diff options
Diffstat (limited to 'CAN-binder/low-can-binding/can')
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-decoder.cpp | 2 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-decoder.hpp | 2 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-message-definition.cpp | 56 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-message-definition.hpp | 16 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-message-set.cpp | 28 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-message-set.hpp | 12 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-signals.cpp | 37 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-signals.hpp | 13 |
8 files changed, 138 insertions, 28 deletions
diff --git a/CAN-binder/low-can-binding/can/can-decoder.cpp b/CAN-binder/low-can-binding/can/can-decoder.cpp index 2ccbbb8..419eac1 100644 --- a/CAN-binder/low-can-binding/can/can-decoder.cpp +++ b/CAN-binder/low-can-binding/can/can-decoder.cpp @@ -154,7 +154,7 @@ openxc_DynamicField decoder_t::stateDecoder(can_signal_t& signal, /// string or boolean. /// openxc_DynamicField decoder_t::translateSignal(can_signal_t& signal, const can_message_t& message, - const std::vector<can_signal_t>& signals, bool* send) + const std::vector<std::shared_ptr<can_signal_t> >& signals, bool* send) { float value = decoder_t::parseSignalBitfield(signal, message); DEBUG(binder_interface, "%s: Decoded message from parseSignalBitfield: %f", __FUNCTION__, value); diff --git a/CAN-binder/low-can-binding/can/can-decoder.hpp b/CAN-binder/low-can-binding/can/can-decoder.hpp index d626eaa..1e7efc6 100644 --- a/CAN-binder/low-can-binding/can/can-decoder.hpp +++ b/CAN-binder/low-can-binding/can/can-decoder.hpp @@ -36,7 +36,7 @@ public: float value, bool* send); static openxc_DynamicField translateSignal(can_signal_t& signal, const can_message_t& message, - const std::vector<can_signal_t>& signals, bool* send); + 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<can_signal_t>& signals, bool* send); diff --git a/CAN-binder/low-can-binding/can/can-message-definition.cpp b/CAN-binder/low-can-binding/can/can-message-definition.cpp index 3603bf2..18a07bb 100644 --- a/CAN-binder/low-can-binding/can/can-message-definition.cpp +++ b/CAN-binder/low-can-binding/can/can-message-definition.cpp @@ -17,16 +17,16 @@ #include "can-message-definition.hpp" -can_message_definition_t::can_message_definition_t(std::uint8_t message_set_id, const std::string bus) - : message_set_id_{message_set_id}, bus_{bus}, last_value_{CAN_MESSAGE_SIZE} +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(std::uint8_t message_set_id, +can_message_definition_t::can_message_definition_t( const std::string bus, uint32_t id, frequency_clock_t frequency_clock, bool force_send_changed) - : message_set_id_{message_set_id}, + : parent_{nullptr}, bus_{bus}, id_{id}, frequency_clock_{frequency_clock}, @@ -34,13 +34,13 @@ can_message_definition_t::can_message_definition_t(std::uint8_t message_set_id, last_value_{CAN_MESSAGE_SIZE} {} -can_message_definition_t::can_message_definition_t(std::uint8_t message_set_id, +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) - : message_set_id_{message_set_id}, + : parent_{nullptr}, bus_{bus}, id_{id}, format_{format}, @@ -49,6 +49,39 @@ can_message_definition_t::can_message_definition_t(std::uint8_t message_set_id, 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, + 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_{std::move(can_signals)} +{ + for(auto& sig: can_signals_) + { + sig->set_parent(std::make_shared<can_signal_t>(this)); + } +} + +/*can_message_definition_t(const can_message_definition_t& b) + : parent_{b.parent_}, + bus_{b.bus_}, + id_{b.id_}, + format_{b.format_}, + frequency_clock_{b.frequency_clock_}, + force_send_changed_{b.force_send_changed_}, + last_value_{b.last_value_}, + can_signals_{b.can_signals_} + {}*/ + const std::string& can_message_definition_t::get_bus_name() const { return bus_; @@ -57,6 +90,17 @@ const std::string& can_message_definition_t::get_bus_name() const 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(std::shared_ptr<can_message_set_t> parent) +{ + parent_= parent; +} void can_message_definition_t::set_last_value(const can_message_t& cm) { diff --git a/CAN-binder/low-can-binding/can/can-message-definition.hpp b/CAN-binder/low-can-binding/can/can-message-definition.hpp index 42eef89..612ce35 100644 --- a/CAN-binder/low-can-binding/can/can-message-definition.hpp +++ b/CAN-binder/low-can-binding/can/can-message-definition.hpp @@ -29,12 +29,15 @@ #include <memory> #include "can-message.hpp" +#include "can-signals.hpp" #include "../utils/timer.hpp" +class can_message_set_t; + class can_message_definition_t { private: - std::uint8_t message_set_id_; + std::shared_ptr<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.*/ @@ -46,14 +49,19 @@ private: 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(std::uint8_t message_set_id, const std::string bus); - can_message_definition_t(std::uint8_t message_set_id, const std::string bus, uint32_t id, frequency_clock_t frequency_clock, bool force_send_changed); - can_message_definition_t(std::uint8_t message_set_id, 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 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, std::vector<std::shared_ptr<can_signal_t> > can_signals); const std::string& get_bus_name() const; uint32_t get_id() const; + std::vector<std::shared_ptr<can_signal_t> > get_can_signals(); + void set_parent(std::shared_ptr<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 index a9f8cf2..1877f3a 100644 --- a/CAN-binder/low-can-binding/can/can-message-set.cpp +++ b/CAN-binder/low-can-binding/can/can-message-set.cpp @@ -25,7 +25,8 @@ can_message_set_t::can_message_set_t( unsigned short can_message_count, unsigned short can_signal_count, unsigned short can_command_count, - unsigned short obd2_signal_count) + unsigned short obd2_signal_count, + std::vector<std::shared_ptr<can_message_definition_t> > can_messages_definition) : index_{index} , name_{name} , can_bus_count_{can_bus_count} @@ -33,5 +34,30 @@ can_message_set_t::can_message_set_t( , can_signal_count_{can_signal_count} , can_command_count_{can_command_count} , obd2_signal_count_{obd2_signal_count} + , can_messages_definition_{can_messages_definition} { + for(auto& cmd : can_messages_definition_) + { + cmd->set_parent(std::make_shared<can_message_set_t>(this)); + } } + +/// @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_can_signals() const +{ + std::vector<std::shared_ptr<can_signal_t> > can_signals(can_signal_count_); + for(const auto& cmd: can_messages_definition_) + { + can_signals.insert( can_signals.end(), + cmd->get_can_signals().begin(), + cmd->get_can_signals().end() + ); + } + + return can_signals; +}
\ 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 index 94e2d8d..3d917c1 100644 --- a/CAN-binder/low-can-binding/can/can-message-set.hpp +++ b/CAN-binder/low-can-binding/can/can-message-set.hpp @@ -20,6 +20,12 @@ #include <cstdint> #include <string> +#include <vector> +#include <memory> + +#include "can-message-definition.hpp" + +class can_signal_t; /// @brief A parent wrapper for a particular set of CAN messages and associated /// CAN buses(e.g. a vehicle or program). @@ -33,6 +39,7 @@ private: uint16_t can_signal_count_; /// < The number of CAN signals (across all messages) defined for this message set. uint16_t can_command_count_; /// < The number of CanCommmands defined for this message set. uint16_t obd2_signal_count_; /// < The number of obd2 signals defined for this message set. + std::vector<std::shared_ptr<can_message_definition_t> > can_messages_definition_; ///< Vector holding all message definition handled by this message set. public: can_message_set_t( @@ -42,6 +49,9 @@ public: short unsigned int can_message_count, short unsigned int can_signal_count, short unsigned int can_command_count, - short unsigned int obd2_signal_count); + short unsigned int obd2_signal_count, + std::vector<std::shared_ptr<can_message_definition_t> > can_messages_definition); + std::vector<std::shared_ptr<can_message_definition_t> > get_can_message_definition(); + std::vector<std::shared_ptr<can_signal_t> > get_can_signals() const; }; diff --git a/CAN-binder/low-can-binding/can/can-signals.cpp