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-encoder.hpp"
20 #include "canutil/write.h"
21 #include "../utils/openxc-utils.hpp"
22 #include "message-definition.hpp"
24 /// @brief Write a value in a CAN signal in the destination buffer.
26 /// @param[in] signal - The CAN signal to write, including the bit position and bit size.
27 /// @param[in] value - The encoded integer value to write in the CAN signal.
28 /// @param[out] data - The destination buffer.
29 /// @param[in] length - The length of the destination buffer.
31 /// @return Returns a canfd_frame struct initialized and ready to be send.
32 const canfd_frame encoder_t::build_frame(const std::shared_ptr<signal_t>& signal, uint64_t value)
34 struct canfd_frame cf;
35 ::memset(&cf, 0, sizeof(cf));
37 cf.can_id = signal->get_message()->get_id();
38 cf.len = signal->get_message()->is_fd() ?
39 CANFD_MAX_DLEN : CAN_MAX_DLEN;
41 signal->set_last_value((float)value);
43 for(const auto& sig: signal->get_message()->get_signals())
45 float last_value = sig->get_last_value();
46 bitfield_encode_float(last_value,
47 sig->get_bit_position(),
59 * @brief Allows to build a single frame message with correct data to be send
61 * @param signal The CAN signal to write, including the bit position and bit size.
62 * @param value The encoded integer value to write in the CAN signal.
63 * @param message A single frame message to complete
64 * @return message_t* The message that is generated
66 message_t* encoder_t::build_one_frame_message(const std::shared_ptr<signal_t>& signal, uint64_t value, message_t *message)
68 signal->set_last_value((float)value);
69 uint8_t data_tab[message->get_length()];
70 ::memset(&data_tab, 0, sizeof(data_tab));
71 std::vector<uint8_t> data;
73 for(const auto& sig: signal->get_message()->get_signals())
75 float last_value = sig->get_last_value();
76 bitfield_encode_float(last_value,
77 sig->get_bit_position(),
82 (uint8_t)message->get_length());
85 for (size_t i = 0; i < (uint8_t) message->get_length(); i++)
87 data.push_back(data_tab[i]);
90 message->set_data(data);
95 * @brief Allows to build a multi frame message with correct data to be send
97 * @param signal The CAN signal to write, including the bit position and bit size.
98 * @param value The encoded integer value to write in the CAN signal.
99 * @param message A multi frame message to complete
100 * @return message_t* The message that is generated
102 message_t* encoder_t::build_multi_frame_message(const std::shared_ptr<signal_t>& signal, uint64_t value, message_t *message)
104 signal->set_last_value((float)value);
105 std::vector<uint8_t> data;
107 uint32_t msgs_len = signal->get_message()->get_length(); // multi frame - number of bytes
108 int number_of_frame = (int) msgs_len / 8;
110 uint8_t data_tab[number_of_frame][8] = {0};
112 for(const auto& sig: signal->get_message()->get_signals())
115 int frame_position = (int) sig->get_bit_position() / 64;
116 float last_value = sig->get_last_value();
117 uint8_t bit_position = sig->get_bit_position() - ((uint8_t)(64 * frame_position));
119 bitfield_encode_float(last_value,
124 data_tab[frame_position],
128 for (size_t i = 0; i < number_of_frame; i++)
130 for(size_t j = 0; j < 8 ; j++)
132 data.push_back(data_tab[i][j]);
136 message->set_data(data);
141 * @brief Allows to build a message_t with correct data to be send
143 * @param signal The CAN signal to write, including the bit position and bit size.
144 * @param value The encoded integer value to write in the CAN signal.
145 * @return message_t* The message that is generated
147 message_t* encoder_t::build_message(const std::shared_ptr<signal_t>& signal, uint64_t value)
150 std::vector<uint8_t> data;
151 if(signal->get_message()->is_fd())
153 message = new can_message_t(CANFD_MAX_DLEN,signal->get_message()->get_id(),CANFD_MAX_DLEN,signal->get_message()->get_format(),false,CAN_FD_FRAME,data,0);
154 return build_one_frame_message(signal,value,message);
156 #ifdef USE_FEATURE_J1939
157 else if(signal->get_message()->is_j1939())
159 message = new j1939_message_t(J1939_MAX_DLEN,signal->get_message()->get_length(),signal->get_message()->get_format(),data,0,J1939_NO_NAME,signal->get_message()->get_id(),J1939_NO_ADDR);
160 return build_multi_frame_message(signal,value,message);
165 message = new can_message_t(CAN_MAX_DLEN,signal->get_message()->get_id(),CAN_MAX_DLEN,signal->get_message()->get_format(),false,0,data,0);
166 return build_one_frame_message(signal,value,message);
170 /// @brief Encode a boolean into an integer, fit for a CAN signal bitfield.
