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.
22 #include "openxc.pb.h"
24 // TODO actual max is 32 but dropped to 24 for memory considerations
25 #define MAX_ACCEPTANCE_FILTERS 24
26 // TODO this takes up a ton of memory
27 #define MAX_DYNAMIC_MESSAGE_COUNT 12
29 #define CAN_MESSAGE_SIZE 8
31 #define CAN_ACTIVE_TIMEOUT_S 30
33 #define QUEUE_DECLARE(type, max_length) \
34 static const int queue_##type##_max_length = max_length; \
35 static const int queue_##type##_max_internal_length = max_length + 1; \
36 typedef struct queue_##type##_s { \
39 type elements[max_length + 1]; \
42 bool queue_##type##_push(queue_##type* queue, type value); \
44 type queue_##type##_pop(queue_##type* queue); \
46 type queue_##type##_peek(queue_##type* queue); \
47 void queue_##type##_init(queue_##type* queue); \
48 int queue_##type##_length(queue_##type* queue); \
49 int queue_##type##_available(queue_##type* queue); \
50 bool queue_##type##_full(queue_##type* queue); \
51 bool queue_##type##_empty(queue_##type* queue); \
52 void queue_##type##_snapshot(queue_##type* queue, type* snapshot, int max);
54 /* Public: The type signature for a CAN signal decoder.
56 * A SignalDecoder transforms a raw floating point CAN signal into a number,
59 * signal - The CAN signal that we are decoding.
60 * signals - The list of all signals.
61 * signalCount - The length of the signals array.
62 * value - The CAN signal parsed from the message as a raw floating point
64 * send - An output parameter. If the decoding failed or the CAN signal should
65 * not send for some other reason, this should be flipped to false.
67 * Returns a decoded value in an openxc_DynamicField struct.
69 typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal* signal,
70 CanSignal* signals, int signalCount, float value, bool* send);
72 /* Public: The type signature for a CAN signal encoder.
74 * A SignalEncoder transforms a number, string or boolean into a raw floating
75 * point value that fits in the CAN signal.
77 * signal - The CAN signal to encode.
78 * value - The dynamic field to encode.
79 * send - An output parameter. If the encoding failed or the CAN signal should
80 * not be encoded for some other reason, this will be flipped to false.
82 typedef uint64_t (*SignalEncoder)(struct CanSignal* signal,
83 openxc_DynamicField* value, bool* send);
86 * CanBus represent a can device definition gotten from configuraiton file
90 afb_binding_interface *interface;
92 /* Got from conf file */
93 std::string deviceName;
97 struct sockaddr_can txAddress;
99 std::thread th_reading;
100 std::thread th_decoding;
101 std::thread th_pushing;
103 std::queue <CanMessage_c> can_message_q;
104 std::queue <openxc_VehicleMessage> vehicle_message_q;
110 void start_threads();
111 int send_can_message(CanMessage_c can_msg);
113 CanMessage_c* next_can_message();
114 void insert_new_can_message(CanMessage_c *can_msg);
116 openxc_VehicleMessage* next_vehicle_message();
117 void insert_new_vehicle_message(openxc_VehicleMessage *v_msg);
120 /* A compact representation of a single CAN message, meant to be used in in/out
123 * id - The ID of the message.
124 * format - the format of the message's ID.
125 * data - The message's data field.
126 * length - the length of the data array (max 8).
129 CanMessageFormat format;
130 uint8_t data[CAN_MESSAGE_SIZE];
133 typedef struct CanMessage CanMessage;
138 CanMessageFormat format;
139 uint8_t data[CAN_MESSAGE_SIZE];
146 uint8_t get_lenght();
148 void set_id(uint32_t id);
149 void set_format(CanMessageFormat format);
150 void set_data(uint8_t data);
151 void set_lenght(uint8_t length);
153 void convert_from_canfd_frame(canfd_frame frame);
154 canfd_frame convert_to_canfd_frame();
157 QUEUE_DECLARE(CanMessage_c, 8);
159 /* Public: The ID format for a CAN message.
161 * STANDARD - standard 11-bit CAN arbitration ID.
162 * EXTENDED - an extended frame, with a 29-bit arbitration ID.
164 enum CanMessageFormat {
168 typedef enum CanMessageFormat CanMessageFormat;
170 /* Public: A state encoded (SED) signal's mapping from numerical values to
171 * OpenXC state names.
173 * value - The integer value of the state on the CAN bus.
174 * name - The corresponding string name for the state in OpenXC.
176 struct CanSignalState {
180 typedef struct CanSignalState CanSignalState;
182 /* Public: A CAN signal to decode from the bus and output over USB.
184 * message - The message this signal is a part of.
185 * genericName - The name of the signal to be output over USB.
186 * bitPosition - The starting bit of the signal in its CAN message (assuming
187 * non-inverted bit numbering, i.e. the most significant bit of
189 * bitSize - The width of the bit field in the CAN message.
190 * factor - The final value will be multiplied by this factor. Use 1 if you
191 * don't need a factor.
192 * offset - The final value will be added to this offset. Use 0 if you
193 * don't need an offset.
194 * minValue - The minimum value for the processed signal.
195 * maxValue - The maximum value for the processed signal.
196 * frequencyClock - A FrequencyClock struct to control the maximum frequency to
197 * process and send this signal. To process every value, set the
198 * clock's frequency to 0.
199 * sendSame - If true, will re-send even if the value hasn't changed.
200 * forceSendChanged - If true, regardless of the frequency, it will send the
201 * value if it has changed.
202 * states - An array of CanSignalState describing the mapping
203 * between numerical and string values for valid states.
204 * stateCount - The length of the states array.
205 * writable - True if the signal is allowed to be written from the USB host
206 * back to CAN. Defaults to false.