b/CAN-binder/low-can-binding/can/can-signals.cpp index 7726bfc..96d0b70 100644 --- a/CAN-binder/low-can-binding/can/can-signals.cpp +++ b/CAN-binder/low-can-binding/can/can-signals.cpp @@ -29,8 +29,7 @@ std::string can_signal_t::prefix_ = "messages"; -can_signal_t::can_signal_t(std::uint8_t message_set_id, - std::uint8_t message_id, +can_signal_t::can_signal_t( std::string generic_name, uint8_t bit_position, uint8_t bit_size, @@ -46,9 +45,8 @@ can_signal_t::can_signal_t(std::uint8_t message_set_id, SignalDecoder decoder, SignalEncoder encoder, bool received) - : message_set_id_{ message_set_id } - , message_id_{ message_id } - , generic_name_{ generic_name } + : parent_{nullptr}, + generic_name_{ generic_name } , bit_position_{ bit_position } , bit_size_{ bit_size } , factor_{ factor } @@ -66,14 +64,34 @@ can_signal_t::can_signal_t(std::uint8_t message_set_id, , last_value_{.0f} {} +/*can_signal_t::can_signal_t(const can_signal_t& b) + : parent_{b.parent_}, + generic_name_{ b.generic_name_} + , bit_position_{ b.bit_position_} + , bit_size_{ b.bit_size_} + , factor_{ b.factor_ } + , offset_{ b.offset_} + , min_value_{b.min_value_} + , max_value_{b.max_value_} + , frequency_{b.frequency_} + , send_same_{b.send_same_} + , force_send_changed_{b.force_send_changed_} + , states_{b.states_} + , writable_{b.writable_} + , decoder_{b.decoder_} + , encoder_{b.encoder_} + , received_{b.received_} + , last_value_{b.last_value_} +{}*/ + utils::socketcan_bcm_t can_signal_t::get_socket() const { return socket_; } -can_message_definition_t& can_signal_t::get_message() const +std::shared_ptr<can_message_definition_t> can_signal_t::get_message() const { - return configuration_t::instance().get_can_message_definition(message_set_id_, message_id_); + return parent_; } const std::string& can_signal_t::get_generic_name() const @@ -177,6 +195,11 @@ float can_signal_t::get_last_value() const return last_value_; } +void can_signal_t::set_parent(std::shared_ptr<can_message_definition_t> parent) +{ + parent_(parent); +} + void can_signal_t::set_prefix(std::string val) { prefix_ = val; diff --git a/CAN-binder/low-can-binding/can/can-signals.hpp b/CAN-binder/low-can-binding/can/can-signals.hpp index 75faedf..6497a3c 100644 --- a/CAN-binder/low-can-binding/can/can-signals.hpp +++ b/CAN-binder/low-can-binding/can/can-signals.hpp @@ -19,15 +19,14 @@ #include <map> #include <mutex> -#include <queue> #include <vector> #include <string> +#include <memory> #include "openxc.pb.h" #include "../utils/timer.hpp" #include "../utils/socketcan-bcm.hpp" #include "can-message.hpp" -#include "can-message-definition.hpp" #include "../diagnostic/diagnostic-message.hpp" extern "C" @@ -39,6 +38,7 @@ extern "C" #define MESSAGE_SET_ID 0 class can_signal_t; +class can_message_definition_t; /// /// @brief The type signature for a CAN signal decoder. @@ -76,9 +76,8 @@ typedef uint64_t (*SignalEncoder)(can_signal_t* signal, class can_signal_t { private: + std::shared_ptr<can_message_definition_t> parent_; /*!< parent_ - pointer to the parent message definition holding this signal*/ utils::socketcan_bcm_t socket_; /*!< socket_ - Specific BCM socket that filter the signal read from CAN device */ - std::uint8_t message_set_id_; ///< message_set_id_ - Index number to the message_set_id container object - std::uint8_t message_id_; ///< message_id_ - Index number to the message_definition_t container object 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.*/ @@ -112,9 +111,8 @@ private: * this value is undefined. */ public: + //can_signal_t(const can_signal_t& b); can_signal_t( - std::uint8_t message_set_id, - std::uint8_t message_id, std::string generic_name, uint8_t bit_position, uint8_t bit_size, @@ -132,7 +130,7 @@ public: bool received); utils::socketcan_bcm_t get_socket() const; - can_message_definition_t& get_message() const; + std::shared_ptr<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; @@ -154,6 +152,7 @@ public: bool get_received() const; float get_last_value() const; + void set_parent(std::shared_ptr<can_message_definition_t> parent); void set_prefix(std::string val); void set_received(bool r); void set_last_value(float val); |