diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/CMakeLists.txt | 2 | ||||
| -rw-r--r-- | src/can-bus.cpp (renamed from src/can-utils.cpp) | 124 | ||||
| -rw-r--r-- | src/can-bus.hpp | 322 | ||||
| -rw-r--r-- | src/can-command.hpp | 66 | ||||
| -rw-r--r-- | src/can-decoder.hpp | 2 | ||||
| -rw-r--r-- | src/can-message.cpp | 144 | ||||
| -rw-r--r-- | src/can-message.hpp | 205 | ||||
| -rw-r--r-- | src/can-signals.hpp | 107 | ||||
| -rw-r--r-- | src/can-utils.hpp | 614 | ||||
| -rw-r--r-- | src/can_decode_message.cpp | 2 | ||||
| -rw-r--r-- | src/can_event_push.cpp | 2 | ||||
| -rw-r--r-- | src/can_reader.cpp | 2 | ||||
| -rw-r--r-- | src/low-can-binding.cpp | 3 | ||||
| -rw-r--r-- | src/obd2.hpp | 2 |
14 files changed, 833 insertions, 764 deletions
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index ff6b6db..c47f4b6 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -84,7 +84,7 @@ add_library(openxc STATIC ${PROJECT_LIBDIR}/openxc-message-format/gen/cpp/openxc message(STATUS "Creation of ${PROJECT_NAME} binding for AFB-DAEMON") ########################################################################### -add_library(${PROJECT_NAME} MODULE ${PROJECT_NAME}.cpp can-signals.cpp can-utils.cpp can-decoder.cpp can_reader.cpp can_decode_message.cpp can_event_push.cpp openxc-utils.cpp timer.cpp) +add_library(${PROJECT_NAME} MODULE ${PROJECT_NAME}.cpp can-bus.cpp can-message.cpp can-signals.cpp can-decoder.cpp can_reader.cpp can_decode_message.cpp can_event_push.cpp openxc-utils.cpp timer.cpp) target_link_libraries(${PROJECT_NAME} ${EXTRAS_LIBRARIES} bitfield isotp uds openxc pthread) set_target_properties(${PROJECT_NAME} PROPERTIES diff --git a/src/can-utils.cpp b/src/can-bus.cpp index 4737544..29cadba 100644 --- a/src/can-utils.cpp +++ b/src/can-bus.cpp @@ -15,11 +15,10 @@ * limitations under the License. */ -#include "can-utils.hpp" +#include "can-bus.hpp" #include <map> #include <vector> -#include <cstdio> #include <string> #include <fcntl.h> #include <unistd.h> @@ -36,127 +35,6 @@ extern "C" /******************************************************************************** * -* CanMessage method implementation -* -*********************************************************************************/ - -can_message_t::can_message_t() - : id_{0}, length_{0}, format_{CanMessageFormat::ERROR}, data_{0,0,0,0,0,0,0,0} -{} - -uint32_t can_message_t::get_id() const -{ - return id_; -} - -int can_message_t::get_format() const -{ - if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED) - return CanMessageFormat::ERROR; - return format_; -} - -const uint8_t* can_message_t::get_data() const -{ - return data_; -} -uint8_t can_message_t::get_length() const -{ - return length_; -} - -bool can_message_t::is_correct_to_send() -{ - if (id_ != 0 && length_ != 0 && format_ != CanMessageFormat::ERROR) - { - int i; - for(i=0;i<CAN_MESSAGE_SIZE;i++) - if(data_[i] != 0) - return true; - } - return false; -} - -void can_message_t::set_id(const uint32_t new_id) -{ - switch(format_) - { - case CanMessageFormat::STANDARD: - id_ = new_id & CAN_SFF_MASK; - break; - case CanMessageFormat::EXTENDED: - id_ = new_id & CAN_EFF_MASK; - break; - default: - ERROR(binder_interface, "ERROR: Can set id, not a compatible format or format not set prior to set id."); - break; - } -} - -void can_message_t::set_format(const CanMessageFormat new_format) -{ - if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED) - format_ = new_format; - else - ERROR(binder_interface, "ERROR: Can set format, wrong format chosen"); -} - -void can_message_t::set_data(const uint8_t new_data) -{ - if ((sizeof(new_data) / sizeof(uint8_t) > CAN_MESSAGE_SIZE)) - ERROR(binder_interface, "Can set data, your data array is too big"); - else - { - ::memcpy(&data_, &new_data, sizeof(new_data)); - length_ = sizeof(new_data); - } -} - -void can_message_t::convert_from_canfd_frame(const canfd_frame& frame) -{ - length_ = (frame.len > CAN_MAX_DLEN) ? (uint8_t)CAN_MAX_DLEN : frame.len; - length_ = (frame.len > CANFD_MAX_DLEN) ? (uint8_t)CANFD_MAX_DLEN : frame.len; - - if (frame.can_id & CAN_ERR_FLAG) - { - id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG); - format_ = CanMessageFormat::ERROR; - } - else if (frame.can_id & CAN_EFF_FLAG) - { - id_ = frame.can_id & CAN_EFF_MASK; - format_ = CanMessageFormat::EXTENDED; - } - else - { - id_ = frame.can_id & CAN_SFF_MASK; - format_ = CanMessageFormat::STANDARD; - } - - if (sizeof(frame.data) <= sizeof(data_)) - ::memcpy(&data_, frame.data, length_); - else if (sizeof(frame.data) >= CAN_MAX_DLEN) - ERROR(binder_interface, "can_message_t: canfd_frame data too long to be stored into CanMessage object"); -} - -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(binder_interface, "can_message_t not correctly initialized to be sent"); - - return frame; -} - -/******************************************************************************** -* * can_bus_t method implementation * *********************************************************************************/ diff --git a/src/can-bus.hpp b/src/can-bus.hpp new file mode 100644 index 0000000..9100ff8 --- /dev/null +++ b/src/can-bus.hpp @@ -0,0 +1,322 @@ +/* + * 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 <mutex> +#include <queue> +#include <thread> +#include <linux/can.h> +#include <condition_variable> + +#include "timer.hpp" +#include "openxc.pb.h" +#include "can-signals.hpp" +#include "can-message.hpp" +#include "low-can-binding.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 can_bus_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: + int conf_file_; /*!< conf_file_ - configuration file handle used to initialize can_bus_dev_t objects.*/ + + std::thread th_decoding_; /*!< thread that'll handle decoding a can frame */ + bool is_decoding_; /*!< boolean member controling thread while loop*/ + std::thread th_pushing_; /*!< thread that'll handle pushing decoded can frame to subscribers */ + bool is_pushing_; /*!< boolean member controling thread while loop*/ + + std::condition_variable new_can_message_; + std::mutex can_message_mutex_; + bool has_can_message_; /*!