[in] message - can_message_t to parse -/// -/// @return Returns the raw value of the signal parsed as a bitfield from the given byte -/// array. -/// -float decoder_t::parseSignalBitfield(can_signal_t& signal, const can_message_t& message) -{ - return bitfield_parse_float(message.get_data(), CAN_MESSAGE_SIZE, - signal.get_bit_position(), signal.get_bit_size(), signal.get_factor(), - signal.get_offset()); -} - -/// @brief Wrap a raw CAN signal value in a DynamicField without modification. -/// -/// This is an implementation of the SignalDecoder type signature, and can be -/// used directly in the can_signal_t.decoder field. -/// -/// @param[in] signal - The details of the signal that contains the state mapping. -/// @param[in] signals - The list of all signals -/// @param[in] value - The numerical value that will be wrapped in a DynamicField. -/// @param[out] send - An output argument that will be set to false if the value should -/// not be sent for any reason. -/// -/// @return Returns a DynamicField with the original, unmodified raw CAN signal value as -/// its numeric value. The 'send' argument will not be modified as this decoder -/// always succeeds. -/// -openxc_DynamicField decoder_t::noopDecoder(can_signal_t& signal, - const std::vector<std::shared_ptr<can_signal_t> >& signals, float value, bool* send) -{ - openxc_DynamicField decoded_value = build_DynamicField(value); - - return decoded_value; -} -/// @brief Coerces a numerical value to a boolean. -/// -/// This is an implementation of the SignalDecoder type signature, and can be -/// used directly in the can_signal_t.decoder field. -/// -/// @param[in] signal - The details of the signal that contains the state mapping. -/// @param[in] signals - The list of all signals -/// @param[in] value - The numerical value that will be converted to a boolean. -/// @param[out] send - An output argument that will be set to false if the value should -/// not be sent for any reason. -/// -/// @return Returns a DynamicField with a boolean value of false if the raw signal value -/// is 0.0, otherwise true. The 'send' argument will not be modified as this -/// decoder always succeeds. -/// -openxc_DynamicField decoder_t::booleanDecoder(can_signal_t& signal, - const std::vector<std::shared_ptr<can_signal_t> >& signals, float value, bool* send) -{ - openxc_DynamicField decoded_value = build_DynamicField(value == 0.0 ? false : true); - - return decoded_value; -} -/// @brief Update the metadata for a signal and the newly received value. -/// -/// This is an implementation of the SignalDecoder type signature, and can be -/// used directly in the can_signal_t.decoder field. -/// -/// This function always flips 'send' to false. -/// -/// @param[in] signal - The details of the signal that contains the state mapping. -/// @param[in] signals - The list of all signals. -/// @param[in] value - The numerical value that will be converted to a boolean. -/// @param[out] send - This output argument will always be set to false, so the caller will -/// know not to publish this value to the pipeline. -/// -/// @return Return value is undefined. -/// -openxc_DynamicField decoder_t::ignoreDecoder(can_signal_t& signal, - const std::vector<std::shared_ptr<can_signal_t> >& signals, float value, bool* send) -{ - if(send) - *send = false; - - openxc_DynamicField decoded_value; - - return decoded_value; -} - -/// @brief Find and return the corresponding string state for a CAN signal's -/// raw integer value. -/// -/// This is an implementation of the SignalDecoder type signature, and can be -/// used directly in the can_signal_t.decoder field. -/// -/// @param[in] signal - The details of the signal that contains the state mapping. -/// @param[in] signals - The list of all signals. -/// @param[in] value - The numerical value that should map to a state. -/// @param[out] send - An output argument that will be set to false if the value should -/// not be sent for any reason. -/// -/// @return Returns a DynamicField with a string value if a matching state is found in -/// the signal. If an equivalent isn't found, send is sent to false and the -/// return value is undefined. -/// -openxc_DynamicField decoder_t::stateDecoder(can_signal_t& signal, - const std::vector<std::shared_ptr<can_signal_t> >& signals, float value, bool* send) -{ - const std::string signal_state = signal.get_states((uint8_t)value); - openxc_DynamicField decoded_value = build_DynamicField(signal_state); - if(signal_state.size() <= 