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"
23 #include "../utils/converter.hpp"
26 * @brief Allows to encode data for a signal
28 * @param sig The signal to know its location
29 * @param data The data to encod
30 * @param filter If true that will generate the filter BCM for the signal
31 * @param factor If true that will use the factor of the signal else 1
32 * @param offset If true that will use the offset of the signal else 0
34 void encoder_t::encode_data(std::shared_ptr<signal_t> sig, std::vector<uint8_t> &data, bool filter, bool factor, bool offset)
36 uint32_t bit_size = sig->get_bit_size();
37 uint32_t bit_position = sig->get_bit_position();
38 int new_start_byte = 0;
40 uint8_t new_start_bit = 0;
41 uint8_t new_end_bit = 0;
43 converter_t::signal_to_bits_bytes(bit_position, bit_size, new_start_byte, new_end_byte, new_start_bit, new_end_bit);
45 int len_signal_bytes_tmp = new_end_byte - new_start_byte + 1;
47 uint8_t len_signal_bytes = 0;
48 if(len_signal_bytes_tmp > 255)
50 AFB_ERROR("Error signal %s too long",sig->get_name().c_str());
54 len_signal_bytes = (uint8_t) len_signal_bytes_tmp;
57 if(new_start_bit > 255)
59 AFB_ERROR("Error signal %s too long",sig->get_name().c_str());
62 uint8_t new_bit_size = 0;
65 AFB_ERROR("Error signal %s to long bit size",sig->get_name().c_str());
69 new_bit_size = (uint8_t) bit_size;
72 uint8_t data_signal[len_signal_bytes] = {0};
76 factor_v = sig->get_factor();
82 offset_v = sig->get_offset();
89 for(int i=0;i<new_bit_size;i++)
91 int mask = 0x80 >> ((i%8)+new_start_bit);
96 AFB_ERROR("Error mask too large");
100 mask_v = (uint8_t) mask;
106 data_signal[j] = tmp;
115 bitfield_encode_float( sig->get_last_value(),
124 for(size_t i = new_start_byte; i <= new_end_byte ; i++)
126 data[i] = data[i] | data_signal[i-new_start_byte];
131 * @brief Allows to build a multi frame message with correct data to be send
133 * @param signal The CAN signal to write, including the bit position and bit size.
134 * @param value The encoded integer value to write in the CAN signal.
135 * @param message A multi frame message to complete
136 * @param factor If true that will use the factor of the signal else 1
137 * @param offset If true that will use the offset of the signal else 0
138 * @return message_t* The message that is generated
140 message_t* encoder_t::build_frame(const std::shared_ptr<signal_t>& signal, uint64_t value, message_t *message, bool factor, bool offset)
142 signal->set_last_value((float)value);
143 std::vector<uint8_t> data;
144 for(int i = 0; i<message->get_length();i++)
149 for(const auto& sig: signal->get_message()->get_signals())
151 encode_data(sig,data,false,factor,offset);
153 message->set_data(data);
158 * @brief Allows to build a message_t with correct data to be send
160 * @param signal The CAN signal to write, including the bit position and bit size.
161 * @param value The encoded integer value to write in the CAN signal.
162 * @param factor If true that will use the factor of the signal else 1
163 * @param offset If true that will use the offset of the signal else 0
164 * @return message_t* The message that is generated
166 message_t* encoder_t::build_message(const std::shared_ptr<signal_t>& signal, uint64_t value, bool factor, bool offset)
169 std::vector<uint8_t> data;
170 if(signal->get_message()->is_fd())
172 message = new can_message_t( CANFD_MAX_DLEN,
173 signal->get_message()->get_id(),
176 signal->get_message()->get_flags(),
180 return build_frame(signal,value,message, factor, offset);
182 #ifdef USE_FEATURE_J1939
183 else if(signal->get_message()->is_j1939())
185 message = new j1939_message_t( signal->get_message()->get_length(),
189 signal->get_message()->get_id(),
191 return build_frame(signal,value,message, factor, offset);
196 message = new can_message_t(CAN_MAX_DLEN,
197 signal->get_message()->get_id(),
200 signal->get_message()->get_flags(),
203 return build_frame(signal,value,message, factor, offset);
207 /// @brief Encode a boolean into an integer, fit for a CAN signal bitfield.