< boolean members that control whether or not there is can_message into the 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_; + std::mutex decoded_can_message_mutex_; + bool has_vehicle_message_; /*!< boolean members that control whether or not there is openxc_VehicleMessage into the queue */ + std::queue <openxc_VehicleMessage> vehicle_message_q_; /*!< queue that'll store openxc_VehicleMessage to pushed */ + + public: + /** + * @brief Class constructor + * + * @param struct afb_binding_interface *interface between daemon and binding + * @param int file handle to the json configuration file. + */ + can_bus_t(int& conf_file); + + /** + * @brief Will initialize can_bus_dev_t objects after reading + * the configuration file passed in the constructor. + */ + int init_can_dev(); + + /** + * @brief read the conf_file_ and will parse json objects + * in it searching for canbus objects devices name. + * + * @return Vector of can bus device name string. + */ + std::vector<std::string> read_conf(); + + std::condition_variable& get_new_can_message(); + std::mutex& get_can_message_mutex(); + std::condition_variable& get_new_decoded_can_message(); + std::mutex& get_decoded_can_message_mutex(); + + /** + * @brief Will initialize threads that will decode + * and push subscribed events. + */ + void start_threads(); + + /** + * @brief Will stop all threads holded by can_bus_t object + * which are decoding and pushing threads. + */ + void stop_threads(); + + /** + * @brief Telling if the decoding thread is running. + * This is the boolean value on which the while loop + * take its condition. Set it to false will stop the + * according thread. + * + * @return true if decoding thread is running, false if not. + */ + bool is_decoding(); + + /** + * @brief Telling if the pushing thread is running + * This is the boolean value on which the while loop + * take its condition. Set it to false will stop the + * according thread. + * + * @return true if pushing thread is running, false if not. + */ + bool is_pushing(); + + /** + * @brief Return first can_message_t on the queue + * + * @return a can_message_t + */ + can_message_t next_can_message(); + + /** + * @brief Push a can_message_t into the queue + * + * @param the const reference can_message_t object to push into the queue + */ + void push_new_can_message(const can_message_t& can_msg); + + /** + * @brief Return a boolean telling if there is any can_message into the queue + * + * @return true if there is at least a can_message_t, false if not. + */ + bool has_can_message() const; + + /** + * @brief Return first openxc_VehicleMessage on the queue + * + * @return a openxc_VehicleMessage containing a decoded can message + */ + openxc_VehicleMessage next_vehicle_message(); + + /** + * @brief Push a openxc_VehicleMessage into the queue + * + * @param the const reference openxc_VehicleMessage object to push into the queue + */ + void push_new_vehicle_message(const openxc_VehicleMessage& v_msg); + + /** + * @brief Return a boolean telling if there is any openxc_VehicleMessage into the queue + * + * @return true if there is at least a openxc_VehicleMessage, false if not. + */ + bool has_vehicle_message() const; +}; + +/** + * @class can_bus_dev_t + * + * @brief Object representing a can device. Handle opening, closing and reading on the + * socket. This is the low level object to be use by can_bus_t. + */ +class can_bus_dev_t { + private: + std::string device_name_; /*!< std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc. */ + int can_socket_; /*!< socket handler for the can device */ + bool is_fdmode_on_; /*!< boolean telling if whether or not the can socket use fdmode. */ + struct sockaddr_can txAddress_; /*!< internal member using to bind to the socket */ + + std::thread th_reading_; /*!< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t */ + bool is_running_; /*!< boolean telling whether or not reading is running or not */ + + public: + /** + * @brief Class constructor + * + * @param const string representing the device name into the linux /dev tree + */ + can_bus_dev_t(const std::string& dev_name); + + /** + * @brief Open the can socket and returning it + * + * @return + */ + int open(); + + /** + * @brief Open the can socket and returning it + * + * @return + */ + int close(); + + /** + * @brief Telling if the reading thread is running + * This is the boolean value on which the while loop + * take its condition. Set it to false will stop the + * according thread. + * + * @return true if reading thread is running, false if not. + */ + bool is_running(); + + /** + * @brief start reading threads and set flag is_running_ + * + * @param can_bus_t reference can_bus_t. it will be passed to the thread + * to allow using can_bus_t queue. + */ + void start_reading(can_bus_t& can_bus); + + /** + * @brief Read the can socket and retrieve canfd_frame + * + * @param const struct afb_binding_interface* interface pointer. Used to be able to log + * using application framework logger. + */ + canfd_frame read(); + + /** + * @brief Send a can message from a can_message_t object. + * + * @param const can_message_t& can_msg: the can message object to send + * @param const struct afb_binding_interface* interface pointer. Used to be able to log + * using application framework logger. + */ + int send_can_message(can_message_t& can_msg); +}; + +/** + * @brief Return an array of the metadata for the 2 CAN buses you want to + * monitor. The size of this array is fixed at 2. + */ +can_bus_dev_t getCanBuses(); + +/** + * @fn void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount); + * @brief Pre initialize actions made before CAN bus initialization + * + * @param[in] can_bus_dev_t bus - A CanBus struct defining the bus's metadata + * @param[in] bool writable - configure the controller in a writable mode. If false, it will be + * configured as "listen only" and will not allow writes or even CAN ACKs. + * @param[in] buses - An array of all CAN buses. + * @param[in] int busCount - The length of the buses array. + */ +void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount); + +/** + * @fn void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount); + * @brief Post-initialize actions made after CAN bus initialization + * + * @param[in] bus - A CanBus struct defining the bus's metadata + * @param[in] writable - configure the controller in a writable mode. If false, it will be + * configured as "listen only" and will not allow writes or even CAN ACKs. + * @param[in] buses - An array of all CAN buses. + * @param[in] busCount - The length of the buses array. + */ +void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount); + +/** + * @fn bool isBusActive(can_bus_dev_t* bus); + * @brief Check if the device is connected to an active CAN bus, i.e. it's + * received a message in the recent past. + * + * @return true if a message was received on the CAN bus within + * CAN_ACTIVE_TIMEOUT_S seconds. + */ +bool isBusActive(can_bus_dev_t* bus); + +/** + * @fn void logBusStatistics(can_bus_dev_t* buses, const int busCount); + * @brief Log transfer statistics about all active CAN buses to the debug log. + * + * @param[in] buses - an array of active CAN buses. + * @param[in] busCount - the length of the buses array. + */ +void logBusStatistics(can_bus_dev_t* buses, const int busCount); + +/** + * @fn void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus); + * + * @brief Thread function used to read the can socket. + * + * @param[in] can_bus_dev_t object to be used to read the can socket + * @param[in] can_bus_t object used to fill can_message_q_ queue + */ +void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus); + +/** + * @fn void can_decode_message(can_bus_t& can_bus); + * + * @brief Thread function used to decode can messages read into the can_message_q_ + * + * @param[in] can_bus_t object used to pop can_message_q_ queue and fill decoded message + * into vehicle_message_q_ queue. + */ +void can_decode_message(can_bus_t& can_bus); + +/** + * @fn void can_decode_message(can_bus_t& can_bus); + * + * @brief Thread function used to push afb_event + * + * @param[in] can_bus_t object used to pop can_message_q_ queue and fill decoded message + * into vehicle_message_q_ queue. + */ +void can_event_push(can_bus_t& can_bus);
\ No newline at end of file diff --git a/src/can-command.hpp b/src/can-command.hpp new file mode 100644 index 0000000..ee9ea37 --- /dev/null +++ b/src/can-command.hpp @@ -0,0 +1,66 @@ +/* + * 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] char* name - the name of the received command. + * @param[in] openxc_DynamicField* value - the value of the received command, in a DynamicField. The actual type + * may be a number, string or bool. + * @param[in] openxc_DynamicField* event - an optional event from the received command, in a DynamicField. The + * actual type may be a number, string or bool. + * @param[in] CanSignal* signals - The list of all signals. + * @param[in] int signalCount - The length of the signals array. + */ +typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value, + openxc_DynamicField* event, CanSignal* signals, int signalCount); + +/* @struct CanCommand + * @brief The structure to represent a supported custom OpenXC command. + * + * @desc 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* genericName; /*!< genericName - The name of the command.*/ + CommandHandler handler; /*!< handler - An function to process the received command's data and perform some + * action.*/ +} CanCommand; + +/* Public: Return an array of all OpenXC CAN commands enabled in the active + * configuration that can write back to CAN with a custom handler. + * + * * Commands not defined here are handled using a 1-1 mapping from the signals + * list. + * */ +CanCommand* getCommands(); + +/* Public: Return the length of the array returned by getCommandCount(). */ +int getCommandCount();
\ No newline at end of file diff --git a/src/can-decoder.hpp b/src/can-decoder.hpp index 200035d..e7dfff8 100644 --- a/src/can-decoder.hpp +++ b/src/can-decoder.hpp @@ -17,7 +17,7 @@ #pragma once -#include "can-utils.hpp" +#include "can-bus.hpp" class decoder_t { diff --git a/src/can-message.cpp b/src/can-message.cpp new file mode 100644 index 0000000..f9ec6b2 --- /dev/null +++ b/src/can-message.cpp @@ -0,0 +1,144 @@ +/* + * 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 "low-can-binding.hpp" + +/******************************************************************************** +* +* CanMessage method implementation +* +*********************************************************************************/ + +can_message_t::can_message_t() + : id_{0}, length_{0}, format_{CanMessageFormat::ERROR}, data_{0,0,0,0,0,0,0,0} +{} + +uint32_t can_message_t::get_id() const +{ + return id_; +} + +int can_message_t::get_format() const +{ + if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED) + return CanMessageFormat::ERROR; + return format_; +} + +const uint8_t* can_message_t::get_data() const +{ + return data_; +} +uint8_t can_message_t::get_length() const +{ + return length_; +} + +bool can_message_t::is_correct_to_send() +{ + if (id_ != 0 && length_ != 0 && format_ != CanMessageFormat::ERROR) + { + int i; + for(i=0;i<CAN_MESSAGE_SIZE;i++) + if(data_[i] != 0) + return true; + } + return false; +} + +void can_message_t::set_id(const uint32_t new_id) +{ + switch(format_) + { + case CanMessageFormat::STANDARD: + id_ = new_id & CAN_SFF_MASK; + break; + case CanMessageFormat::EXTENDED: + id_ = new_id & CAN_EFF_MASK; + break; + default: + ERROR(binder_interface, "ERROR: Can set id, not a compatible format or format not set prior to set id."); + break; + } +} + +void can_message_t::set_format(const CanMessageFormat new_format) +{ + if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED) + format_ = new_format; + else + ERROR(binder_interface, "ERROR: Can set format, wrong format chosen"); +} + +void can_message_t::set_data(const uint8_t new_data) +{ + if ((sizeof(new_data) / sizeof(uint8_t) > CAN_MESSAGE_SIZE)) + ERROR(binder_interface, "Can set data, your data array is too big"); + else + { + ::memcpy(&data_, &new_data, sizeof(new_data)); + length_ = sizeof(new_data); + } +} + +void can_message_t::convert_from_canfd_frame(const canfd_frame& frame) +{ + length_ = (frame.len > CAN_MAX_DLEN) ? (uint8_t)CAN_MAX_DLEN : frame.len; + length_ = (frame.len > CANFD_MAX_DLEN) ? (uint8_t)CANFD_MAX_DLEN : frame.len; + + if (frame.can_id & CAN_ERR_FLAG) + { + id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG); + format_ = CanMessageFormat::ERROR; + } + else if (frame.can_id & CAN_EFF_FLAG) + { + id_ = frame.can_id & CAN_EFF_MASK; + format_ = CanMessageFormat::EXTENDED; + } + else + { + id_ = frame.can_id & CAN_SFF_MASK; + format_ = CanMessageFormat::STANDARD; + } + + if (sizeof(frame.data) <= sizeof(data_)) + ::memcpy(&data_, frame.data, length_); + else if (sizeof(frame.data) >= CAN_MAX_DLEN) + ERROR(binder_interface, "can_message_t: canfd_frame data too long to be stored into CanMessage object"); +} + +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(binder_interface, "can_message_t not correctly initialized to be sent"); + + return frame; +} + diff --git a/src/can-message.hpp b/src/can-message.hpp new file mode 100644 index 0000000..f076c5c --- /dev/null +++ b/src/can-message.hpp @@ -0,0 +1,205 @@ +/* + * 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 <string> +#include <cstdint> +#include <linux/can.h> + +#include "timer.hpp" + +#define CAN_MESSAGE_SIZE 8 + +/** + * @enum CanMessageFormat + * @brief The ID format for a CAN message. + */ +enum CanMessageFormat { + STANDARD, /*!< STANDARD - standard 11-bit CAN arbitration ID. */ + EXTENDED, /*!< EXTENDED - an extended frame, with a 29-bit arbitration ID. */ + ERROR, /*!< ERROR - ERROR code used at initialization to signify that it isn't usable'*/ +}; +typedef enum CanMessageFormat CanMessageFormat; + +/** + * @class can_message_t + * + * @brief A compact representation of a single CAN message, meant to be used in in/out + * buffers. + */ + +/************************* + * old CanMessage struct * + ************************* +struct CanMessage { + uint32_t id; + CanMessageFormat format; + uint8_t data[CAN_MESSAGE_SIZE]; + uint8_t length; +}; +typedef struct CanMessage CanMessage; +*/ +class can_message_t { + private: + uint32_t id_; /*!< uint32_t id - The ID of the message. */ + uint8_t length_; /*!< uint8_t length - the length of the data array (max 8). */ + CanMessageFormat format_; /*!< CanMessageFormat format - the format of the message's ID.*/ + uint8_t data_[CAN_MESSAGE_SIZE]; /*!< uint8_t data - The message's data field with a size of 8 which is the standard about CAN bus messages.*/ + + public: + /** + * @brief Class constructor + * + * Constructor about can_message_t class. + */ + can_message_t(); + + /** + * @brief Retrieve id_ member value. + * + * @return uint32_t id_ class member + */ + uint32_t get_id() const; + + /** + * @brief Retrieve format_ member value. + * + * @return CanMessageFormat format_ class member + */ + int get_format() const; + + /** + * @brief Retrieve data_ member value. + * + * @return uint8_t data_ pointer class member + */ + const uint8_t* get_data() const; + + /** + * @brief Retrieve length_ member value. + * + * @return uint8_t length_ class member + */ + uint8_t get_length() const; + + /** + * @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 is_correct_to_send(); + + /** + * @brief Set id_ member value. + * + * Preferred way to initialize these members by using + * convert_from_canfd_frame method. + * + * @param uint32_t id_ class member + */ + void set_id(const uint32_t new_id); + + /** + * @brief Set format_ member value. + * + * Preferred way to initialize these members by using + * convert_from_canfd_frame method. + * + * @param CanMessageFormat format_ class member + */ + void set_format(const CanMessageFormat format); + + /** + * @brief Set data_ member value. + * + * Preferred way to initialize these members by using + * convert_from_canfd_frame method. + * + * @param uint8_t data_ array with a max size of 8 elements. + */ + void set_data(const uint8_t new_data); + + /** + * @brief Set length_ member value. + * + * Preferred way to initialize these members by using + * convert_from_canfd_frame method. + * + * @param uint8_t length_ array with a max size of 8 elements. + */ + void set_length(const uint8_t new_length); + + /** + * @brief Take a canfd_frame struct to initialize class members + * + * This is the preferred way to initialize class members. + * + * @param canfd_frame struct read from can bus device. + */ + void convert_from_canfd_frame(const canfd_frame& frame); + + /** + * @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. + */ + canfd_frame convert_to_canfd_frame(); +}; + +/** + * @struct CanMessageDefinition + * + * @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. + */ +struct CanMessageDefinition { + //can_bus_dev_t bus; /*!< bus - A pointer to the bus this message is on. */ + uint32_t id; /*!< id - The ID of the message.*/ + CanMessageFormat format; /*!< format - the format of the message's ID.*/ + FrequencyClock frequencyClock; /*!< 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 retriec++ if ? syntaxve.*/ + bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send CAN + * message if it has changed when using raw passthrough.*/ + uint8_t lastValue[CAN_MESSAGE_SIZE]; /*!< lastValue - The last received value of the message. Defaults to undefined. + * This is required for the forceSendChanged functionality, as the stack + * needs to compare an incoming CAN message with the previous frame.*/ +}; +typedef struct CanMessageDefinition CanMessageDefinition; + +/** + * @struct CanMessageSet + * + * @brief A parent wrapper for a particular set of CAN messages and associated + * CAN buses(e.g. a vehicle or program). + */ + typedef struct { + uint8_t index; /*!<index - A numerical ID for the message set, ideally the index in an array + * for fast lookup*/ + const std::string name; /*!< name - The name of the message set.*/ + uint8_t busCount; /*!< busCount - The number of CAN buses defined for this message set.*/ + unsigned short messageCount; /*!< messageCount - The number of CAN messages (across all buses) defined for + * this message set.*/ + unsigned short signalCount; /*!< signalCount - The number of CAN signals (across all messages) defined for + * this message set.*/ + unsigned short commandCount; /*!< commandCount - The number of CanCommmands defined for this message set.*/ +} CanMessageSet;
