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.
18 #include "can-decoder.hpp"
20 #include "canutil/read.h"
21 #include "../utils/openxc-utils.hpp"
22 #include "message-definition.hpp"
23 #include "../binding/low-can-hat.hpp"
24 #include "../utils/converter.hpp"
26 /// @brief Handle sign of the signal according to several decoding methods
28 /// @param[in] signal - The signal
29 /// @param[in] data_signal - The data of the signal
30 /// @param[in] new_end_bit - The last bit of in the last byte of the data (data_signal[0])
31 /// @param[in] can_data - The whole can data (needed for SIGN BIT EXTERN)
33 /// @return Returns the sign of the data
35 int decoder_t::handle_sign(const signal_t& signal, std::vector<uint8_t>& data_signal, uint8_t new_end_bit, const std::vector<uint8_t>& can_data)
37 uint8_t data_byte = 0;
41 if(signal.get_sign() == sign_t::UNSIGNED)
43 else if(signal.get_sign() == sign_t::SIGN_BIT_EXTERN) {
44 end_bit = signal.get_bit_sign_position()%8;
45 mask = static_cast<uint8_t>((1 << (end_bit + 1)) - 1);
46 data_byte = can_data[signal.get_bit_sign_position()/8] & mask;
49 end_bit = new_end_bit;
50 mask = static_cast<uint8_t>((1 << (end_bit + 1)) - 1);
51 data_byte = data_signal[0] & mask;
54 //if negative: decode with right method
55 if(data_byte >> end_bit) {
56 switch(signal.get_sign())
58 //remove the sign bit to get the absolute value
59 case sign_t::SIGN_BIT:
60 data_signal[0] = static_cast<uint8_t>(data_signal[0] & (mask >> 1));
62 //same method twos complement = ones complement + 1
63 case sign_t::ONES_COMPLEMENT:
64 case sign_t::TWOS_COMPLEMENT:
65 //complement only until end_bit
66 data_signal[0] = ((data_signal[0] ^ mask) & mask);
67 if(data_signal.size() > 1) {
68 for(int i=1; i < data_signal.size(); i++) {
69 data_signal[i] = data_signal[i] ^ 0xFF;
72 if(signal.get_sign() == sign_t::TWOS_COMPLEMENT)
73 data_signal[data_signal.size() - 1] = static_cast<uint8_t>(data_signal[data_signal.size() - 1] + 1);
75 case sign_t::SIGN_BIT_EXTERN:
78 AFB_ERROR("Not a valid sign entry %d, considering the value as unsigned", signal.get_sign());
86 /// @brief Parses the signal's bitfield from the given data and returns the raw
89 /// @param[in] signal - The signal to be parsed from the data.
90 /// @param[in] message - message_t to parse
92 /// @return Returns the raw value of the signal parsed as a bitfield from the given byte
95 float decoder_t::parse_signal_bitfield(signal_t& signal, std::shared_ptr<message_t> message)
97 const std::vector<uint8_t> data = message->get_data_vector();
98 std::vector<uint8_t> data_signal;
99 uint8_t bit_size = (uint8_t) signal.get_bit_size();
100 uint32_t bit_position = signal.get_bit_position();
102 int new_start_byte = 0;
103 int new_end_byte = 0;
104 uint8_t new_start_bit = 0;
105 uint8_t new_end_bit = 0;
107 converter_t::signal_to_bits_bytes(bit_position, bit_size, new_start_byte, new_end_byte, new_start_bit, new_end_bit);
109 for(int i=new_start_byte;i<=new_end_byte;i++)
110 data_signal.push_back(data[i]);
113 int sign = handle_sign(signal, data_signal, new_end_bit, data);
115 // if(bit_size > 255)
116 // AFB_ERROR("Error signal %s to long bit size", signal.get_name().c_str());
118 // if(new_start_bit > 255)
119 // AFB_ERROR("Too long signal offset %d", new_start_bit);
121 if(data_signal.size() > 65535)
122 AFB_ERROR("Too long data signal %s", signal.get_name().c_str());
124 return static_cast<float>(sign) * bitfield_parse_float(data_signal.data(), (uint16_t) data_signal.size(),
125 new_start_bit, bit_size, signal.get_factor(),
126 signal.get_offset());
130 /// @brief Decode and return string bytes (hex) for a CAN signal's.
132 /// This is an implementation of the Signal type signature, and can be
133 /// used directly in the signal_t.decoder field.
135 /// @param[in] signal - The details of the signal.
136 /// @param[in] message - The message with data to decode.
137 /// @param[out] send - An output argument that will be set to false if the value should
138 /// not be sent for any reason.