0) - { - *send = false; - ERROR("No state found with index: %d", (int)value); - } - return decoded_value; -} - - -/// @brief Parse a signal from a CAN message, apply any required transforations -/// to get a human readable value and public the result to the pipeline. -/// -/// If the can_signal_t has a non-NULL 'decoder' field, the raw CAN signal value -/// will be passed to the decoder before publishing. -/// -/// @param[in] signal - The details of the signal to decode and forward. -/// @param[in] message - The received CAN message that should contain this signal. -/// @param[in] signals - an array of all active signals. -/// @param[out] send - An output parameter that will be flipped to false if the value could -/// not be decoded. -/// -/// The decoder returns an openxc_DynamicField, which may contain a number, -/// string or boolean. -/// -openxc_DynamicField decoder_t::translateSignal(can_signal_t& signal, const can_message_t& message, - const std::vector<std::shared_ptr<can_signal_t> >& signals, bool* send) -{ - float value = decoder_t::parseSignalBitfield(signal, message); - DEBUG("Decoded message from parseSignalBitfield: %f", value); - - // Must call the decoders every time, regardless of if we are going to - // decide to send the signal or not. - openxc_DynamicField decoded_value = decoder_t::decodeSignal(signal, - value, signals, send); - - signal.set_received(true); - - // Don't send if they is no changes - if ((signal.get_last_value() == value && !signal.get_send_same()) || !*send ) - { - *send = false; - } - signal.set_last_value(value); - signal.set_timestamp(message.get_timestamp()); - signal.get_message()->set_last_value(message); - return decoded_value; -} - -/// @brief Parse a signal from a CAN message and apply any required -/// transforations to get a human readable value. -/// -/// If the can_signal_t has a non-NULL 'decoder' field, the raw CAN signal value -/// will be passed to the decoder before returning. -/// -/// @param[in] signal - The details of the signal to decode and forward. -/// @param[in] value - The numerical value that will be converted to a boolean. -/// @param[in] signals - an array of all active signals. -/// @param[out] send - An output parameter that will be flipped to false if the value could -/// not be decoded. -/// -/// @return The decoder returns an openxc_DynamicField, which may contain a number, -/// string or boolean. If 'send' is false, the return value is undefined. -/// -openxc_DynamicField decoder_t::decodeSignal( can_signal_t& signal, - float value, const std::vector<std::shared_ptr<can_signal_t> >& signals, bool* send) -{ - SignalDecoder decoder = signal.get_decoder() == nullptr ? - noopDecoder : signal.get_decoder(); - openxc_DynamicField decoded_value = decoder(signal, signals, - value, send); - return decoded_value; -} - -/// @brief Decode a transformed, human readable value from an raw CAN signal -/// already parsed from a CAN message. -/// -/// This is the same as decodeSignal but you must parse the bitfield value of the signal from the CAN -/// message yourself. This is useful if you need that raw value for something -/// else. -/// -/// @param[in] signal - The details of the signal to decode and forward. -/// @param[in] message - Raw CAN message to decode -/// @param[in] signals - an array of all active signals. -/// @param[out] send - An output parameter that will be flipped to false if the value could -/// not be decoded. -/// -openxc_DynamicField decoder_t::decodeSignal( can_signal_t& signal, - const can_message_t& message, const std::vector<std::shared_ptr<can_signal_t> >& signals, bool* send) -{ - float value = parseSignalBitfield(signal, message); - return decodeSignal(signal, value, signals, send); -} - - -/// -/// @brief Decode the payload of an OBD-II PID. -/// -/// This function matches the type signature for a DiagnosticResponseDecoder, so -/// it can be used as the decoder for a DiagnosticRequest. It returns the decoded -/// value of the PID, using the standard formulas (see -/// http://en.wikipedia.org/wiki/OBD-II_PIDs#Mode_01). -/// -/// @param[in] response - the received DiagnosticResponse (the data is in response.payload, -/// a byte array). This is most often used when the byte order is -/// signiticant, i.e. with many OBD-II PID formulas. -/// @param[in] parsed_payload - the entire payload of the response parsed as an int. -/// -/// @return Float decoded value. -/// -float decoder_t::decode_obd2_response(const DiagnosticResponse* response, float parsed_payload) -{ - return diagnostic_decode_obd2_pid(response); -}