\ No newline at end of file diff --git a/src/can-signals.hpp b/src/can-signals.hpp index 4b43945..92dfe72 100644 --- a/src/can-signals.hpp +++ b/src/can-signals.hpp @@ -22,12 +22,11 @@ #include <queue> #include <vector> #include <string> -#include <thread> -#include <linux/can.h> #include "timer.hpp" #include "openxc.pb.h" -#include "can-utils.hpp" +#include "can-bus.hpp" +#include "can-message.hpp" extern "C" { @@ -49,6 +48,91 @@ static std::map<std::string, struct afb_event> subscribed_signals; std::mutex& get_subscribed_signals_mutex(); +/** + * @brief The type signature for a CAN signal decoder. + * + * @desc A SignalDecoder transforms a raw floating point CAN signal into a number, + * string or boolean. + * + * @param[in] CanSignal signal - The CAN signal that we are decoding. + * @param[in] CanSignal signals - The list of all signals. + * @param[in] int signalCount - The length of the signals array. + * @param[in] float value - The CAN signal parsed from the message as a raw floating point + * value. + * @param[out] bool send - An output parameter. If the decoding failed or the CAN signal should + * not send for some other reason, this should be flipped to false. + * + * @return a decoded value in an openxc_DynamicField struct. + */ +typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal& signal, + const std::vector<CanSignal>& signals, float value, bool* send); + +/** + * @brief: The type signature for a CAN signal encoder. + * + * @desc A SignalEncoder transforms a number, string or boolean into a raw floating + * point value that fits in the CAN signal. + * + * @params[signal] - The CAN signal to encode. + * @params[value] - The dynamic field to encode. + * @params[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)(struct CanSignal* signal, + openxc_DynamicField* value, bool* send); + +/** + * @struct CanSignalState + * + * @brief A state encoded (SED) signal's mapping from numerical values to + * OpenXC state names. + */ +struct CanSignalState { + const int value; /*!< int value - The integer value of the state on the CAN bus.*/ + const char* name; /*!< char* name - The corresponding string name for the state in OpenXC. */ +}; +typedef struct CanSignalState CanSignalState; + +/** + * @struct CanSignal + * + * @brief A CAN signal to decode from the bus and output over USB. + */ +struct CanSignal { + struct CanMessageDefinition* message; /*!< message - The message this signal is a part of. */ + const char* genericName; /*!< genericName - The name of the signal to be output over USB.*/ + uint8_t bitPosition; /*!< 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 bitSize; /*!< bitSize - 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 minValue; /*!< minValue - The minimum value for the processed signal.*/ + float maxValue; /*!< maxValue - The maximum value for the processed signal. */ + FrequencyClock frequencyClock; /*!< frequencyClock - A FrequencyClock struct to control the maximum frequency to + * process and send this signal. To process every value, set the + * clock's frequency to 0. */ + bool sendSame; /*!< sendSame - If true, will re-send even if the value hasn't changed.*/ + bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send the + * value if it has changed. */ + const CanSignalState* states; /*!< states - An array of CanSignalState describing the mapping + * between numerical and string values for valid states. */ + uint8_t stateCount; /*!< stateCount - The length of the states array. */ + 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 lastValue; /*!< lastValue - The last received value of the signal. If 'received' is false, + * this value is undefined. */ +}; +typedef struct CanSignal CanSignal; + /** Public: Return the currently active CAN configuration. */ CanMessageSet* getActiveMessageSet(); @@ -76,17 +160,6 @@ CanMessageDefinition* getMessages(); */ const std::vector<CanSignal> getSignals(); -/* Public: Return an array of all OpenXC CAN commands enabled in the active - * configuration that can write back to CAN with a custom handler. - * - * * Commands not defined here are handled using a 1-1 mapping from the signals - * list. - * */ -CanCommand* getCommands(); - -/* Public: Return the length of the array returned by getCommandCount(). */ -int getCommandCount(); - /* Public: Return the length of the array returned by getSignals(). */ size_t getSignalCount(); @@ -94,12 +167,6 @@ size_t getSignalCount(); int getMessageCount(); /** - * @brief Return an array of the metadata for the 2 CAN buses you want to - * monitor. The size of this array is fixed at 2. - */ -can_bus_dev_t getCanBuses(); - -/** * @brief Find one or many signals based on its name or id * passed through openxc_DynamicField. * diff --git a/src/can-utils.hpp b/src/can-utils.hpp deleted file mode 100644 index 29a41f2..0000000 --- a/src/can-utils.hpp +++ /dev/null @@ -1,614 +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 <mutex> -#include <queue> -#include <thread> -#include <linux/can.h> -#include <condition_variable> - -#include "timer.hpp" -#include "openxc.pb.h" -#include "low-can-binding.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_MESSAGE_SIZE 8 - -#define CAN_ACTIVE_TIMEOUT_S 30 - -/** - * @brief The type signature for a CAN signal decoder. - * - * @desc A SignalDecoder transforms a raw floating point CAN signal into a number, - * string or boolean. - * - * @param[in] CanSignal signal - The CAN signal that we are decoding. - * @param[in] CanSignal signals - The list of all signals. - * @param[in] int signalCount - The length of the signals array. - * @param[in] float value - The CAN signal parsed from the message as a raw floating point - * value. - * @param[out] bool send - An output parameter. If the decoding failed or the CAN signal should - * not send for some other reason, this should be flipped to false. - * - * @return a decoded value in an openxc_DynamicField struct. - */ -typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal& signal, - const std::vector<CanSignal>& signals, float value, bool* send); - -/** - * @brief: The type signature for a CAN signal encoder. - * - * @desc A SignalEncoder transforms a number, string or boolean into a raw floating - * point value that fits in the CAN signal. - * - * @params[signal] - The CAN signal to encode. - * @params[value] - The dynamic field to encode. - * @params[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)(struct CanSignal* signal, - openxc_DynamicField* value, bool* send); - -/** - * @enum CanMessageFormat - * @brief The ID format for a CAN message. - */ -enum CanMessageFormat { - STANDARD, /*!