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/can-bus.hpp"
29 #include "can/can-message.hpp"
30 #include "obd2/obd2-signals.hpp"
34 #include <afb/afb-binding.h>
35 #include <afb/afb-event-itf.h>
38 #define MESSAGE_SET_ID 0
41 * @brief The type signature for a CAN signal decoder.
43 * @desc A SignalDecoder transforms a raw floating point CAN signal into a number,
46 * @param[in] CanSignal signal - The CAN signal that we are decoding.
47 * @param[in] CanSignal signals - The list of all signals.
48 * @param[in] int signalCount - The length of the signals array.
49 * @param[in] float value - The CAN signal parsed from the message as a raw floating point
51 * @param[out] bool send - An output parameter. If the decoding failed or the CAN signal should
52 * not send for some other reason, this should be flipped to false.
54 * @return a decoded value in an openxc_DynamicField struct.
56 typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal& signal,
57 const std::vector<CanSignal>& signals, float value, bool* send);
60 * @brief: The type signature for a CAN signal encoder.
62 * @desc A SignalEncoder transforms a number, string or boolean into a raw floating
63 * point value that fits in the CAN signal.
65 * @params[signal] - The CAN signal to encode.
66 * @params[value] - The dynamic field to encode.
67 * @params[send] - An output parameter. If the encoding failed or the CAN signal should
68 * not be encoded for some other reason, this will be flipped to false.
70 typedef uint64_t (*SignalEncoder)(struct CanSignal* signal,
71 openxc_DynamicField* value, bool* send);
74 * @struct CanSignalState
76 * @brief A state encoded (SED) signal's mapping from numerical values to
79 struct CanSignalState {
80 const int value; /*!< int value - The integer value of the state on the CAN bus.*/
81 const char* name; /*!< char* name - The corresponding string name for the state in OpenXC. */
83 typedef struct CanSignalState CanSignalState;
88 * @brief A CAN signal to decode from the bus and output over USB.
91 struct CanMessageDefinition* message; /*!< message - The message this signal is a part of. */
92 const char* generic_name; /*!< generic_name - The name of the signal to be output over USB.*/
93 uint8_t bitPosition; /*!< bitPosition - The starting bit of the signal in its CAN message (assuming
94 * non-inverted bit numbering, i.e. the most significant bit of
96 uint8_t bitSize; /*!< bitSize - The width of the bit field in the CAN message. */
97 float factor; /*!< factor - The final value will be multiplied by this factor. Use 1 if you
98 * don't need a factor. */
99 float offset; /*!< offset - The final value will be added to this offset. Use 0 if you
100 * don't need an offset. */
101 float minValue; /*!< minValue - The minimum value for the processed signal.*/
102 float maxValue; /*!< maxValue - The maximum value for the processed signal. */
103 FrequencyClock frequencyClock; /*!< frequencyClock - A FrequencyClock struct to control the maximum frequency to
104 * process and send this signal. To process every value, set the
105 * clock's frequency to 0. */
106 bool sendSame; /*!< sendSame - If true, will re-send even if the value hasn't changed.*/
107 bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send the
108 * value if it has changed. */
109 const CanSignalState* states; /*!< states - An array of CanSignalState describing the mapping
110 * between numerical and string values for valid states. */
111 uint8_t stateCount; /*!< stateCount - The length of the states array. */
112 bool writable; /*!< writable - True if the signal is allowed to be written from the USB host
113 * back to CAN. Defaults to false.*/
114 SignalDecoder decoder; /*!< decoder - An optional function to decode a signal from the bus to a human
115 * readable value. If NULL, the default numerical decoder is used. */
116 SignalEncoder encoder; /*!< encoder - An optional function to encode a signal value to be written to
117 * CAN into a byte array. If NULL, the default numerical encoder
119 bool received; /*!< received - True if this signal has ever been received.*/
120 float lastValue; /*!< lastValue - The last received value of the signal. If 'received' is false,
121 * this value is undefined. */
123 typedef struct CanSignal CanSignal;
125 void find_can_signals(const openxc_DynamicField &key, std::vector<CanSignal*>& found_signals);