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.
22 #include "openxc.pb.h"
24 // TODO actual max is 32 but dropped to 24 for memory considerations
25 #define MAX_ACCEPTANCE_FILTERS 24
26 // TODO this takes up a ton of memory
27 #define MAX_DYNAMIC_MESSAGE_COUNT 12
29 #define CAN_MESSAGE_SIZE 8
31 #define CAN_ACTIVE_TIMEOUT_S 30
33 #define QUEUE_DECLARE(type, max_length) \
34 static const int queue_##type##_max_length = max_length; \
35 static const int queue_##type##_max_internal_length = max_length + 1; \
36 typedef struct queue_##type##_s { \
39 type elements[max_length + 1]; \
42 bool queue_##type##_push(queue_##type* queue, type value); \
44 type queue_##type##_pop(queue_##type* queue); \
46 type queue_##type##_peek(queue_##type* queue); \
47 void queue_##type##_init(queue_##type* queue); \
48 int queue_##type##_length(queue_##type* queue); \
49 int queue_##type##_available(queue_##type* queue); \
50 bool queue_##type##_full(queue_##type* queue); \
51 bool queue_##type##_empty(queue_##type* queue); \
52 void queue_##type##_snapshot(queue_##type* queue, type* snapshot, int max);
54 /* Public: The type signature for a CAN signal decoder.
56 * A SignalDecoder transforms a raw floating point CAN signal into a number,
59 * signal - The CAN signal that we are decoding.
60 * signals - The list of all signals.
61 * signalCount - The length of the signals array.
62 * value - The CAN signal parsed from the message as a raw floating point
64 * send - An output parameter. If the decoding failed or the CAN signal should
65 * not send for some other reason, this should be flipped to false.
67 * Returns a decoded value in an openxc_DynamicField struct.
69 typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal* signal,
70 CanSignal* signals, int signalCount, float value, bool* send);
72 /* Public: The type signature for a CAN signal encoder.
74 * A SignalEncoder transforms a number, string or boolean into a raw floating
75 * point value that fits in the CAN signal.
77 * signal - The CAN signal to encode.
78 * value - The dynamic field to encode.
79 * send - An output parameter. If the encoding failed or the CAN signal should
80 * not be encoded for some other reason, this will be flipped to false.
82 typedef uint64_t (*SignalEncoder)(struct CanSignal* signal,
83 openxc_DynamicField* value, bool* send);
86 * CanBus represent a can device definition gotten from configuraiton file
90 /* Got from conf file */
91 std::string deviceName;
95 struct sockaddr_can txAddress;
97 std::thread th_reading;
98 std::thread th_decoding;
99 std::thread th_pushing;
105 void start_threads();
108 /* Public: The ID format for a CAN message.
110 * STANDARD - standard 11-bit CAN arbitration ID.
111 * EXTENDED - an extended frame, with a 29-bit arbitration ID.
113 enum CanMessageFormat_c {
117 typedef enum CanMessageFormat_c CanMessageFormat;
119 /* Public: A state encoded (SED) signal's mapping from numerical values to
120 * OpenXC state names.
122 * value - The integer value of the state on the CAN bus.
123 * name - The corresponding string name for the state in OpenXC.
124 struct CanSignalState {
128 typedef struct CanSignalState CanSignalState;
130 class CanSignalState_c {
136 /* Public: A CAN signal to decode from the bus and output over USB.
138 * message - The message this signal is a part of.
139 * genericName - The name of the signal to be output over USB.
140 * bitPosition - The starting bit of the signal in its CAN message (assuming
141 * non-inverted bit numbering, i.e. the most significant bit of
143 * bitSize - The width of the bit field in the CAN message.
144 * factor - The final value will be multiplied by this factor. Use 1 if you
145 * don't need a factor.
146 * offset - The final value will be added to this offset. Use 0 if you
147 * don't need an offset.
148 * minValue - The minimum value for the processed signal.