< STANDARD - standard 11-bit CAN arbitration ID. */ - EXTENDED, /*!< EXTENDED - an extended frame, with a 29-bit arbitration ID. */ - ERROR, /*!< ERROR - ERROR code used at initialization to signify that it isn't usable'*/ -}; -typedef enum CanMessageFormat CanMessageFormat; - -/** - * @class can_message_t - * - * @brief A compact representation of a single CAN message, meant to be used in in/out - * buffers. - */ - -/************************* - * old CanMessage struct * - ************************* -struct CanMessage { - uint32_t id; - CanMessageFormat format; - uint8_t data[CAN_MESSAGE_SIZE]; - uint8_t length; -}; -typedef struct CanMessage CanMessage; -*/ -class can_message_t { - private: - uint32_t id_; /*!< uint32_t id - The ID of the message. */ - uint8_t length_; /*!< uint8_t length - the length of the data array (max 8). */ - CanMessageFormat format_; /*!< CanMessageFormat format - the format of the message's ID.*/ - uint8_t data_[CAN_MESSAGE_SIZE]; /*!< uint8_t data - The message's data field with a size of 8 which is the standard about CAN bus messages.*/ - - public: - /** - * @brief Class constructor - * - * Constructor about can_message_t class. - */ - can_message_t(); - - /** - * @brief Retrieve id_ member value. - * - * @return uint32_t id_ class member - */ - uint32_t get_id() const; - - /** - * @brief Retrieve format_ member value. - * - * @return CanMessageFormat format_ class member - */ - int get_format() const; - - /** - * @brief Retrieve data_ member value. - * - * @return uint8_t data_ pointer class member - */ - const uint8_t* get_data() const; - - /** - * @brief Retrieve length_ member value. - * - * @return uint8_t length_ class member - */ - uint8_t get_length() const; - - /** - * @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 is_correct_to_send(); - - /** - * @brief Set id_ member value. - * - * Preferred way to initialize these members by using - * convert_from_canfd_frame method. - * - * @param uint32_t id_ class member - */ - void set_id(const uint32_t new_id); - - /** - * @brief Set format_ member value. - * - * Preferred way to initialize these members by using - * convert_from_canfd_frame method. - * - * @param CanMessageFormat format_ class member - */ - void set_format(const CanMessageFormat format); - - /** - * @brief Set data_ member value. - * - * Preferred way to initialize these members by using - * convert_from_canfd_frame method. - * - * @param uint8_t data_ array with a max size of 8 elements. - */ - void set_data(const uint8_t new_data); - - /** - * @brief Set length_ member value. - * - * Preferred way to initialize these members by using - * convert_from_canfd_frame method. - * - * @param uint8_t length_ array with a max size of 8 elements. - */ - void set_length(const uint8_t new_length); - - /** - * @brief Take a canfd_frame struct to initialize class members - * - * This is the preferred way to initialize class members. - * - * @param canfd_frame struct read from can bus device. - */ - void convert_from_canfd_frame(const canfd_frame& frame); - - /** - * @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. - */ - canfd_frame convert_to_canfd_frame(); -}; - -/** - * @class can_bus_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: - int conf_file_; /*!< conf_file_ - configuration file handle used to initialize can_bus_dev_t objects.*/ - - std::thread th_decoding_; /*!< thread that'll handle decoding a can frame */ - bool is_decoding_; /*!< boolean member controling thread while loop*/ - std::thread th_pushing_; /*!< thread that'll handle pushing decoded can frame to subscribers */ - bool is_pushing_; /*!< boolean member controling thread while loop*/ - - std::condition_variable new_can_message_; - std::mutex can_message_mutex_; - bool has_can_message_; /*!< boolean members that control whether or not there is can_message into the 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_; - std::mutex decoded_can_message_mutex_; - bool has_vehicle_message_; /*!< boolean members that control whether or not there is openxc_VehicleMessage into the queue */ - std::queue <openxc_VehicleMessage> vehicle_message_q_; /*!< queue that'll store openxc_VehicleMessage to pushed */ - - public: - /** - * @brief Class constructor - * - * @param struct afb_binding_interface *interface between daemon and binding - * @param int file handle to the json configuration file. - */ - can_bus_t(int& conf_file); - - /** - * @brief Will initialize can_bus_dev_t objects after reading - * the configuration file passed in the constructor. - */ - int init_can_dev(); - - /** - * @brief read the conf_file_ and will parse json objects - * in it searching for canbus objects devices name. - * - * @return Vector of can bus device name string. - */ - std::vector<std::string> read_conf(); - - std::condition_variable& get_new_can_message(); - std::mutex& get_can_message_mutex(); - std::condition_variable& get_new_decoded_can_message(); - std::mutex& get_decoded_can_message_mutex(); - - /** - * @brief Will initialize threads that will decode - * and push subscribed events. - */ - void start_threads(); - - /** - * @brief Will stop all threads holded by can_bus_t object - * which are decoding and pushing threads. - */ - void stop_threads(); - - /** - * @brief Telling if the decoding thread is running. - * This is the boolean value on which the while loop - * take its condition. Set it to false will stop the - * according thread. - * - * @return true if decoding thread is running, false if not. - */ - bool is_decoding(); - - /** - * @brief Telling if the pushing thread is running - * This is the boolean value on which the while loop - * take its condition. Set it to false will stop the - * according thread. - * - * @return true if pushing thread is running, false if not. - */ - bool is_pushing(); - - /** - * @brief Return first