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/can/can-decoder.hpp b/CAN-binder/low-can-binding/can/can-decoder.hpp deleted file mode 100644 index 7eaa4a7..0000000 --- a/CAN-binder/low-can-binding/can/can-decoder.hpp +++ /dev/null @@ -1,49 +0,0 @@ -/* - * 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 "can-signals.hpp" -#include "can-message.hpp" -#include "openxc.pb.h" - -class decoder_t -{ -public: - static float parseSignalBitfield(can_signal_t& signal, const can_message_t& message); - - static openxc_DynamicField stateDecoder(can_signal_t& signal, const std::vector<std::shared_ptr<can_signal_t> >& signals, - float value, bool* send); - static openxc_DynamicField booleanDecoder(can_signal_t& signal, const std::vector<std::shared_ptr<can_signal_t> >& signals, - float value, bool* send); - static openxc_DynamicField ignoreDecoder(can_signal_t& signal, const std::vector<std::shared_ptr<can_signal_t> >& signals, - float value, bool* send); - static openxc_DynamicField noopDecoder(can_signal_t& signal, const std::vector<std::shared_ptr<can_signal_t> >& signals, - float value, bool* send); - - static openxc_DynamicField translateSignal(can_signal_t& signal, const can_message_t& message, - const std::vector<std::shared_ptr<can_signal_t> >& signals, bool* send); - - static openxc_DynamicField decodeSignal(can_signal_t& signal, const can_message_t& message, - const std::vector<std::shared_ptr<can_signal_t> >& signals, bool* send); - - static openxc_DynamicField decodeSignal(can_signal_t& signal, float value, - const std::vector<std::shared_ptr<can_signal_t> >& signals, bool* send); - - static float decode_obd2_response(const DiagnosticResponse* response, float parsed_payload); - -};
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/can/can-message-definition.cpp b/CAN-binder/low-can-binding/can/can-message-definition.cpp deleted file mode 100644 index 28d45fe..0000000 --- a/CAN-binder/low-can-binding/can/can-message-definition.cpp +++ /dev/null @@ -1,100 +0,0 @@ -/* - * 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. - */ - -#include "can-message-definition.hpp" - -#include "../binding/application.hpp" - -can_message_definition_t::can_message_definition_t(const std::string bus) - : parent_{nullptr}, bus_{bus}, last_value_{CAN_MESSAGE_SIZE} -{} - -can_message_definition_t::can_message_definition_t( - const std::string bus, - uint32_t id, - frequency_clock_t frequency_clock, - bool force_send_changed) - : parent_{nullptr}, - bus_{bus}, - id_{id}, - frequency_clock_{frequency_clock}, - force_send_changed_{force_send_changed}, - last_value_{CAN_MESSAGE_SIZE} -{} - -can_message_definition_t::can_message_definition_t( - const std::string bus, - uint32_t id, - can_message_format_t format, - frequency_clock_t frequency_clock, - bool force_send_changed) - : parent_{nullptr}, - bus_{bus}, - id_{id}, - format_{format}, - frequency_clock_{frequency_clock}, - force_send_changed_{force_send_changed}, - last_value_{CAN_MESSAGE_SIZE} -{} - -can_message_definition_t::can_message_definition_t( - const std::string bus, - uint32_t id, - can_message_format_t format, - frequency_clock_t frequency_clock, - bool force_send_changed, - const std::vector<std::shared_ptr<can_signal_t> >& can_signals) - : parent_{nullptr}, - bus_{bus}, - id_{id}, - format_{format}, - frequency_clock_{frequency_clock}, - force_send_changed_{force_send_changed}, - last_value_{CAN_MESSAGE_SIZE}, - can_signals_{can_signals} -{} - -const std::string can_message_definition_t::get_bus_name() const -{ - return bus_; -} - -const std::string can_message_definition_t::get_bus_device_name() const -{ - return application_t::instance().get_can_bus_manager() - .get_can_device_name(bus_); -} - -uint32_t can_message_definition_t::get_id() const -{ - return id_; -} - -std::vector<std::shared_ptr<can_signal_t> >& can_message_definition_t::get_can_signals() -{ - return can_signals_; -} - -void can_message_definition_t::set_parent(can_message_set_t* parent) -{ - parent_= parent; -} - -void can_message_definition_t::set_last_value(const can_message_t& cm) -{ - last_value_= cm.get_data_vector(); -}