209 /// This is a shortcut for encodeDynamicField(CanSignal*, openxc_DynamicField*,
210 /// bool*) that takes care of creating the DynamicField object for you with the
213 /// @param[in] signal - The CAN signal to encode this value for..
214 /// @param[in] value - The boolean value to encode
215 /// @param[out] send - An output argument that will be set to false if the value should
216 /// not be sent for any reason.
218 /// @return Returns the encoded integer. If 'send' is changed to false, the field could
219 /// not be encoded and the return value is undefined.
221 uint64_t encoder_t::encode_boolean(const signal_t& signal, bool value, bool* send)
223 return encode_number(signal, float(value), send);
225 /// @brief Encode a float into an integer, fit for a CAN signal's bitfield.
227 /// This is a shortcut for encodeDynamicField(CanSignal*, openxc_DynamicField*,
228 /// bool*) that takes care of creating the DynamicField object for you with the
231 /// @param[in] signal - The CAN signal to encode this value for.
232 /// @param[in] value - The float value to encode.
233 /// @param[out] send - This output argument will always be set to false, so the caller will
234 /// know not to publish this value to the pipeline.
236 /// @return Returns the encoded integer. If 'send' is changed to false, the field could
237 /// not be encoded and the return value is undefined.
239 uint64_t encoder_t::encode_number(const signal_t& signal, float value, bool* send)
241 return float_to_fixed_point(value, signal.get_factor(), signal.get_offset());
244 /// @brief Encode a string into an integer, fit for a CAN signal's bitfield.
246 /// Be aware that the behavior is undefined if there are multiple values assigned
247 /// to a single state. See https://github.com/openxc/vi-firmware/issues/185.
249 /// This is a shortcut for encodeDynamicField(CanSignal*, openxc_DynamicField*,
250 /// bool*) that takes care of creating the DynamicField object for you with the
251 /// string state value.
253 /// @param[in] signal - The details of the signal that contains the state mapping.
254 /// @param[in] value - The string state value to encode.
255 /// @param[out] send - An output argument that will be set to false if the value should
256 /// not be sent for any reason.
258 /// @return Returns the encoded integer. If 'send' is changed to false, the field could
259 /// not be encoded and the return value is undefined.
261 uint64_t encoder_t::encode_state(const signal_t& signal, const std::string& state, bool* send)
266 AFB_DEBUG("Can't write state of "" -- not sending");
271 uint64_t signal_state = signal.get_states(state);
272 if(signal_state != -1) {
273 value = signal_state;
275 AFB_DEBUG("Couldn't find a valid signal state for %s", state.c_str());
282 /// @brief Parse a signal from a CAN message and apply any required
283 /// transforations to get a human readable value.
285 /// If the signal_t has a non-NULL 'decoder' field, the raw CAN signal value
286 /// will be passed to the decoder before returning.
288 /// @param[in] signal - The details of the signal to decode and forward.
289 /// @param[in] value - The numerical value that will be converted to a boolean.
290 /// @param[out] send - An output parameter that will be flipped to false if the value could
293 /// @return The decoder returns an openxc_DynamicField, which may contain a number,
294 /// string or boolean. If 'send' is false, the return value is undefined.
296 uint64_t encoder_t::encode_DynamicField( signal_t& signal, const openxc_DynamicField& field, bool* send)
300 case openxc_DynamicField_Type_STRING:
301 value = encode_state(signal, field.string_value, send);
303 case openxc_DynamicField_Type_NUM:
304 value = encode_number(signal, (float)field.numeric_value, send);
306 case openxc_DynamicField_Type_BOOL:
307 value = encode_boolean(signal, field.boolean_value, send);
310 AFB_DEBUG("Dynamic field didn't have a value, can't encode");