can_message_t on the queue - * - * @return a can_message_t - */ - can_message_t next_can_message(); - - /** - * @brief Push a can_message_t into the queue - * - * @param the const reference can_message_t object to push into the queue - */ - void push_new_can_message(const can_message_t& can_msg); - - /** - * @brief Return a boolean telling if there is any can_message into the queue - * - * @return true if there is at least a can_message_t, false if not. - */ - bool has_can_message() const; - - /** - * @brief Return first openxc_VehicleMessage on the queue - * - * @return a openxc_VehicleMessage containing a decoded can message - */ - openxc_VehicleMessage next_vehicle_message(); - - /** - * @brief Push a openxc_VehicleMessage into the queue - * - * @param the const reference openxc_VehicleMessage object to push into the queue - */ - void push_new_vehicle_message(const openxc_VehicleMessage& v_msg); - - /** - * @brief Return a boolean telling if there is any openxc_VehicleMessage into the queue - * - * @return true if there is at least a openxc_VehicleMessage, false if not. - */ - bool has_vehicle_message() const; -}; - -/** - * @class can_bus_dev_t - * - * @brief Object representing a can device. Handle opening, closing and reading on the - * socket. This is the low level object to be use by can_bus_t. - */ -class can_bus_dev_t { - private: - std::string device_name_; /*!< std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc. */ - int can_socket_; /*!< socket handler for the can device */ - bool is_fdmode_on_; /*!< boolean telling if whether or not the can socket use fdmode. */ - struct sockaddr_can txAddress_; /*!< internal member using to bind to the socket */ - - std::thread th_reading_; /*!< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t */ - bool is_running_; /*!< boolean telling whether or not reading is running or not */ - - public: - /** - * @brief Class constructor - * - * @param const string representing the device name into the linux /dev tree - */ - can_bus_dev_t(const std::string& dev_name); - - /** - * @brief Open the can socket and returning it - * - * @return - */ - int open(); - - /** - * @brief Open the can socket and returning it - * - * @return - */ - int close(); - - /** - * @brief Telling if the reading thread is running - * This is the boolean value on which the while loop - * take its condition. Set it to false will stop the - * according thread. - * - * @return true if reading thread is running, false if not. - */ - bool is_running(); - - /** - * @brief start reading threads and set flag is_running_ - * - * @param can_bus_t reference can_bus_t. it will be passed to the thread - * to allow using can_bus_t queue. - */ - void start_reading(can_bus_t& can_bus); - - /** - * @brief Read the can socket and retrieve canfd_frame - * - * @param const struct afb_binding_interface* interface pointer. Used to be able to log - * using application framework logger. - */ - canfd_frame read(); - - /** - * @brief Send a can message from a can_message_t object. - * - * @param const can_message_t& can_msg: the can message object to send - * @param const struct afb_binding_interface* interface pointer. Used to be able to log - * using application framework logger. - */ - int send_can_message(can_message_t& can_msg); -}; - -/** - * @struct CanSignalState - * - * @brief A state encoded (SED) signal's mapping from numerical values to - * OpenXC state names. - */ -struct CanSignalState { - const int value; /*!< int value - The integer value of the state on the CAN bus.*/ - const char* name; /*!< char* name - The corresponding string name for the state in OpenXC. */ -}; -typedef struct CanSignalState CanSignalState; - -/** - * @struct CanSignal - * - * @brief A CAN signal to decode from the bus and output over USB. - */ -struct CanSignal { - struct CanMessageDefinition* message; /*!< message - The message this signal is a part of. */ - const char* genericName; /*!< genericName - The name of the signal to be output over USB.*/ - uint8_t bitPosition; /*!< 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 bitSize; /*!< bitSize - 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 minValue; /*!< minValue - The minimum value for the processed signal.*/ - float maxValue; /*!< maxValue - The maximum value for the processed signal. */ - FrequencyClock frequencyClock; /*!< frequencyClock - A FrequencyClock struct to control the maximum frequency to - * process and send this signal. To process every value, set the - * clock's frequency to 0. */ - bool sendSame; /*!< sendSame - If true, will re-send even if the value hasn't changed.*/ - bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send the - * value if it has changed. */ - const CanSignalState* states; /*!< states - An array of CanSignalState describing the mapping - * between numerical and string values for valid states. */ - uint8_t stateCount; /*!< stateCount - The length of the states array. */ - 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 lastValue; /*!< lastValue - The last received value of the signal. If 'received' is false, - * this value is undefined. */ -}; -typedef struct CanSignal CanSignal; - -/** - * @struct CanMessageDefinition - * - * @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. - */ -struct CanMessageDefinition { - //can_bus_dev_t bus; /*!< bus - A pointer to the bus this message is on. */ - uint32_t id; /*!< id - The ID of the message.*/ - CanMessageFormat format; /*!< format - the format of the message's ID.*/ - FrequencyClock frequencyClock; /*!< 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 retriec++ if ? syntaxve.*/ - bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send CAN - * message if it has changed when using raw passthrough.*/ - uint8_t lastValue[CAN_MESSAGE_SIZE]; /*!< lastValue - The last received value of the message. Defaults to undefined. - * This is required for the forceSendChanged functionality, as the stack - * needs to compare an incoming CAN message with the previous frame.*/ -}; -typedef struct CanMessageDefinition CanMessageDefinition; - -/** - * @struct CanMessageSet - * - * @brief A parent wrapper for a particular set of CAN messages and associated - * CAN buses(e.g. a vehicle or program). - */ - typedef struct { - uint8_t index; /*!