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 "../utils/timer.hpp"
28 #include "can-bus.hpp"
29 #include "can-message.hpp"
30 #include "can-message-definition.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
44 /// @brief The type signature for a CAN signal decoder.
46 /// A SignalDecoder transforms a raw floating point CAN signal into a number,
47 /// string or boolean.
49 /// @param[in] signal - The CAN signal that we are decoding.
50 /// @param[in] signals - The list of all signals.
51 /// @param[in] signalCount - The length of the signals array.
52 /// @param[in] value - The CAN signal parsed from the message as a raw floating point
54 /// @param[out] send - An output parameter. If the decoding failed or the CAN signal should
55 /// not send for some other reason, this should be flipped to false.
57 /// @return a decoded value in an openxc_DynamicField struct.
59 typedef openxc_DynamicField (*SignalDecoder)(can_signal_t& signal,
60 const std::vector<can_signal_t>& signals, float value, bool* send);
63 /// @brief: The type signature for a CAN signal encoder.
65 /// A SignalEncoder transforms a number, string or boolean into a raw floating
66 /// point value that fits in the CAN signal.
68 /// @param[in] signal - The CAN signal to encode.
69 /// @param[in] value - The dynamic field to encode.
70 /// @param[out] send - An output parameter. If the encoding failed or the CAN signal should
71 /// not be encoded for some other reason, this will be flipped to false.
73 typedef uint64_t (*SignalEncoder)(can_signal_t* signal,
74 openxc_DynamicField* value, bool* send);
79 std::uint8_t message_set_id_;
80 std::uint8_t message_id_;
81 std::string generic_name_; /*!< generic_name_ - The name of the signal to be output.*/
82 static std::string prefix_; /*!< prefix_ - generic_name_ will be prefixed with it. It has to reflect the used protocol.
83 * which make easier to sort message when the come in.*/
84 uint8_t bit_position_; /*!< bitPosition_ - The starting bit of the signal in its CAN message (assuming
85 * non-inverted bit numbering, i.e. the most significant bit of
87 uint8_t bit_size_; /*!< bitSize_ - The width of the bit field in the CAN message. */
88 float factor_; /*!< factor_ - The final value will be multiplied by this factor. Use 1 if you
89 * don't need a factor. */
90 float offset_; /*!< offset_ - The final value will be added to this offset. Use 0 if you
91 * don't need an offset. */
92 float min_value_; /*!< min_value_ - The minimum value for the processed signal.*/
93 float max_value_; /*!< max_value_ - The maximum value for the processed signal. */
94 frequency_clock_t frequency_; /*!< frequency_ - A frequency_clock_t struct to control the maximum frequency to
95 * process and send this signal. To process every value, set the
96 * clock's frequency to 0. */
97 bool send_same_; /*!< send_same_ - If true, will re-send even if the value hasn't changed.*/
98 bool force_send_changed_; /*!< force_send_changed_ - If true, regardless of the frequency, it will send the
99 * value if it has changed. */
100 std::map<uint8_t, std::string> states_; /*!< states_ - A map of CAN signal state describing the mapping
101 * between numerical and string values for valid states. */
102 bool writable_; /*!< writable - True if the signal is allowed to be written from the USB host
103 * back to CAN. Defaults to false.*/
104 SignalDecoder decoder_; /*!< decoder_ - An optional function to decode a signal from the bus to a human
105 * readable value. If NULL, the default numerical decoder is used. */
106 SignalEncoder encoder_; /*!< encoder_ - An optional function to encode a signal value to be written to
107 * CAN into a byte array. If NULL, the default numerical encoder
109 bool received_; /*!< received_ - True if this signal has ever been received.*/
110 float last_value_; /*!< lastValue_ - The last received value of the signal. If 'received' is false,
111 * this value is undefined. */
115 std::uint8_t message_set_id,
116 std::uint8_t message_id,
117 std::string generic_name,
118 uint8_t bit_position,
124 frequency_clock_t frequency,
126 bool force_send_changed,
127 std::map<uint8_t, std::string> states,
129 SignalDecoder decoder,
130 SignalEncoder encoder,
133 const can_message_definition_t& get_message() const;
134 const std::string& get_generic_name() const;
135 const std::string get_name() const;
136 const std::string& get_prefix() const;
137 uint8_t get_bit_position() const;
138 uint8_t get_bit_size() const;
139 float get_factor() const;
140 float get_offset() const;
141 float get_min_value() const;
142 float get_max_value() const;
143 frequency_clock_t& get_frequency();
144 bool get_send_same() const;
145 bool get_force_send_changed() const;
146 const std::map<uint8_t, std::string>& get_states() const;
147 const std::string get_states(uint8_t value);
148 size_t get_state_count() const;
149 bool get_writable() const;
150 SignalDecoder& get_decoder();
151 SignalEncoder& get_encoder();
152 bool get_received() const;
153 float get_last_value() const;
155 void set_prefix(std::string val);
156 void set_received(bool r);
157 void set_last_value(float val);