/* * Copyright (C) 2015, 2016 "IoT.bzh" * Author "Romain Forlot" <romain.forlot@iot.bzh> * Author "Loic 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 <linux/can.h> #include <linux/can/raw.h> #include <queue> #include <sys/timeb.h> #include <afb/afb-binding.h> #include "can-utils.h" #include "can-decoder.h" #include "openxc.pb.h" union DynamicField { std::char string[100]; std::double numeric_value; std::bool boolean_value; }; void can_decode_message(CanBus_c *can_bus) { CanMessage_c *can_message; std:vector <CanSignal> *signals; std:vector <CanSignal>::iterator signals_i; openxc_VehicleMessage vehicle_message; openxc_DynamicField search_key, ret; Decoder_c decoder(); while(true) { if(can_message = can_bus->next_can_message()) { /* First we have to found which CanSignal is */ DynamicField signal_id = (double)can_message.get_id(); search_key = build_DynamicField(openxc_DynamicField_Type_NUM, signal_id) signals = find_signals(search_key); /* Decoding the message ! Don't kill the messenger ! */ for(signals_i=signals.begin(); signal_i != signals.end(); signals_i++) { subscribed_signals_i = subscribed_signals.find(signals_i); if(subscribed_signals_i != subscribed_signals.end() && afb_event_is_valid(subscribed_signals_i->second)) { ret = decoder.decodeSignal(&sig, can_message, SIGNALS, SIGNALS.size(), true); s_message = build_SimpleMessage(subscribed_signals_i->first->genericName, ret); vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message); vehicle_message_q.push(vehicle_message); } } } } } /* * Build a specific VehicleMessage containing a SimpleMessage. */ openxc_VehicleMessage build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type type, openxc_SimpleMessage message) { struct timeb t_msec; long long int timestamp_msec; if(!ftime(&t_msec)) { timestamp_msec = ((long long int) t_msec.time) * 1000ll + (long long int) t_msec.millitm; return openxc_VehicleMessage v = {.has_type = true, .type = openxc_VehicleMessage_Type::openxc_VehicleMessage_Type_SIMPLE, .has_simple_message = true, .simple_message = message, .has_timestamp = true, .timestamp = timestamp_msec}; } return openxc_VehicleMessage v = {.has_type = true, .type = openxc_VehicleMessage_Type::openxc_VehicleMessage_Type_SIMPLE, .has_simple_message = true, .simple_message = message}; } /* * Build an openxc_SimpleMessage associating a name to an openxc_DynamicField */ openxc_SimpleMessage build_SimpleMessage(std:string name, openxc_DynamicField value) { return openxc_SimpleMessage s = {.has_name = true, .name = name, .has_value = true, .value = value}; } } /* * Build an openxc_DynamicField using its type and an union. * Why do not use of union in first place anyway... */ openxc_DynamicField build_DynamicField(openxc_DynamicField_Type type, DynamicField field) { openxc_DynamicField d = {.has_type = true, .type = type}; switch(type) { case openxc_DynamicField_Type_BOOL: d.has_boolean_value = true; d.boolean_value = field; break; case openxc_DynamicField_Type_NUM: d.has_numeric_value = true; d.numeric_value = field; break; case openxc_DynamicField_Type_STRING: d.has_string_value = true; strcpy(d.string_value, field); break; default: return nullptr; } return d; }