From 15250b2e51e8383a0df4b6e5a870c07e914d406d Mon Sep 17 00:00:00 2001 From: Romain Forlot Date: Fri, 17 Feb 2017 17:17:24 +0000 Subject: Fix: timer.* issues Change-Id: I1c3721403198b3c5525a811bd3c7cbf6b8e78e5b Signed-off-by: Romain Forlot --- src/can-utils.hpp | 117 +++++++++++++++++++++++++----------------------------- 1 file changed, 54 insertions(+), 63 deletions(-) (limited to 'src/can-utils.hpp') diff --git a/src/can-utils.hpp b/src/can-utils.hpp index 8b64cb3..db97b4b 100644 --- a/src/can-utils.hpp +++ b/src/can-utils.hpp @@ -62,6 +62,55 @@ typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal* signal, typedef uint64_t (*SignalEncoder)(struct CanSignal* signal, openxc_DynamicField* value, bool* send); +/* Public: The ID format for a CAN message. + * + * STANDARD - standard 11-bit CAN arbitration ID. + * EXTENDED - an extended frame, with a 29-bit arbitration ID. + */ +enum CanMessageFormat { + STANDARD, + EXTENDED, +}; +typedef enum CanMessageFormat CanMessageFormat; + +/* A compact representation of a single CAN message, meant to be used in in/out + * buffers. + * + * id - The ID of the message. + * format - the format of the message's ID. + * data - The message's data field. + * length - the length of the data array (max 8). +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: + afb_binding_interface interface_; + uint32_t id_; + CanMessageFormat format_; + uint8_t data_[CAN_MESSAGE_SIZE]; + uint8_t length_; + + public: + uint32_t get_id() const; + int get_format() const; + uint8_t get_data() const; + uint8_t get_lenght() const; + + void set_id(uint32_t id); + void set_format(CanMessageFormat format); + void set_data(uint8_t data); + void set_lenght(uint8_t length); + + void convert_from_canfd_frame(canfd_frame frame); + canfd_frame convert_to_canfd_frame(); +}; + /** * @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. @@ -91,8 +140,7 @@ class can_bus_dev_t { can_message_t* next_can_message(); void push_new_can_message(const can_message_t& can_msg); bool has_can_message() const; -} - +}; /** * @brief Object used to handle decoding and manage event queue to be pushed. @@ -112,11 +160,11 @@ class can_bus_t { std::queue vehicle_message_q_; public: + int init_can_dev(); + std::vector read_conf(); + void start_threads(); - void init_can_dev(std::ifstream& conf_file); - std::vector read_conf() - int send_can_message(can_message_t can_msg); openxc_VehicleMessage& next_vehicle_message(); @@ -124,57 +172,6 @@ class can_bus_t { bool has_vehicle_message() const; }; -/* A compact representation of a single CAN message, meant to be used in in/out - * buffers. - * - * id - The ID of the message. - * format - the format of the message's ID. - * data - The message's data field. - * length - the length of the data array (max 8). -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: - afb_binding_interface interface_; - uint32_t id_; - CanMessageFormat format_; - uint8_t data_[CAN_MESSAGE_SIZE]; - uint8_t length_; - - public: - uint32_t get_id() const; - int get_format() const; - uint8_t get_data() const; - uint8_t get_lenght() const; - - void set_id(uint32_t id); - void set_format(CanMessageFormat format); - void set_data(uint8_t data); - void set_lenght(uint8_t length); - - void convert_from_canfd_frame(canfd_frame frame); - canfd_frame convert_to_canfd_frame(); -}; - -QUEUE_DECLARE(can_message_t, 8); - -/* Public: The ID format for a CAN message. - * - * STANDARD - standard 11-bit CAN arbitration ID. - * EXTENDED - an extended frame, with a 29-bit arbitration ID. - */ -enum CanMessageFormat { - STANDARD, - EXTENDED, -}; -typedef enum CanMessageFormat CanMessageFormat; - /* Public: A state encoded (SED) signal's mapping from numerical values to * OpenXC state names. * @@ -346,17 +343,11 @@ typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value, * genericName - The name of the command. * handler - An function to process the received command's data and perform some * action. + */ typedef struct { const char* genericName; CommandHandler handler; } CanCommand; - */ - -class CanCommand_c { - private: - const char* genericName; - CommandHandler handler; -}; /* Pre initialize actions made before CAN bus initialization * -- cgit 1.2.3-korg