149 * maxValue - The maximum value for the processed signal.
150 * frequencyClock - A FrequencyClock struct to control the maximum frequency to
151 * process and send this signal. To process every value, set the
152 * clock's frequency to 0.
153 * sendSame - If true, will re-send even if the value hasn't changed.
154 * forceSendChanged - If true, regardless of the frequency, it will send the
155 * value if it has changed.
156 * states - An array of CanSignalState describing the mapping
157 * between numerical and string values for valid states.
158 * stateCount - The length of the states array.
159 * writable - True if the signal is allowed to be written from the USB host
160 * back to CAN. Defaults to false.
161 * decoder - An optional function to decode a signal from the bus to a human
162 * readable value. If NULL, the default numerical decoder is used.
163 * encoder - An optional function to encode a signal value to be written to
164 * CAN into a byte array. If NULL, the default numerical encoder
166 * received - True if this signal has ever been received.
167 * lastValue - The last received value of the signal. If 'received' is false,
168 * this value is undefined.
170 struct CanMessageDefinition* message;
171 const char* genericName;
178 FrequencyClock frequencyClock;
180 bool forceSendChanged;
181 const CanSignalState* states;
184 SignalDecoder decoder;
185 SignalEncoder encoder;
189 typedef struct CanSignal CanSignal;
194 CanMessageDefinition *message;
195 const char *generic_name;
196 uint8_t bit_position;
202 FrequencyClock_t clock;
204 bool force_send_changed;
205 const CanSignalState *states;
208 SignalDecoder decoder;
209 SignalEncoder encoder;
214 /* Public: The definition of a CAN message. This includes a lot of metadata, so
215 * to save memory this struct should not be used for storing incoming and
216 * outgoing CAN messages.
218 * bus - A pointer to the bus this message is on.
219 * id - The ID of the message.
220 * format - the format of the message's ID.
221 * clock - an optional frequency clock to control the output of this
222 * message, if sent raw, or simply to mark the max frequency for custom
223 * handlers to retrieve.
224 * forceSendChanged - If true, regardless of the frequency, it will send CAN
225 * message if it has changed when using raw passthrough.
226 * lastValue - The last received value of the message. Defaults to undefined.
227 * This is required for the forceSendChanged functionality, as the stack
228 * needs to compare an incoming CAN message with the previous frame.
229 struct CanMessageDefinition {
232 CanMessageFormat format;
233 FrequencyClock frequencyClock;
234 bool forceSendChanged;
235 uint8_t lastValue[CAN_MESSAGE_SIZE];
237 typedef struct CanMessageDefinition CanMessageDefinition;
239 class CanMessageDefinition_c {
243 CanMessageFormat format;
244 FrequencyClock_t clock;
245 bool force_send_changed;
246 uint8_t last_value[CAN_MESSAGE_SIZE];
249 /* A compact representation of a single CAN message, meant to be used in in/out
252 * id - The ID of the message.
253 * format - the format of the message's ID.
254 * data - The message's data field.
255 * length - the length of the data array (max 8).
258 CanMessageFormat format;
259 uint8_t data[CAN_MESSAGE_SIZE];
262 typedef struct CanMessage CanMessage;
267 CanMessageFormat format;
268 uint8_t data[CAN_MESSAGE_SIZE];
275 uint8_t get_lenght();
277 void set_id(uint32_t id);
278 void set_format(CanMessageFormat format);
279 void set_data(uint8_t data);
280 void set_lenght(uint8_t length);
282 void convert_canfd_frame_to_CanMessage(canfd_frame frame);
285 QUEUE_DECLARE(CanMessage_c, 8);
287 /* Private: An entry in the list of acceptance filters for each CanBus.
289 * This struct is meant to be used with a LIST type from <sys/queue.h>.
291 * filter - the value for the CAN acceptance filter.
292 * activeUserCount - The number of active consumers of this filter's messages.
293 * When 0, this filter can be removed.