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/can/can-message-definition.hpp b/CAN-binder/low-can-binding/can/can-message-definition.hpp deleted file mode 100644 index 6d0f17d..0000000 --- a/CAN-binder/low-can-binding/can/can-message-definition.hpp +++ /dev/null @@ -1,71 +0,0 @@ -/* - * 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. - */ - -/** - * @class can_message_definition_t - * - * @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. - */ - -#pragma once - -#include <vector> -#include <memory> - -#include "can-signals.hpp" -#include "can-message.hpp" -#include "can-message-set.hpp" -#include "../utils/timer.hpp" - -class can_message_set_t; - -/// @brief The definition of a CAN message. This includes a lot of metadata, so -/// to save memory this class gets the can_signal_t object related to a CAN message. -class can_message_definition_t -{ -private: - can_message_set_t* parent_; ///< parent_ - Pointer to the CAN message set holding this CAN message definition */ - std::string bus_; ///< bus_ - Address of CAN bus device. */ - uint32_t id_; ///< id_ - The ID of the message.*/ - can_message_format_t format_; ///< format_ - the format of the message's ID.*/ - frequency_clock_t frequency_clock_; ///< 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.*/ - bool force_send_changed_; ///< force_send_changed_ - If true, regardless of the frequency, it will send CAN - /// message if it has changed when using raw passthrough.*/ - std::vector<uint8_t> last_value_; ///< last_value_ - 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.*/ - std::vector<std::shared_ptr<can_signal_t> > can_signals_; ///< can_signals_ - Vector holding can_signal_t object which share the same arbitration ID */ - -public: - //can_message_definition_t(const can_message_definition_t& b); - can_message_definition_t(const std::string bus); - can_message_definition_t(const std::string bus, uint32_t id, frequency_clock_t frequency_clock, bool force_send_changed); - can_message_definition_t(const std::string bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed); - can_message_definition_t(const std::string bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed, const std::vector<std::shared_ptr<can_signal_t> >& can_signals); - - const std::string get_bus_name() const; - const std::string get_bus_device_name() const; - uint32_t get_id() const; - std::vector<std::shared_ptr<can_signal_t> >& get_can_signals(); - - void set_parent(can_message_set_t* parent); - void set_last_value(const can_message_t& cm); -}; diff --git a/CAN-binder/low-can-binding/can/can-message-set.cpp b/CAN-binder/low-can-binding/can/can-message-set.cpp deleted file mode 100644 index c31dec6..0000000 --- a/CAN-binder/low-can-binding/can/can-message-set.cpp +++ /dev/null @@ -1,59 +0,0 @@ -/* - * Copyright (C) 2015, 2016, 2017 "IoT.bzh" - * Author "Romain Forlot" <romain.forlot@iot.bzh> - * Author "Loïc Collignon" <loic.collignon@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. - */ - -#include "can-message-set.hpp" - -#include "../can/can-message-definition.hpp" - -can_message_set_t::can_message_set_t( - uint8_t index, - const std::string& name, - const std::vector<std::shared_ptr<can_message_definition_t> >& can_messages_definition, - const std::vector<std::shared_ptr<diagnostic_message_t> >& diagnostic_messages) - : index_{index} - , name_{name} - , can_messages_definition_{can_messages_definition} - , diagnostic_messages_{diagnostic_messages} -{} - -/// @brief Return vector holding all message definition handled by this message set. -std::vector<std::shared_ptr<can_message_definition_t> >& can_message_set_t::get_can_message_definition() -{ - return can_messages_definition_; -} - -std::vector<std::shared_ptr<can_signal_t> > can_message_set_t::get_all_can_signals() const -{ - std::vector<std::shared_ptr<can_signal_t> > can_signals; - for(const auto& cmd: can_messages_definition_) - { - std::vector<std::shared_ptr<can_signal_t> >& cmd_signals = cmd->get_can_signals(); - can_signals.insert( can_signals.end(), - cmd_signals.begin(), - cmd_signals.end() - ); - } - - return can_signals; -} - -/// @brief Return vector holding all diagnostic messages definitions handled by this message set. -std::vector<std::shared_ptr<diagnostic_message_t> >& can_message_set_t::get_diagnostic_messages() -{ - return diagnostic_messages_; -}