140 /// @return Returns a DynamicField with a string value of bytes (hex)
142 openxc_DynamicField decoder_t::decode_bytes(signal_t& signal, std::shared_ptr<message_t> message, bool* send)
145 openxc_DynamicField decoded_value;
146 std::vector<uint8_t> data = message->get_data_vector();
147 uint32_t length = message->get_length();
148 uint32_t bit_position = signal.get_bit_position();
149 uint32_t bit_size = signal.get_bit_size();
150 std::vector<uint8_t> new_data = std::vector<uint8_t>();
151 new_data.reserve(bit_size << 3);
153 int new_start_byte = 0;
154 int new_end_byte = 0;
155 uint8_t new_start_bit = 0;
156 uint8_t new_end_bit = 0;
158 converter_t::signal_to_bits_bytes(bit_position, bit_size, new_start_byte, new_end_byte, new_start_bit, new_end_bit);
160 if(new_end_byte >= length)
162 new_end_byte = length-1;
165 if(new_start_byte >= length)
167 AFB_ERROR("Error in description of signals");
168 return decoded_value;
171 uint8_t first = data[new_start_byte];
173 for(i=new_start_bit;i<8;i++)
175 mask_first = mask_first | (1 << i);
178 uint8_t mask_first_v = 0;
181 AFB_ERROR("Error mask decode bytes");
185 mask_first_v = (uint8_t)mask_first;
188 data[new_start_byte]=first&mask_first_v;
190 uint8_t last = data[new_end_byte];
192 for(i=0;i<=new_end_bit;i++)
194 mask_last = mask_last | (1 << (7-i));
197 uint8_t mask_last_v = 0;
200 AFB_ERROR("Error mask decode bytes");
204 mask_last_v = (uint8_t)mask_last;
207 data[new_end_byte]=last&mask_last_v;
210 for(i=new_start_byte;i<=new_end_byte;i++)
212 new_data.push_back(data[i]);
215 decoded_value = build_DynamicField(new_data);
217 return decoded_value;
220 /// @brief Wraps a raw CAN signal value in a DynamicField without modification.
222 /// This is an implementation of the Signal type signature, and can be
223 /// used directly in the signal_t.decoder field.
225 /// @param[in] signal - The details of the signal that contains the state mapping.
226 /// @param[in] message - The message with data to decode.
227 /// @param[out] send - An output argument that will be set to false if the value should
228 /// not be sent for any reason.
230 /// @return Returns a DynamicField with the original, unmodified raw CAN signal value as
231 /// its numeric value. The 'send' argument will not be modified as this decoder
234 openxc_DynamicField decoder_t::decode_noop(signal_t& signal, std::shared_ptr<message_t> message, bool* send)
236 float value = decoder_t::parse_signal_bitfield(signal, message);
237 AFB_DEBUG("Decoded message from parse_signal_bitfield: %f", value);
238 openxc_DynamicField decoded_value = build_DynamicField(value);
240 // Don't send if they is no changes
241 if ((signal.get_last_value() == value && !signal.get_send_same()) || !*send )
245 signal.set_last_value(value);
247 return decoded_value;
249 /// @brief Coerces a numerical value to a boolean.
251 /// This is an implementation of the Signal type signature, and can be
252 /// used directly in the signal_t.decoder field.
254 /// @param[in] signal - The details of the signal that contains the state mapping.
255 /// @param[in] message - The message with data to decode.
256 /// @param[out] send - An output argument that will be set to false if the value should
257 /// not be sent for any reason.
259 /// @return Returns a DynamicField with a boolean value of false if the raw signal value
260 /// is 0.0, otherwise true. The 'send' argument will not be modified as this
261 /// decoder always succeeds.
263 openxc_DynamicField decoder_t::decode_boolean(signal_t& signal, std::shared_ptr<message_t> message, bool* send)
265 float value = decoder_t::parse_signal_bitfield(signal, message);
266 AFB_DEBUG("Decoded message from parse_signal_bitfield: %f", value);
267 openxc_DynamicField decoded_value = build_DynamicField(value == 0.0 ? false : true);
269 // Don't send if they is no changes
270 if ((signal.get_last_value() == value && !signal.get_send_same()) || !*send )
274 signal.set_last_value(value);
277 return decoded_value;
279 /// @brief Update the metadata for a signal and the newly received value.
281 /// This is an implementation of the Signal type signature, and can be
282 /// used directly in the signal_t.decoder field.
284 /// This function always flips 'send' to false.
286 /// @param[in] signal - The details of the signal that contains the state mapping.
287 /// @param[in] message - The message with data to decode.
288 /// @param[out] send - This output argument will always be set to false, so the caller will
289 /// know not to publish this value to the pipeline.
