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/*
* 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
{
char string[100];
double numeric_value;
bool boolean_value;
};
void can_decode_message(can_bus_t &can_bus)
{
can_message_t *can_message;
std:vector <CanSignal> signals;
std:vector <CanSignal>::iterator signals_i;
openxc_VehicleMessage vehicle_message;
openxc_DynamicField search_key, ret;
decoder_t 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;
}
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