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/can/can-message-set.hpp b/CAN-binder/low-can-binding/can/can-message-set.hpp deleted file mode 100644 index 2a7cb53..0000000 --- a/CAN-binder/low-can-binding/can/can-message-set.hpp +++ /dev/null @@ -1,50 +0,0 @@ -/* - * Copyright (C) 2015, 2016, 2017 "IoT.bzh" - * Author "Romain Forlot" <romain.forlot@iot.bzh> - * Author "Loïc Collignon" <loic.collignon@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 <cstdint> -#include <string> -#include <vector> -#include <memory> - -class can_signal_t; -class can_message_definition_t; -class diagnostic_message_t; - -/// @brief A parent wrapper for a particular set of CAN messages and diagnostic messages -/// (e.g. a vehicle or program). -class can_message_set_t -{ -private: - uint8_t index_; /// < A numerical ID for the message set, ideally the index in an array for fast lookup - const std::string name_; /// < The name of the message set. - std::vector<std::shared_ptr<can_message_definition_t> > can_messages_definition_; ///< Vector holding all message definition handled by this message set. - std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages_; ///< Vector holding all diagnostics messages from JSON signals description file. First vector map to message set - -public: - can_message_set_t( - uint8_t index, - const std::string& name, - const std::vector<std::shared_ptr<can_message_definition_t> >& can_messages_definition, - const std::vector<std::shared_ptr<diagnostic_message_t> >& diagnostic_messages); - - std::vector<std::shared_ptr<can_message_definition_t> >& get_can_message_definition(); - std::vector<std::shared_ptr<can_signal_t> > get_all_can_signals() const; - std::vector<std::shared_ptr<diagnostic_message_t> >& get_diagnostic_messages(); -}; diff --git a/CAN-binder/low-can-binding/can/can-message.cpp b/CAN-binder/low-can-binding/can/can-message.cpp deleted file mode 100644 index 057bc71..0000000 --- a/CAN-binder/low-can-binding/can/can-message.cpp +++ /dev/null @@ -1,389 +0,0 @@ -/* - * 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. - */ - -#include "can-message.hpp" - -#include <cstring> - -#include "../binding/low-can-hat.hpp" - -/// -/// @brief Class constructor -/// -/// Constructor about can_message_t class. -/// -can_message_t::can_message_t() - : maxdlen_{0}, - id_{0}, - length_{0}, - format_{can_message_format_t::INVALID}, - rtr_flag_{false}, - flags_{0}, - timestamp_{0}, - sub_id_{-1} -{} - -can_message_t::can_message_t(uint8_t maxdlen, - uint32_t id, - uint8_t length, - can_message_format_t format, - bool rtr_flag, - uint8_t flags, - std::vector<uint8_t>& data, - uint64_t timestamp) - : maxdlen_{maxdlen}, - id_{id}, - length_{length}, - format_{format}, - rtr_flag_{rtr_flag}, - flags_{flags}, - data_{data}, - timestamp_{timestamp}, - sub_id_{-1} -{} - -/// -/// @brief Retrieve id_ member value. -/// -/// @return id_ class member -/// -uint32_t can_message_t::get_id() const -{ - return id_; -} - -int can_message_t::get_sub_id() const -{ - return sub_id_; -} - -/// -/// @brief Retrieve RTR flag member. -/// -/// @return rtr_flags_ class member -/// -bool can_message_t::get_rtr_flag_() const -{ - return rtr_flag_; -} - -/// -/// @brief Retrieve format_ member value. -/// -/// @return format_ class member. Default to INVALID. -/// -can_message_format_t can_message_t::get_format() const -{ - if (format_ != can_message_format_t::STANDARD || format_ != can_message_format_t::EXTENDED) - return can_message_format_t::INVALID; - return format_; -} - -/// -/// @brief Retrieve flags_ member value. -/// -/// @return flags_ class member -/// -uint8_t can_message_t::get_flags() const -{ - return flags_; -} - -/// -/// @brief Retrieve data_ member value. -/// -/// @return pointer to the first element -/// of class member data_ -/// -const uint8_t* can_message_t::get_data() const -{ - return data_.data(); -} - -/// -/// @brief Retrieve data_ member whole vector -/// -/// @return the vector as is -/// -const std::vector<uint8_t> can_message_t::get_data_vector() const -{ - return data_; -} - -/// -/// @brief Retrieve length_ member value. -/// -/// @return length_ class member -/// -uint8_t can_message_t::get_length() const -{ - return length_; -} - -void can_message_t::set_sub_id(int sub_id) -{ - sub_id_ = sub_id; -} - -uint64_t can_message_t::get_timestamp() const -{ - return timestamp_; -} - -void can_message_t::set_timestamp(uint64_t timestamp) -{ - timestamp_ = timestamp; -} - -/// @brief Control whether the object is correctly initialized -/// to be sent over the CAN bus -/// -/// @return True if object correctly initialized and false if not. -bool can_message_t::is_correct_to_send() -{ - if (id_ != 0 && length_ != 0 && format_ != can_message_format_t::INVALID) - { - int i; - for(i=0;i<CAN_MESSAGE_SIZE;i++) - if(data_[i] != 0) - return true; - } - return