294 * format - the format of the ID for the filter.
295 struct AcceptanceFilterListEntry {
297 uint8_t activeUserCount;
298 CanMessageFormat format;
299 LIST_ENTRY(AcceptanceFilterListEntry) entries;
303 /* Private: A type of list containing CAN acceptance filters.
304 LIST_HEAD(AcceptanceFilterList, AcceptanceFilterListEntry);
306 struct CanMessageDefinitionListEntry {
307 CanMessageDefinition definition;
308 LIST_ENTRY(CanMessageDefinitionListEntry) entries;
310 LIST_HEAD(CanMessageDefinitionList, CanMessageDefinitionListEntry);
313 /** Public: A parent wrapper for a particular set of CAN messages and associated
314 * CAN buses(e.g. a vehicle or program).
316 * index - A numerical ID for the message set, ideally the index in an array
318 * name - The name of the message set.
319 * busCount - The number of CAN buses defined for this message set.
320 * messageCount - The number of CAN messages (across all buses) defined for
322 * signalCount - The number of CAN signals (across all messages) defined for
324 * commandCount - The number of CanCommmands defined for this message set.
329 unsigned short messageCount;
330 unsigned short signalCount;
331 unsigned short commandCount;
334 class CanMessageSet_c {
339 unsigned short messageCount;
340 unsigned short signalCount;
341 unsigned short commandCount;
344 /* Public: The type signature for a function to handle a custom OpenXC command.
346 * name - the name of the received command.
347 * value - the value of the received command, in a DynamicField. The actual type
348 * may be a number, string or bool.
349 * event - an optional event from the received command, in a DynamicField. The
350 * actual type may be a number, string or bool.
351 * signals - The list of all signals.
352 * signalCount - The length of the signals array.
354 typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
355 openxc_DynamicField* event, CanSignal* signals, int signalCount);
357 /* Public: The structure to represent a supported custom OpenXC command.
359 * For completely customized CAN commands without a 1-1 mapping between an
360 * OpenXC message from the host and a CAN signal, you can define the name of the
361 * command and a custom function to handle it in the VI. An example is
362 * the "turn_signal_status" command in OpenXC, which has a value of "left" or
363 * "right". The vehicle may have separate CAN signals for the left and right
364 * turn signals, so you will need to implement a custom command handler to send
365 * the correct signals.
367 * Command handlers are also useful if you want to trigger multiple CAN messages
368 * or signals from a signal OpenXC message.
370 * genericName - The name of the command.
371 * handler - An function to process the received command's data and perform some
374 const char* genericName;
375 CommandHandler handler;
381 const char* genericName;
382 CommandHandler handler;
385 /* Pre initialize actions made before CAN bus initialization
387 * bus - A CanBus struct defining the bus's metadata
388 * writable - configure the controller in a writable mode. If false, it will be
389 * configured as "listen only" and will not allow writes or even CAN ACKs.
390 * buses - An array of all CAN buses.
391 * busCount - The length of the buses array.
393 void pre_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCount);
395 /* Post-initialize actions made after CAN bus initialization and before the
396 * event loop connection.
398 * bus - A CanBus struct defining the bus's metadata
399 * writable - configure the controller in a writable mode. If false, it will be
400 * configured as "listen only" and will not allow writes or even CAN ACKs.
401 * buses - An array of all CAN buses.
402 * busCount - The length of the buses array.
404 void post_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCount);
406 /* Public: Check if the device is connected to an active CAN bus, i.e. it's
407 * received a message in the recent past.
409 * Returns true if a message was received on the CAN bus within
410 * CAN_ACTIVE_TIMEOUT_S seconds.
412 bool isBusActive(CanBus* bus);
414 /* Public: Log transfer statistics about all active CAN buses to the debug log.
416 * buses - an array of active CAN buses.
417 * busCount - the length of the buses array.
419 void logBusStatistics(CanBus* buses, const int busCount);