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-rw-r--r--low-can-binding/can/can-bus.cpp337
-rw-r--r--low-can-binding/can/can-bus.hpp94
-rw-r--r--low-can-binding/can/can-command.hpp55
-rw-r--r--low-can-binding/can/can-decoder.cpp244
-rw-r--r--low-can-binding/can/can-decoder.hpp49
-rw-r--r--low-can-binding/can/can-message-definition.cpp100
-rw-r--r--low-can-binding/can/can-message-definition.hpp71
-rw-r--r--low-can-binding/can/can-message-set.cpp59
-rw-r--r--low-can-binding/can/can-message-set.hpp50
-rw-r--r--low-can-binding/can/can-message.cpp389
-rw-r--r--low-can-binding/can/can-message.hpp80
-rw-r--r--low-can-binding/can/can-signals.cpp203
-rw-r--r--low-can-binding/can/can-signals.hpp151
13 files changed, 1882 insertions, 0 deletions
diff --git a/low-can-binding/can/can-bus.cpp b/low-can-binding/can/can-bus.cpp
new file mode 100644
index 0000000..6167335
--- /dev/null
+++ b/low-can-binding/can/can-bus.cpp
@@ -0,0 +1,337 @@
+/*
+ * 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/low-can-binding/can/can-bus.hpp b/low-can-binding/can/can-bus.hpp
new file mode 100644
index 0000000..a76d3e8
--- /dev/null
+++ b/low-can-binding/can/can-bus.hpp
@@ -0,0 +1,94 @@
+/*
+ * 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/low-can-binding/can/can-command.hpp b/low-can-binding/can/can-command.hpp
new file mode 100644
index 0000000..4cf20cb
--- /dev/null
+++ b/low-can-binding/can/can-command.hpp
@@ -0,0 +1,55 @@
+/*
+ * 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/low-can-binding/can/can-decoder.cpp b/low-can-binding/can/can-decoder.cpp
new file mode 100644
index 0000000..61bfe75
--- /dev/null
+++ b/low-can-binding/can/can-decoder.cpp
@@ -0,0 +1,244 @@
+/*
+ * 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/low-can-binding/can/can-decoder.hpp b/low-can-binding/can/can-decoder.hpp
new file mode 100644
index 0000000..7eaa4a7
--- /dev/null
+++ b/low-can-binding/can/can-decoder.hpp
@@ -0,0 +1,49 @@
+/*
+ * 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/low-can-binding/can/can-message-definition.cpp b/low-can-binding/can/can-message-definition.cpp
new file mode 100644
index 0000000..28d45fe
--- /dev/null
+++ b/low-can-binding/can/can-message-definition.cpp
@@ -0,0 +1,100 @@
+/*
+ * 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/low-can-binding/can/can-message-definition.hpp b/low-can-binding/can/can-message-definition.hpp
new file mode 100644
index 0000000..6d0f17d
--- /dev/null
+++ b/low-can-binding/can/can-message-definition.hpp
@@ -0,0 +1,71 @@
+/*
+ * 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/low-can-binding/can/can-message-set.cpp b/low-can-binding/can/can-message-set.cpp
new file mode 100644
index 0000000..c31dec6
--- /dev/null
+++ b/low-can-binding/can/can-message-set.cpp
@@ -0,0 +1,59 @@
+/*
+ * 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/low-can-binding/can/can-message-set.hpp b/low-can-binding/can/can-message-set.hpp
new file mode 100644
index 0000000..2a7cb53
--- /dev/null
+++ b/low-can-binding/can/can-message-set.hpp
@@ -0,0 +1,50 @@
+/*
+ * 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/low-can-binding/can/can-message.cpp b/low-can-binding/can/can-message.cpp
new file mode 100644
index 0000000..057bc71
--- /dev/null
+++ b/low-can-binding/can/can-message.cpp
@@ -0,0 +1,389 @@
+/*
+ * 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/low-can-binding/can/can-message.hpp b/low-can-binding/can/can-message.hpp
new file mode 100644
index 0000000..b206ebd
--- /dev/null
+++ b/low-can-binding/can/can-message.hpp
@@ -0,0 +1,80 @@
+/*
+ * 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/low-can-binding/can/can-signals.cpp b/low-can-binding/can/can-signals.cpp
new file mode 100644
index 0000000..fe74115
--- /dev/null
+++ b/low-can-binding/can/can-signals.cpp
@@ -0,0 +1,203 @@
+/*
+ * 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/low-can-binding/can/can-signals.hpp b/low-can-binding/can/can-signals.hpp
new file mode 100644
index 0000000..a56fc8c
--- /dev/null
+++ b/low-can-binding/can/can-signals.hpp
@@ -0,0 +1,151 @@
+///
+/// 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);
+};