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-bus.hpp"
29 #include "can-message.hpp"
30 #include "can-message-definition.hpp"
31 #include "../obd2/obd2-signals.hpp"
35 #include <afb/afb-binding.h>
36 #include <afb/afb-event-itf.h>
39 #define MESSAGE_SET_ID 0
44 * @brief The type signature for a CAN signal decoder.
46 * @desc A SignalDecoder transforms a raw floating point CAN signal into a number,
49 * @param[in] signal - The CAN signal that we are decoding.
50 * @param[in] signals - The list of all signals.
51 * @param[in] signalCount - The length of the signals array.
52 * @param[in] value - The CAN signal parsed from the message as a raw floating point
54 * @param[out] send - An output parameter. If the decoding failed or the CAN signal should
55 * not send for some other reason, this should be flipped to false.
57 * @return a decoded value in an openxc_DynamicField struct.
59 typedef openxc_DynamicField (*SignalDecoder)(can_signal_t& signal,
60 const std::vector<can_signal_t>& signals, float value, bool* send);
63 * @brief: The type signature for a CAN signal encoder.
65 * @desc A SignalEncoder transforms a number, string or boolean into a raw floating
66 * point value that fits in the CAN signal.
68 * @params[in] signal - The CAN signal to encode.
69 * @params[in] value - The dynamic field to encode.
70 * @params send - An output parameter. If the encoding failed or the CAN signal should
71 * not be encoded for some other reason, this will be flipped to false.
73 typedef uint64_t (*SignalEncoder)(can_signal_t* signal,
74 openxc_DynamicField* value, bool* send);
79 can_message_definition_t message_; /*!< message_ - The message this signal is a part of. */
80 std::string generic_name_; /*!< generic_name_ - The name of the signal to be output.*/
81 static std::string prefix_; /*!< prefix_ - generic_name_ will be prefixed with it. It has to reflect the used protocol.
82 * which make easier to sort message when the come in.*/
83 uint8_t bit_position_; /*!< bitPosition_ - The starting bit of the signal in its CAN message (assuming
84 * non-inverted bit numbering, i.e. the most significant bit of
86 uint8_t bit_size_; /*!< bitSize_ - The width of the bit field in the CAN message. */
87 float factor_; /*!< factor_ - The final value will be multiplied by this factor. Use 1 if you
88 * don't need a factor. */
89 float offset_; /*!< offset_ - The final value will be added to this offset. Use 0 if you
90 * don't need an offset. */
91 float min_value_; /*!< min_value_ - The minimum value for the processed signal.*/
92 float max_value_; /*!< max_value_ - The maximum value for the processed signal. */
93 frequency_clock_t frequency_; /*!< frequency_ - A frequency_clock_t struct to control the maximum frequency to
94 * process and send this signal. To process every value, set the
95 * clock's frequency to 0. */
96 bool send_same_; /*!< send_same_ - If true, will re-send even if the value hasn't changed.*/
97 bool force_send_changed_; /*!< force_send_changed_ - If true, regardless of the frequency, it will send the
98 * value if it has changed. */
99 std::map<int, std::string> states_; /*!< states_ - A map of CAN signal state describing the mapping
100 * between numerical and string values for valid states. */
101 bool writable_; /*!< writable - True if the signal is allowed to be written from the USB host
102 * back to CAN. Defaults to false.*/
103 SignalDecoder decoder_; /*!< decoder_ - An optional function to decode a signal from the bus to a human
104 * readable value. If NULL, the default numerical decoder is used. */
105 SignalEncoder encoder_; /*!< encoder_ - An optional function to encode a signal value to be written to
106 * CAN into a byte array. If NULL, the default numerical encoder
108 bool received_; /*!< received_ - True if this signal has ever been received.*/
109 float last_value_; /*!< lastValue_ - The last received value of the signal. If 'received' is false,
110 * this value is undefined. */
113 can_signal_t(can_message_definition_t& message, std::string generic_name, uint8_t bit_position, uint8_t bit_size,
114 float factor, float offset, float min_value, float max_value, frequency_clock_t frequency, bool send_same, bool force_send_changed,
115 std::map<int, std::string> states, bool writable, SignalDecoder decoder, SignalEncoder encoder, bool received);
117 can_message_definition_t& get_message();
118 const std::string& get_generic_name() const;
119 const std::string get_name() const;
120 const std::string& get_prefix() const;
121 uint8_t get_bit_position() const;
122 uint8_t get_bit_size() const;
123 float get_factor() const;
124 float get_offset() const;
125 float get_min_value() const;
126 float get_max_value() const;
127 frequency_clock_t& get_frequency();
128 bool get_send_same() const;
129 bool get_force_send_changed() const;
130 std::map<int, std::string> get_state() const;
131 size_t get_state_count() const;
132 bool get_writable() const;
133 SignalDecoder& get_decoder();
134 SignalEncoder& get_encoder();
135 bool get_received() const;
136 float get_last_value() const;
138 void set_prefix(std::string val);
139 void set_received(bool r);
140 void set_last_value(float val);