2 /// Copyright (C) 2015, 2016 "IoT.bzh"
3 /// Author "Romain Forlot" <romain.forlot@iot.bzh>
5 /// Licensed under the Apache License, Version 2.0 (the "License");
6 /// you may not use this file except in compliance with the License.
7 /// You may obtain a copy of the License at
9 /// http://www.apache.org/licenses/LICENSE-2.0
11 /// Unless required by applicable law or agreed to in writing, software
12 /// distributed under the License is distributed on an "AS IS" BASIS,
13 /// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
14 /// See the License for the specific language governing permissions and
15 /// limitations under the License.
26 #include "openxc.pb.h"
27 #include "can-message-definition.hpp"
28 #include "../utils/timer.hpp"
29 #include "../utils/socketcan-bcm.hpp"
30 #include "can-message.hpp"
31 #include "../diagnostic/diagnostic-message.hpp"
35 #include <afb/afb-binding.h>
36 #include <afb/afb-event-itf.h>
39 #define MESSAGE_SET_ID 0
43 /// @brief The type signature for a CAN signal decoder.
45 /// A SignalDecoder transforms a raw floating point CAN signal into a number,
46 /// string or boolean.
48 /// @param[in] signal - The CAN signal that we are decoding.
49 /// @param[in] signals - The list of all signals.
50 /// @param[in] signalCount - The length of the signals array.
51 /// @param[in] value - The CAN signal parsed from the message as a raw floating point
53 /// @param[out] send - An output parameter. If the decoding failed or the CAN signal should
54 /// not send for some other reason, this should be flipped to false.
56 /// @return a decoded value in an openxc_DynamicField struct.
58 typedef openxc_DynamicField (*SignalDecoder)(can_signal_t& signal,
59 const std::vector<std::shared_ptr<can_signal_t> >& signals, float value, bool* send);
62 /// @brief: The type signature for a CAN signal encoder.
64 /// A SignalEncoder transforms a number, string or boolean into a raw floating
65 /// point value that fits in the CAN signal.
67 /// @param[in] signal - The CAN signal to encode.
68 /// @param[in] value - The dynamic field to encode.
69 /// @param[out] send - An output parameter. If the encoding failed or the CAN signal should
70 /// not be encoded for some other reason, this will be flipped to false.
72 typedef uint64_t (*SignalEncoder)(can_signal_t* signal,
73 openxc_DynamicField* value, bool* send);
78 can_message_definition_t* parent_; /*!< parent_ - pointer to the parent message definition holding this signal*/
79 std::string generic_name_; /*!< generic_name_ - The name of the signal to be output.*/
80 static std::string prefix_; /*!< prefix_ - generic_name_ will be prefixed with it. It has to reflect the used protocol.
81 * which make easier to sort message when the come in.*/
82 uint8_t bit_position_; /*!< bitPosition_ - The starting bit of the signal in its CAN message (assuming
83 * non-inverted bit numbering, i.e. the most significant bit of
85 uint8_t bit_size_; /*!< bit_size_ - The width of the bit field in the CAN message. */
86 float factor_; /*!< factor_ - The final value will be multiplied by this factor. Use 1 if you
87 * don't need a factor. */
88 float offset_; /*!< offset_ - The final value will be added to this offset. Use 0 if you
89 * don't need an offset. */
90 float min_value_; /*!< min_value_ - The minimum value for the processed signal.*/
91 float max_value_; /*!< max_value_ - The maximum value for the processed signal. */
92 frequency_clock_t frequency_; /*!< frequency_ - A frequency_clock_t struct to control the maximum frequency to
93 * process and send this signal. To process every value, set the
94 * clock's frequency to 0. */
95 bool send_same_; /*!< send_same_ - If true, will re-send even if the value hasn't changed.*/
96 bool force_send_changed_; /*!< force_send_changed_ - If true, regardless of the frequency, it will send the
97 * value if it has changed. */
98 std::map<uint8_t, std::string> states_; /*!< states_ - A map of CAN signal state describing the mapping
99 * between numerical and string values for valid states. */
100 bool writable_; /*!< writable - True if the signal is allowed to be written from the USB host
101 * back to CAN. Defaults to false.*/
102 SignalDecoder decoder_; /*!< decoder_ - An optional function to decode a signal from the bus to a human
103 * readable value. If NULL, the default numerical decoder is used. */
104 SignalEncoder encoder_; /*!< encoder_ - An optional function to encode a signal value to be written to
105 * CAN into a byte array. If NULL, the default numerical encoder
107 bool received_; /*!< received_ - True if this signal has ever been received.*/
108 float last_value_; /*!< lastValue_ - The last received value of the signal. If 'received' is false,
109 * this value is undefined. */
113 std::string generic_name,
114 uint8_t bit_position,
120 frequency_clock_t frequency,
122 bool force_send_changed,
123 std::map<uint8_t, std::string> states,
125 SignalDecoder decoder,
126 SignalEncoder encoder,
129 can_message_definition_t* get_message() const;
130 const std::string get_generic_name() const;
131 const std::string get_name() const;
132 const std::string get_prefix() const;
133 uint8_t get_bit_position() const;
134 uint8_t get_bit_size() const;
135 float get_factor() const;
136 float get_offset() const;
137 float get_min_value() const;
138 float get_max_value() const;
139 frequency_clock_t& get_frequency();
140 bool get_send_same() const;
141 bool get_force_send_changed() const;
142 const std::map<uint8_t, std::string>& get_states() const;
143 const std::string get_states(uint8_t value);
144 size_t get_state_count() const;
145 bool get_writable() const;
146 SignalDecoder& get_decoder();
147 SignalEncoder& get_encoder();
148 bool get_received() const;
149 float get_last_value() const;
151 void set_parent(can_message_definition_t* parent);
152 void set_prefix(std::string val);
153 void set_received(bool r);
154 void set_last_value(float val);
155 void set_timestamp(uint64_t timestamp);