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#include <binding/application.hpp>
#include <can/can-decoder.hpp>
#include <can/can-encoder.hpp>
// >>>>> handlers.cpp >>>>>
#include "can/canread.h"
using openxc::can::read::publishNumericalMessage;
void handleSteeringWheelMessage(CanMessage* message,
CanSignal* signals, int signalCount, Pipeline* pipeline) {
publishNumericalMessage("latitude", 42.0, pipeline);
}
openxc_DynamicField handleInverted(CanSignal* signal, CanSignal* signals,
int signalCount, float value, bool* send) {
return openxc::payload::wrapNumber(value * -1);
}
void initializeMyStuff() { }
void initializeOtherStuff() { }
void myLooper() {
// this function will be called once each time through the main loop, after
// all CAN message processing has been completed
}
// <<<<< handlers.cpp <<<<<
extern "C" {
CTLP_CAPI_REGISTER("example");
std::shared_ptr<message_set_t> cms = std::make_shared<message_set_t>(message_set_t{0,"example",
{ // beginning message_definition_ vector
{std::make_shared<message_definition_t>(message_definition_t{"can0",0x128,"ECM_z_5D2",8,0,frequency_clock_t(5.00000f),true,
{ // beginning signals vector
{std::make_shared<signal_t> (signal_t{
"engine_speed",// generic_name
12,// bit_position
8,// bit_size
1.00000f,// factor
0.00000f,// offset
0,// min_value
0,// max_value
frequency_clock_t(15.0000f),// frequency
true,// send_same
false,// force_send_changed
{
},// states
false,// writable
nullptr,// decoder
nullptr,// encoder
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
static_cast<sign_t>(0),// signed
-1,// bit_sign_position
""// unit
})},
{std::make_shared<signal_t> (signal_t{
"GearshiftPosition",// generic_name
41,// bit_position
3,// bit_size
1.00000f,// factor
0.00000f,// offset
0,// min_value
0,// max_value
frequency_clock_t(0.00000f),// frequency
true,// send_same
false,// force_send_changed
{
{1,"FIRST"},
{4,"FOURTH"},
{6,"NEUTRAL"},
{5,"REVERSE"},
{2,"SECOND"},
{3,"THIRD"}
},// states
false,// writable
decoder_t::decode_state,// decoder
nullptr,// encoder
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
static_cast<sign_t>(0),// signed
-1,// bit_sign_position
""// unit
})},
{std::make_shared<signal_t> (signal_t{
"SteeringWheelAngle",// generic_name
52,// bit_position
12,// bit_size
0.153920f,// factor
0.00000f,// offset
0,// min_value
0,// max_value
frequency_clock_t(0.00000f),// frequency
true,// send_same
false,// force_send_changed
{
},// states
false,// writable
decoder_t::gnedSteeringWheelAngle,// decoder
nullptr,// encoder
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
static_cast<sign_t>(0),// signed
-1,// bit_sign_position
""// unit
})},
{std::make_shared<signal_t> (signal_t{
"steering_wheel_angle_error",// generic_name
44,// bit_position
12,// bit_size
1.00000f,// factor
0.00000f,// offset
0,// min_value
0,// max_value
frequency_clock_t(0.00000f),// frequency
true,// send_same
false,// force_send_changed
{
},// states
false,// writable
decoder_t::der,// decoder
nullptr,// encoder
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
static_cast<sign_t>(0),// signed
-1,// bit_sign_position
""// unit
})},
{std::make_shared<signal_t> (signal_t{
"steering_angle_sign",// generic_name
52,// bit_position
12,// bit_size
1.00000f,// factor
0.00000f,// offset
0,// min_value
0,// max_value
frequency_clock_t(0.00000f),// frequency
true,// send_same
false,// force_send_changed
{
},// states
false,// writable
decoder_t::der,// decoder
nullptr,// encoder
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
static_cast<sign_t>(0),// signed
-1,// bit_sign_position
""// unit
})}
} // end signals vector
})} // end message_definition entry
, {std::make_shared<message_definition_t>(message_definition_t{"can0",0x813,"ECM_z_5D2",8,0,frequency_clock_t(5.00000f),true,
{ // beginning signals vector
{std::make_shared<signal_t> (signal_t{
"abc",// generic_name
52,// bit_position
12,// bit_size
0.153920f,// factor
0.00000f,// offset
0,// min_value
0,// max_value
frequency_clock_t(0.00000f),// frequency
true,// send_same
false,// force_send_changed
{
},// states
false,// writable
decoder_t::gnedSteeringWheelAngle,// decoder
nullptr,// encoder
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
static_cast<sign_t>(0),// signed
-1,// bit_sign_position
""// unit
})},
{std::make_shared<signal_t> (signal_t{
"def",// generic_name
52,// bit_position
12,// bit_size
1.00000f,// factor
0.00000f,// offset
0,// min_value
0,// max_value
frequency_clock_t(0.00000f),// frequency
true,// send_same
false,// force_send_changed
{
},// states
false,// writable
decoder_t::ignoreDecoder,// decoder
nullptr,// encoder
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
static_cast<sign_t>(0),// signed
-1,// bit_sign_position
""// unit
})}
} // end signals vector
})} // end message_definition entry
}, // end message_definition vector
{ // beginning diagnostic_messages_ vector
{std::make_shared<diagnostic_message_t>(diagnostic_message_t{
12,
"",
0,
0,
UNIT::INVALID,
1.00000f,
decoder_t::Pid,
nullptr,
true,
false
})}
, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
12,
"",
0,
0,
UNIT::INVALID,
1.00000f,
nullptr,
nullptr,
true,
false
})}
, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
6,
"",
0,
0,
UNIT::INVALID,
1.00000f,
decoder_t::agRequest,
nullptr,
true,
false
})}
} // end diagnostic_messages_ vector
}); // end message_set entry
CTLP_ONLOAD(plugin, handle) {
afb_api_t api = (afb_api_t) plugin->api;
CtlConfigT* CtlConfig = (CtlConfigT*) afb_api_get_userdata(api);
application_t* app = (application_t*) getExternalData(CtlConfig);
return app->add_message_set(cms);
}
}
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