207 * decoder - An optional function to decode a signal from the bus to a human
208 * readable value. If NULL, the default numerical decoder is used.
209 * encoder - An optional function to encode a signal value to be written to
210 * CAN into a byte array. If NULL, the default numerical encoder
212 * received - True if this signal has ever been received.
213 * lastValue - The last received value of the signal. If 'received' is false,
214 * this value is undefined.
217 struct CanMessageDefinition* message;
218 const char* genericName;
225 FrequencyClock frequencyClock;
227 bool forceSendChanged;
228 const CanSignalState* states;
231 SignalDecoder decoder;
232 SignalEncoder encoder;
236 typedef struct CanSignal CanSignal;
238 /* Public: The definition of a CAN message. This includes a lot of metadata, so
239 * to save memory this struct should not be used for storing incoming and
240 * outgoing CAN messages.
242 * bus - A pointer to the bus this message is on.
243 * id - The ID of the message.
244 * format - the format of the message's ID.
245 * clock - an optional frequency clock to control the output of this
246 * message, if sent raw, or simply to mark the max frequency for custom
247 * handlers to retrieve.
248 * forceSendChanged - If true, regardless of the frequency, it will send CAN
249 * message if it has changed when using raw passthrough.
250 * lastValue - The last received value of the message. Defaults to undefined.
251 * This is required for the forceSendChanged functionality, as the stack
252 * needs to compare an incoming CAN message with the previous frame.
254 struct CanMessageDefinition {
257 CanMessageFormat format;
258 FrequencyClock frequencyClock;
259 bool forceSendChanged;
260 uint8_t lastValue[CAN_MESSAGE_SIZE];
262 typedef struct CanMessageDefinition CanMessageDefinition;
264 /* Private: An entry in the list of acceptance filters for each CanBus.
266 * This struct is meant to be used with a LIST type from <sys/queue.h>.
268 * filter - the value for the CAN acceptance filter.
269 * activeUserCount - The number of active consumers of this filter's messages.
270 * When 0, this filter can be removed.
271 * format - the format of the ID for the filter.
272 struct AcceptanceFilterListEntry {
274 uint8_t activeUserCount;
275 CanMessageFormat format;
276 LIST_ENTRY(AcceptanceFilterListEntry) entries;
280 /* Private: A type of list containing CAN acceptance filters.
281 LIST_HEAD(AcceptanceFilterList, AcceptanceFilterListEntry);
283 struct CanMessageDefinitionListEntry {
284 CanMessageDefinition definition;
285 LIST_ENTRY(CanMessageDefinitionListEntry) entries;
287 LIST_HEAD(CanMessageDefinitionList, CanMessageDefinitionListEntry);
290 /** Public: A parent wrapper for a particular set of CAN messages and associated
291 * CAN buses(e.g. a vehicle or program).
293 * index - A numerical ID for the message set, ideally the index in an array
295 * name - The name of the message set.
296 * busCount - The number of CAN buses defined for this message set.
297 * messageCount - The number of CAN messages (across all buses) defined for
299 * signalCount - The number of CAN signals (across all messages) defined for
301 * commandCount - The number of CanCommmands defined for this message set.
307 unsigned short messageCount;
308 unsigned short signalCount;
309 unsigned short commandCount;
312 /* Public: The type signature for a function to handle a custom OpenXC command.
314 * name - the name of the received command.
315 * value - the value of the received command, in a DynamicField. The actual type
316 * may be a number, string or bool.
317 * event - an optional event from the received command, in a DynamicField. The
318 * actual type may be a number, string or bool.
319 * signals - The list of all signals.
320 * signalCount - The length of the signals array.
322 typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
323 openxc_DynamicField* event, CanSignal* signals, int signalCount);
325 /* Public: The structure to represent a supported custom OpenXC command.
327 * For completely customized CAN commands without a 1-1 mapping between an
328 * OpenXC message from the host and a CAN signal, you can define the name of the
329 * command and a custom function to handle it in the VI. An example is
330 * the "turn_signal_status" command in OpenXC, which has a value of "left" or
331 * "right". The vehicle may have separate CAN signals for the left and right
332 * turn signals, so you will need to implement a custom command handler to send
333 * the correct signals.
335 * Command handlers are also useful if you want to trigger multiple CAN messages
336 * or signals from a signal OpenXC message.
338 * genericName - The name of the command.
339 * handler - An function to process the received command's data and perform some
342 const char* genericName;
343 CommandHandler handler;
349 const char* genericName;
350 CommandHandler handler;
353 /* Pre initialize actions made before CAN bus initialization
355 * bus - A CanBus struct defining the bus's metadata
356 * writable - configure the controller in a writable mode. If false, it will be
357 * configured as "listen only" and will not allow writes or even CAN ACKs.
358 * buses - An array of all CAN buses.
359 * busCount - The length of the buses array.
361 void pre_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCount);
363 /* Post-initialize actions made after CAN bus initialization and before the
364 * event loop connection.
366 * bus - A CanBus struct defining the bus's metadata
367 * writable - configure the controller in a writable mode. If false, it will be
368 * configured as "listen only" and will not allow writes or even CAN ACKs.
369 * buses - An array of all CAN buses.
370 * busCount - The length of the buses array.
372 void post_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCount);
374 /* Public: Check if the device is connected to an active CAN bus, i.e. it's
375 * received a message in the recent past.
377 * Returns true if a message was received on the CAN bus within
378 * CAN_ACTIVE_TIMEOUT_S seconds.
380 bool isBusActive(CanBus* bus);
382 /* Public: Log transfer statistics about all active CAN buses to the debug log.
384 * buses - an array of active CAN buses.
385 * busCount - the length of the buses array.
387 void logBusStatistics(CanBus* buses, const int busCount);