<index - A numerical ID for the message set, ideally the index in an array - * for fast lookup*/ - const char* name; /*!< name - The name of the message set.*/ - uint8_t busCount; /*!< busCount - The number of CAN buses defined for this message set.*/ - unsigned short messageCount; /*!< messageCount - The number of CAN messages (across all buses) defined for - * this message set.*/ - unsigned short signalCount; /*!< signalCount - The number of CAN signals (across all messages) defined for - * this message set.*/ - unsigned short commandCount; /*!< commandCount - The number of CanCommmands defined for this message set.*/ -} CanMessageSet; - -/** - * @brief The type signature for a function to handle a custom OpenXC command. - * - * @param[in] char* name - the name of the received command. - * @param[in] openxc_DynamicField* value - the value of the received command, in a DynamicField. The actual type - * may be a number, string or bool. - * @param[in] openxc_DynamicField* event - an optional event from the received command, in a DynamicField. The - * actual type may be a number, string or bool. - * @param[in] CanSignal* signals - The list of all signals. - * @param[in] int signalCount - The length of the signals array. - */ -typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value, - openxc_DynamicField* event, CanSignal* signals, int signalCount); - -/* @struct CanCommand - * @brief The structure to represent a supported custom OpenXC command. - * - * @desc 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* genericName; /*!< genericName - The name of the command.*/ - CommandHandler handler; /*!< handler - An function to process the received command's data and perform some - * action.*/ -} CanCommand; - -/** - * @fn void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount); - * @brief Pre initialize actions made before CAN bus initialization - * - * @param[in] can_bus_dev_t bus - A CanBus struct defining the bus's metadata - * @param[in] bool writable - configure the controller in a writable mode. If false, it will be - * configured as "listen only" and will not allow writes or even CAN ACKs. - * @param[in] buses - An array of all CAN buses. - * @param[in] int busCount - The length of the buses array. - */ -void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount); - -/** - * @fn void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount); - * @brief Post-initialize actions made after CAN bus initialization - * - * @param[in] bus - A CanBus struct defining the bus's metadata - * @param[in] writable - configure the controller in a writable mode. If false, it will be - * configured as "listen only" and will not allow writes or even CAN ACKs. - * @param[in] buses - An array of all CAN buses. - * @param[in] busCount - The length of the buses array. - */ -void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount); - -/** - * @fn bool isBusActive(can_bus_dev_t* bus); - * @brief Check if the device is connected to an active CAN bus, i.e. it's - * received a message in the recent past. - * - * @return true if a message was received on the CAN bus within - * CAN_ACTIVE_TIMEOUT_S seconds. - */ -bool isBusActive(can_bus_dev_t* bus); - -/** - * @fn void logBusStatistics(can_bus_dev_t* buses, const int busCount); - * @brief Log transfer statistics about all active CAN buses to the debug log. - * - * @param[in] buses - an array of active CAN buses. - * @param[in] busCount - the length of the buses array. - */ -void logBusStatistics(can_bus_dev_t* buses, const int busCount); - -/** - * @fn void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus); - * - * @brief Thread function used to read the can socket. - * - * @param[in] can_bus_dev_t object to be used to read the can socket - * @param[in] can_bus_t object used to fill can_message_q_ queue - */ -void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus); - -/** - * @fn void can_decode_message(can_bus_t& can_bus); - * - * @brief Thread function used to decode can messages read into the can_message_q_ - * - * @param[in] can_bus_t object used to pop can_message_q_ queue and fill decoded message - * into vehicle_message_q_ queue. - */ -void can_decode_message(can_bus_t& can_bus); - -/** - * @fn void can_decode_message(can_bus_t& can_bus); - * - * @brief Thread function used to push afb_event - * - * @param[in] can_bus_t object used to pop can_message_q_ queue and fill decoded message - * into vehicle_message_q_ queue. - */ -void can_event_push(can_bus_t& can_bus);
\ No newline at end of file diff --git a/src/can_decode_message.cpp b/src/can_decode_message.cpp index ed518f1..d4443ee 100644 --- a/src/can_decode_message.cpp +++ b/src/can_decode_message.cpp @@ -18,7 +18,7 @@ #include "can_decode_message.hpp" -#include "can-utils.hpp" +#include "can-bus.hpp" #include "openxc-utils.hpp" #include "can-signals.hpp" #include "can-decoder.hpp" diff --git a/src/can_event_push.cpp b/src/can_event_push.cpp index b371973..3baaaf7 100644 --- a/src/can_event_push.cpp +++ b/src/can_event_push.cpp @@ -18,7 +18,7 @@ #include "can_event_push.hpp" -#include "can-utils.hpp" +#include "can-bus.hpp" #include "can-signals.hpp" #include "openxc-utils.hpp" diff --git a/src/can_reader.cpp b/src/can_reader.cpp index 4706d92..4ee1c48 100644 --- a/src/can_reader.cpp +++ b/src/can_reader.cpp @@ -19,7 +19,7 @@ #include "can_reader.hpp" #include "low-can-binding.hpp" -#include "can-utils.hpp" +#include "can-bus.hpp" void can_reader(can_bus_dev_t &can_bus_dev, can_bus_t& can_bus) { diff --git a/src/low-can-binding.cpp b/src/low-can-binding.cpp index ebb3f33..0ffef5e 100644 --- a/src/low-can-binding.cpp +++ b/src/low-can-binding.cpp @@ -29,8 +29,9 @@ #include "timer.hpp" #include "openxc.pb.h" -#include "can-utils.hpp" +#include "can-bus.hpp" #include "can-signals.hpp" +#include "can-message.hpp" #include "openxc-utils.hpp" extern "C" diff --git a/src/obd2.hpp b/src/obd2.hpp index a1ba644..54098e3 100644 --- a/src/obd2.hpp +++ b/src/obd2.hpp @@ -19,7 +19,7 @@ #include <vector> #include "uds/uds.h" -#include "can-utils.hpp" +#include "can-bus.hpp" extern "C" { |