false; -} - -/// @brief Set format_ member value. -/// -/// Preferred way to initialize these members by using -/// convert_from_canfd_frame method. -/// -/// @param[in] new_format - class member -void can_message_t::set_format(const can_message_format_t new_format) -{ - if(new_format == can_message_format_t::STANDARD || new_format == can_message_format_t::EXTENDED || new_format == can_message_format_t::INVALID) - format_ = new_format; - else - ERROR("Can set format, wrong format chosen"); -} - -/// @brief Take a canfd_frame struct to initialize class members -/// -/// This is the preferred way to initialize class members. -/// -/// @param[in] frame - canfd_frame to convert coming from a read of CAN socket -/// @param[in] nbytes - bytes read from socket read operation. -/// -/// @return A can_message_t object fully initialized with canfd_frame values. -can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp) -{ - uint8_t maxdlen, length, flags = (uint8_t)NULL; - uint32_t id; - can_message_format_t format; - bool rtr_flag; - std::vector<uint8_t> data; - - switch(nbytes) - { - case CANFD_MTU: - DEBUG("Got an CAN FD frame"); - maxdlen = CANFD_MAX_DLEN; - break; - case CAN_MTU: - DEBUG("Got a legacy CAN frame"); - maxdlen = CAN_MAX_DLEN; - break; - default: - ERROR("unsupported CAN frame"); - break; - } - - if (frame.can_id & CAN_ERR_FLAG) - { - format = can_message_format_t::INVALID; - id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG); - } - else if (frame.can_id & CAN_EFF_FLAG) - { - format = can_message_format_t::EXTENDED; - id = frame.can_id & CAN_EFF_MASK; - } - else - { - format = can_message_format_t::STANDARD; - id = frame.can_id & CAN_SFF_MASK; - } - - /* Overwrite length_ if RTR flags is detected. - * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */ - if (frame.can_id & CAN_RTR_FLAG) - { - rtr_flag = true; - if(frame.len && frame.len <= CAN_MAX_DLC) - { - if(rtr_flag) - length = frame.len& 0xF; - else - { - length = (frame.len > maxdlen) ? maxdlen : frame.len; - } - } - } - else - { - length = (frame.len > maxdlen) ? maxdlen : frame.len; - - /* Flags field only present for CAN FD frames*/ - if(maxdlen == CANFD_MAX_DLEN) - flags = frame.flags & 0xF; - - if (data.capacity() < maxdlen) - data.reserve(maxdlen); - int i; - - data.clear(); - /* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/ - for(i=0;i<maxdlen;i++) - { - data.push_back(frame.data[i]); - }; - - DEBUG("Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", - id, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]); - } - - return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp); -} - -/// @brief Take a can_frame struct to initialize class members -/// -/// This is the preferred way to initialize class members. -/// -/// @param[in] frame - can_frame to convert coming from a read of CAN socket -/// @param[in] nbytes - bytes read from socket read operation. -/// -/// @return A can_message_t object fully initialized with can_frame values. -can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, size_t nbytes, uint64_t timestamp) -{ - uint8_t maxdlen, length, flags = (uint8_t)NULL; - uint32_t id; - can_message_format_t format; - bool rtr_flag; - std::vector<uint8_t> data; - - if(nbytes <= CAN_MTU) - { - DEBUG("Got a legacy CAN frame"); - maxdlen = CAN_MAX_DLEN; - } - else - { - ERROR("unsupported CAN frame"); - } - - if (frame.can_id & CAN_ERR_FLAG) - { - format = can_message_format_t::INVALID; - id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG); - } - else if (frame.can_id & CAN_EFF_FLAG) - { - format = can_message_format_t::EXTENDED; - id = frame.can_id & CAN_EFF_MASK; - } - else - { - format = can_message_format_t::STANDARD; - id = frame.can_id & CAN_SFF_MASK; - } - - /* Overwrite length_ if RTR flags is detected. - * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */ - if (frame.can_id & CAN_RTR_FLAG) - { - rtr_flag = true; - if(frame.can_dlc && frame.can_dlc <= CAN_MAX_DLC) - { - if(rtr_flag) - length = frame.can_dlc& 0xF; - else - { - length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc; - } - } - } - else - { - length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc; - - if (data.capacity() < maxdlen) - data.reserve(maxdlen); - int i; - - data.clear(); - /* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/ - for(i=0;i<maxdlen;i++) - { - data.push_back(frame.data[i]); - }; - -// DEBUG("Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", -// id, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]); - } - - return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp); -} - -/// @brief