291 /// @return Return value is undefined.
293 openxc_DynamicField decoder_t::decode_ignore(signal_t& signal, std::shared_ptr<message_t> message, bool* send)
295 float value = decoder_t::parse_signal_bitfield(signal, message);
299 signal.set_last_value(value);
300 openxc_DynamicField decoded_value;
302 return decoded_value;
305 /// @brief Find and return the corresponding string state for a CAN signal's
306 /// raw integer value.
308 /// This is an implementation of the Signal type signature, and can be
309 /// used directly in the signal_t.decoder field.
311 /// @param[in] signal - The details of the signal that contains the state mapping.
312 /// @param[in] message - The message with data to decode.
313 /// @param[out] send - An output argument that will be set to false if the value should
314 /// not be sent for any reason.
316 /// @return Returns a DynamicField with a string value if a matching state is found in
317 /// the signal. If an equivalent isn't found, send is sent to false and the
318 /// return value is undefined.
320 openxc_DynamicField decoder_t::decode_state(signal_t& signal, std::shared_ptr<message_t> message, bool* send)
322 float value = decoder_t::parse_signal_bitfield(signal, message);
323 AFB_DEBUG("Decoded message from parse_signal_bitfield: %f", value);
324 const std::string signal_state = signal.get_states((uint8_t)value);
325 openxc_DynamicField decoded_value = build_DynamicField(signal_state);
326 if(signal_state.size() <= 0)
329 AFB_ERROR("No state found with index: %d", (int)value);
332 // Don't send if they is no changes
333 if ((signal.get_last_value() == value && !signal.get_send_same()) || !*send )
337 signal.set_last_value(value);
340 return decoded_value;
344 /// @brief Parse a signal from a CAN message, apply any required transforations
345 /// to get a human readable value and public the result to the pipeline.
347 /// If the signal_t has a non-NULL 'decoder' field, the raw CAN signal value
348 /// will be passed to the decoder before publishing.
350 /// @param[in] signal - The details of the signal to decode and forward.
351 /// @param[in] message - The message with data to decode.
352 /// @param[out] send - An output parameter that will be flipped to false if the value could
355 /// The decoder returns an openxc_DynamicField, which may contain a number,
356 /// string or boolean.
358 openxc_DynamicField decoder_t::translate_signal(signal_t& signal, std::shared_ptr<message_t> message, bool* send)
360 if(!signal.get_message()->frame_layout_is_little())
362 signal.set_bit_position(converter_t::bit_position_swap(signal.get_bit_position(),signal.get_bit_size()));
364 // Must call the decoders every time, regardless of if we are going to
365 // decide to send the signal or not.
366 openxc_DynamicField decoded_value = decoder_t::decode_signal(signal,
369 signal.set_received(true);
370 signal.set_timestamp(message->get_timestamp());
371 signal.get_message()->set_last_value(message);
372 return decoded_value;
375 /// @brief Parse a signal from a CAN message and apply any required
376 /// transforations to get a human readable value.
378 /// If the signal_t has a non-NULL 'decoder' field, the raw CAN signal value
379 /// will be passed to the decoder before returning.
381 /// @param[in] signal - The details of the signal to decode and forward.
382 /// @param[in] message - The message with data to decode.
383 /// @param[out] send - An output parameter that will be flipped to false if the value could
386 /// @return The decoder returns an openxc_DynamicField, which may contain a number,
387 /// string or boolean. If 'send' is false, the return value is undefined.
389 openxc_DynamicField decoder_t::decode_signal( signal_t& signal, std::shared_ptr<message_t> message, bool* send)
391 signal_decoder decoder = signal.get_decoder() == nullptr ?
392 decode_noop : signal.get_decoder();
394 openxc_DynamicField decoded_value = decoder(signal,
396 return decoded_value;
400 /// @brief Decode the payload of an OBD-II PID.
402 /// This function matches the type signature for a DiagnosticResponse, so
403 /// it can be used as the decoder for a DiagnosticRequest. It returns the decoded
404 /// value of the PID, using the standard formulas (see
405 /// http://en.wikipedia.org/wiki/OBD-II_PIDs#Mode_01).
407 /// @param[in] response - the received DiagnosticResponse (the data is in response.payload,
408 /// a byte array). This is most often used when the byte order is
409 /// signiticant, i.e. with many OBD-II PID formulas.
410 /// @param[in] parsed_payload - the entire payload of the response parsed as an int.
412 /// @return Float decoded value.
414 float decoder_t::decode_obd2_response(const DiagnosticResponse* response, float parsed_payload)
416 return diagnostic_decode_obd2_pid(response);