diff options
Diffstat (limited to 'CAN-binder/low-can-binding/can')
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus.cpp | 14 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-decoder.cpp | 13 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-decoder.hpp | 2 |
3 files changed, 20 insertions, 9 deletions
diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp index 6f9e78d..0de8aeb 100644 --- a/CAN-binder/low-can-binding/can/can-bus.cpp +++ b/CAN-binder/low-can-binding/can/can-bus.cpp @@ -126,13 +126,17 @@ int can_bus_t::process_can_signals(can_message_t& can_message) //DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.generic_name)); if( s.find(sig->get_name()) != s.end() && afb_event_is_valid(s[sig->get_name()])) { - decoded_message = decoder_t::translateSignal(*sig, can_message, conf.get_can_signals()); + bool send = true; + decoded_message = decoder_t::translateSignal(*sig, can_message, conf.get_can_signals(), &send); - openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message); - vehicle_message = build_VehicleMessage(s_message); + if(send) + { + openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message); + vehicle_message = build_VehicleMessage(s_message); - std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(vehicle_message); + std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); + push_new_vehicle_message(vehicle_message); + } processed_signals++; } } diff --git a/CAN-binder/low-can-binding/can/can-decoder.cpp b/CAN-binder/low-can-binding/can/can-decoder.cpp index 902484e..e01e43b 100644 --- a/CAN-binder/low-can-binding/can/can-decoder.cpp +++ b/CAN-binder/low-can-binding/can/can-decoder.cpp @@ -147,23 +147,30 @@ openxc_DynamicField decoder_t::stateDecoder(can_signal_t& signal, /// @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, can_message_t& message, - const std::vector<can_signal_t>& signals) + const std::vector<can_signal_t>& signals, bool* send) { float value = decoder_t::parseSignalBitfield(signal, message); DEBUG(binder_interface, "%s: Decoded message from parseSignalBitfield: %f", __FUNCTION__, value); - bool send = true; // 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); + 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); return decoded_value; } diff --git a/CAN-binder/low-can-binding/can/can-decoder.hpp b/CAN-binder/low-can-binding/can/can-decoder.hpp index ebe1de2..15e0229 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, can_message_t& message, - const std::vector<can_signal_t>& signals); + const std::vector<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); |