172 /// This is a shortcut for encodeDynamicField(CanSignal*, openxc_DynamicField*,
173 /// bool*) that takes care of creating the DynamicField object for you with the
176 /// @param[in] signal - The CAN signal to encode this value for..
177 /// @param[in] value - The boolean value to encode
178 /// @param[out] send - An output argument that will be set to false if the value should
179 /// not be sent for any reason.
181 /// @return Returns the encoded integer. If 'send' is changed to false, the field could
182 /// not be encoded and the return value is undefined.
184 uint64_t encoder_t::encode_boolean(const signal_t& signal, bool value, bool* send)
186 return encode_number(signal, float(value), send);
188 /// @brief Encode a float into an integer, fit for a CAN signal's bitfield.
190 /// This is a shortcut for encodeDynamicField(CanSignal*, openxc_DynamicField*,
191 /// bool*) that takes care of creating the DynamicField object for you with the
194 /// @param[in] signal - The CAN signal to encode this value for.
195 /// @param[in] value - The float value to encode.
196 /// @param[out] send - This output argument will always be set to false, so the caller will
197 /// know not to publish this value to the pipeline.
199 /// @return Returns the encoded integer. If 'send' is changed to false, the field could
200 /// not be encoded and the return value is undefined.
202 uint64_t encoder_t::encode_number(const signal_t& signal, float value, bool* send)
204 return float_to_fixed_point(value, signal.get_factor(), signal.get_offset());
207 /// @brief Encode a string into an integer, fit for a CAN signal's bitfield.
209 /// Be aware that the behavior is undefined if there are multiple values assigned
210 /// to a single state. See https://github.com/openxc/vi-firmware/issues/185.
212 /// This is a shortcut for encodeDynamicField(CanSignal*, openxc_DynamicField*,
213 /// bool*) that takes care of creating the DynamicField object for you with the
214 /// string state value.
216 /// @param[in] signal - The details of the signal that contains the state mapping.
217 /// @param[in] value - The string state value to encode.
218 /// @param[out] send - An output argument that will be set to false if the value should
219 /// not be sent for any reason.
221 /// @return Returns the encoded integer. If 'send' is changed to false, the field could
222 /// not be encoded and the return value is undefined.
224 uint64_t encoder_t::encode_state(const signal_t& signal, const std::string& state, bool* send)
229 AFB_DEBUG("Can't write state of "" -- not sending");
234 uint64_t signal_state = signal.get_states(state);
235 if(signal_state != -1) {
236 value = signal_state;
238 AFB_DEBUG("Couldn't find a valid signal state for %s", state.c_str());
245 /// @brief Parse a signal from a CAN message and apply any required
246 /// transforations to get a human readable value.
248 /// If the signal_t has a non-NULL 'decoder' field, the raw CAN signal value
249 /// will be passed to the decoder before returning.
251 /// @param[in] signal - The details of the signal to decode and forward.
252 /// @param[in] value - The numerical value that will be converted to a boolean.
253 /// @param[out] send - An output parameter that will be flipped to false if the value could
256 /// @return The decoder returns an openxc_DynamicField, which may contain a number,
257 /// string or boolean. If 'send' is false, the return value is undefined.
259 uint64_t encoder_t::encode_DynamicField( signal_t& signal, const openxc_DynamicField& field, bool* send)
263 case openxc_DynamicField_Type_STRING:
264 value = encode_state(signal, field.string_value, send);
266 case openxc_DynamicField_Type_NUM:
267 value = encode_number(signal, (float)field.numeric_value, send);
269 case openxc_DynamicField_Type_BOOL:
270 value = encode_boolean(signal, field.boolean_value, send);
273 AFB_DEBUG("Dynamic field didn't have a value, can't encode");