Take all initialized class's members and build an -/// canfd_frame struct that can be use to send a CAN message over -/// the bus. -/// -/// @return canfd_frame struct built from class members. -struct canfd_frame can_message_t::convert_to_canfd_frame() -{ - canfd_frame frame; - - if(is_correct_to_send()) - { - frame.can_id = get_id(); - frame.len = get_length(); - ::memcpy(frame.data, get_data(), length_); - } - else - ERROR("can_message_t not correctly initialized to be sent"); - - return frame; -} - -/// @brief Take all initialized class's members and build an -/// can_frame struct that can be use to send a CAN message over -/// the bus. -/// -/// @return can_frame struct built from class members. -struct can_frame can_message_t::convert_to_can_frame() -{ - can_frame frame; - - if(is_correct_to_send()) - { - frame.can_id = get_id(); - frame.can_dlc = get_length(); - ::memcpy(frame.data, get_data(), length_); - } - else - ERROR("can_message_t not correctly initialized to be sent"); - - return frame; -} diff --git a/CAN-binder/low-can-binding/can/can-message.hpp b/CAN-binder/low-can-binding/can/can-message.hpp deleted file mode 100644 index b206ebd..0000000 --- a/CAN-binder/low-can-binding/can/can-message.hpp +++ /dev/null @@ -1,80 +0,0 @@ -/* - * 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 <vector> -#include <string> -#include <cstdint> -#include <linux/can.h> - -#include "../utils/timer.hpp" - -#define CAN_MESSAGE_SIZE 8 - -/** - * @enum can_message_format_t - * @brief The ID format for a CAN message. - */ -enum class can_message_format_t { - STANDARD, ///< STANDARD - standard 11-bit CAN arbitration ID. */ - EXTENDED, ///< EXTENDED - an extended frame, with a 29-bit arbitration ID. */ - INVALID, ///< INVALID - INVALID code used at initialization to signify that it isn't usable'*/ -}; - -/// @class can_message_t -/// -/// @brief A compact representation of a single CAN message, meant to be used in in/out -/// buffers. It is a wrapper of a can_frame struct with some sugar around it for binding purposes. -class can_message_t { -private: - uint8_t maxdlen_; ///< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/ - uint32_t id_; ///< id_ - The ID of the message. */ - uint8_t length_; ///< length_ - the length of the data array (max 8). */ - can_message_format_t format_; ///< format_ - the format of the message's ID.*/ - bool rtr_flag_; ///< rtr_flag_ - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/ - uint8_t flags_; ///< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/ - std::vector<uint8_t> data_; ///< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/ - uint64_t timestamp_; ///< timestamp_ - timestamp of the received message*/ - int sub_id_; ///< sub_id_ - Subscription index. */ - -public: - can_message_t(); - can_message_t(uint8_t maxdlen, uint32_t id, uint8_t length, can_message_format_t format, bool rtr_flag_, uint8_t flags, std::vector<uint8_t>& data, uint64_t timestamp); - - uint32_t get_id() const; - int get_sub_id() const; - bool get_rtr_flag_() const; - can_message_format_t get_format() const; - uint8_t get_flags() const; - const uint8_t* get_data() const; - const std::vector<uint8_t> get_data_vector() const; - uint8_t get_length() const; - uint64_t get_timestamp() const; - - void set_sub_id(int sub_id); - void set_timestamp(uint64_t timestamp); - void set_format(const can_message_format_t new_format); - - bool is_correct_to_send(); - - static can_message_t convert_from_frame(const canfd_frame& frame, size_t nbytes, uint64_t timestamp); - static can_message_t convert_from_frame(const can_frame& frame, size_t nbytes, uint64_t timestamp); - - struct canfd_frame convert_to_canfd_frame(); - struct can_frame convert_to_can_frame(); -}; diff --git a/CAN-binder/low-can-binding/can/can-signals.cpp b/CAN-binder/low-can-binding/can/can-signals.cpp deleted file mode 100644 index fe74115..0000000 --- a/CAN-binder/low-can-binding/can/can-signals.cpp +++ /dev/null @@ -1,203 +0,0 @@ -/* - * 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. - */ - -#include <fnmatch.h> - -#include "can-signals.hpp" - -#include "../binding/application.hpp" -#include "../utils/signals.hpp" -#include "can-decoder.hpp" -#include "can-message.hpp" -#include "can-bus.hpp" -#include "../diagnostic/diagnostic-message.hpp" -#include "canutil/write.h" - -std::string can_signal_t::prefix_ = "messages"; - -can_signal_t::can_signal_t( - 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) - : parent_{nullptr}, - generic_name_{ generic_name } - , bit_position_{ bit_position } - , bit_size_{ bit_size } - , factor_{ factor } - , offset_{ offset } - , min_value_{min_value} - , max_value_{max_value} - , frequency_{frequency} - , send_same_{send_same} - , force_send_changed_{force_send_changed} - , states_{states} - , writable_{writable} - , decoder_{decoder} - , encoder_{encoder} - , received_{received} - , last_value_{.0f} -{} - -can_message_definition_t* can_signal_t::get_message() const -{ - return parent_; -} - -const std::string can_signal_t::get_generic_name() const -{ - return generic_name_; -} - -const std::string can_signal_t::get_name() const -{ - return prefix_ + "." + generic_name_; -} - -const std::string can_signal_t::get_prefix() const -{ - return prefix_; -} - -uint8_t can_signal_t::get_bit_position() const -{ - return bit_position_; -} - -uint8_t can_signal_t::get_bit_size() const -{ - return bit_size_; -} - -float can_signal_t::get_factor() const -{ - return factor_; -} - -float can_signal_t::get_offset() const -{ - return offset_; -} - -float can_signal_t::get_min_value() const -{ - return min_value_; -} - -float can_signal_t::get_max_value() const -{ - return max_value_; -} - -frequency_clock_t& can_signal_t::get_frequency() -{ - return frequency_; -} - -bool can_signal_t::get_send_same() const -{ - return send_same_; -} - -bool can_signal_t::get_force_send_changed() const -{ - return force_send_changed_; -} - -const std::map<uint8_t, std::string>& can_signal_t::get_states() const -{ - return states_; -} - -const std::string can_signal_t::get_states(uint8_t value) -{ - if (value < states_.size()) - return states_[value]; - return std::string(); -} - -size_t can_signal_t::get_state_count() const -{ - return states_.size(); -} - -bool can_signal_t::get_writable() const -{ - return writable_; -} - -SignalDecoder& can_signal_t::get_decoder() -{ - return decoder_; -} - -SignalEncoder& can_signal_t::get_encoder() -{ - return encoder_; -} - -bool can_signal_t::get_received() const -{ - return received_; -} - -float can_signal_t::get_last_value() const -{ - return last_value_; -} - -std::pair<float, uint64_t> can_signal_t::get_last_value_with_timestamp() const -{ - return std::make_pair(last_value_, frequency_.get_last_tick()); -} - -void can_signal_t::set_parent(can_message_definition_t* parent) -{ - parent_ = parent; -} - -void can_signal_t::set_prefix(std::string val) -{ - prefix_ = val; -} - -void can_signal_t::set_received(bool r) -{ - received_ = r; -} - -void can_signal_t::set_last_value(float val) -{ - last_value_ = val; -} - -void can_signal_t::set_timestamp(uint64_t timestamp) -{ - frequency_.tick(timestamp); -} - diff --git a/CAN-binder/low-can-binding/can/can-signals.hpp b/CAN-binder/low-can-binding/can/can-signals.hpp deleted file mode 100644 index a56fc8c..0000000 --- a/CAN-binder/low-can-binding/can/can-signals.hpp +++ /dev/null @@ -1,151 +0,0 @@ -/// -/// 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 <vector> -#include <string> -#include <memory> - -#include "openxc.pb.h" -#include "can-message-definition.hpp" -#include "../utils/timer.hpp" -#include "../utils/socketcan-bcm.hpp" -#include "can-message.hpp" -#include "../diagnostic/diagnostic-message.hpp" - -#define MESSAGE_SET_ID 0 - -class can_signal_t; -/// -/// @brief The type signature for a CAN signal decoder. -/// -/// 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<std::shared_ptr<can_signal_t> >& signals, float value, bool* send); - -/// -/// @brief: 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. -/// -/// @param[in] signal - The CAN signal to encode. -/// @param[in] value - The dynamic field to encode. -/// @param[out] 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: - can_message_definition_t* parent_; /*!< parent_ - pointer to the parent message definition holding this signal*/ - 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_; /*!< bit_size_ - 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::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); - - 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; - std::pair<float, uint64_t> get_last_value_with_timestamp() const; - - void set_parent(can_message_definition_t* parent); - void set_prefix(std::string val); - void set_received(bool r); - void set_last_value(float val); - void set_timestamp(uint64_t timestamp); -}; |