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 device_name;
97 struct sockaddr_can txAddress_;
99 std::thread th_reading_;
101 std::thread th_decoding_;
102 std::thread th_pushing_;
104 std::queue <CanMessage_c> can_message_q_;
105 std::queue <openxc_VehicleMessage> vehicle_message_q_;
111 void start_threads();
114 int send_can_message(CanMessage_c can_msg);
116 CanMessage_c* next_can_message();
117 void insert_new_can_message(CanMessage_c &can_msg);
119 openxc_VehicleMessage* next_vehicle_message();
120 void insert_new_vehicle_message(openxc_VehicleMessage *v_msg);
123 /* A compact representation of a single CAN message, meant to be used in in/out
126 * id - The ID of the message.
127 * format - the format of the message's ID.
128 * data - The message's data field.
129 * length - the length of the data array (max 8).
132 CanMessageFormat format;
133 uint8_t data[CAN_MESSAGE_SIZE];
136 typedef struct CanMessage CanMessage;
141 CanMessageFormat format;
142 uint8_t data[CAN_MESSAGE_SIZE];
146 uint32_t get_id() const;
147 int get_format() const;
148 uint8_t get_data() const;
149 uint8_t get_lenght() const;
151 void set_id(uint32_t id);
152 void set_format(CanMessageFormat format);
153 void set_data(uint8_t data);
154 void set_lenght(uint8_t length);
156 void convert_from_canfd_frame(canfd_frame frame);
157 canfd_frame convert_to_canfd_frame();
160 QUEUE_DECLARE(CanMessage_c, 8);
162 /* Public: The ID format for a CAN message.
164 * STANDARD - standard 11-bit CAN arbitration ID.
165 * EXTENDED - an extended frame, with a 29-bit arbitration ID.
167 enum CanMessageFormat {
171 typedef enum CanMessageFormat CanMessageFormat;
173 /* Public: A state encoded (SED) signal's mapping from numerical values to
174 * OpenXC state names.
176 * value - The integer value of the state on the CAN bus.
177 * name - The corresponding string name for the state in OpenXC.
179 struct CanSignalState {
183 typedef struct CanSignalState CanSignalState;
185 /* Public: A CAN signal to decode from the bus and output over USB.
187 * message - The message this signal is a part of.
188 * genericName - The name of the signal to be output over USB.
189 * bitPosition - The starting bit of the signal in its CAN message (assuming
190 * non-inverted bit numbering, i.e. the most significant bit of
192 * bitSize - The width of the bit field in the CAN message.
193 * factor - The final value will be multiplied by this factor. Use 1 if you
194 * don't need a factor.
195 * offset - The final value will be added to this offset. Use 0 if you
196 * don't need an offset.
197 * minValue - The minimum value for the processed signal.
198 * maxValue - The maximum value for the processed signal.
199 * frequencyClock - A FrequencyClock struct to control the maximum frequency to
200 * process and send this signal. To process every value, set the
201 * clock's frequency to 0.
202 * sendSame - If true, will re-send even if the value hasn't changed.
203 * forceSendChanged - If true, regardless of the frequency, it will send the
204 * value if it has changed.
205 * states - An array of CanSignalState describing the mapping
206 * between numerical and string values for valid states.
207 * stateCount - The length of the states array.
208 * writable - True if the signal is allowed to be written from the USB host
209 * back to CAN. Defaults to false.
210 * decoder - An optional function to decode a signal from the bus to a human
211 * readable value. If NULL, the default numerical decoder is used.
212 * encoder - An optional function to encode a signal value to be written to
213 * CAN into a byte array. If NULL, the default numerical encoder
215 * received - True if this signal has ever been received.
216 * lastValue - The last received value of the signal. If 'received' is false,
217 * this value is undefined.
220 struct CanMessageDefinition* message;
221 const char* genericName;
228 FrequencyClock frequencyClock;
230 bool forceSendChanged;
231 const CanSignalState* states;
234 SignalDecoder decoder;
235 SignalEncoder encoder;
239 typedef struct CanSignal CanSignal;
241 /* Public: The definition of a CAN message. This includes a lot of metadata, so
242 * to save memory this struct should not be used for storing incoming and
243 * outgoing CAN messages.
245 * bus - A pointer to the bus this message is on.
246 * id - The ID of the message.
247 * format - the format of the message's ID.
248 * clock - an optional frequency clock to control the output of this
249 * message, if sent raw, or simply to mark the max frequency for custom
250 * handlers to retrieve.
251 * forceSendChanged - If true, regardless of the frequency, it will send CAN
252 * message if it has changed when using raw passthrough.
253 * lastValue - The last received value of the message. Defaults to undefined.
254 * This is required for the forceSendChanged functionality, as the stack
255 * needs to compare an incoming CAN message with the previous frame.
257 struct CanMessageDefinition {
260 CanMessageFormat format;
261 FrequencyClock frequencyClock;
262 bool forceSendChanged;
263 uint8_t lastValue[CAN_MESSAGE_SIZE];
265 typedef struct CanMessageDefinition CanMessageDefinition;
267 /* Private: An entry in the list of acceptance filters for each CanBus.
269 * This struct is meant to be used with a LIST type from <sys/queue.h>.
271 * filter - the value for the CAN acceptance filter.
272 * activeUserCount - The number of active consumers of this filter's messages.
273 * When 0, this filter can be removed.
274 * format - the format of the ID for the filter.
275 struct AcceptanceFilterListEntry {
277 uint8_t activeUserCount;
278 CanMessageFormat format;
279 LIST_ENTRY(AcceptanceFilterListEntry) entries;
283 /* Private: A type of list containing CAN acceptance filters.
284 LIST_HEAD(AcceptanceFilterList, AcceptanceFilterListEntry);
286 struct CanMessageDefinitionListEntry {
287 CanMessageDefinition definition;
288 LIST_ENTRY(CanMessageDefinitionListEntry) entries;
290 LIST_HEAD(CanMessageDefinitionList, CanMessageDefinitionListEntry);
293 /** Public: A parent wrapper for a particular set of CAN messages and associated
294 * CAN buses(e.g. a vehicle or program).
296 * index - A numerical ID for the message set, ideally the index in an array
298 * name - The name of the message set.
299 * busCount - The number of CAN buses defined for this message set.
300 * messageCount - The number of CAN messages (across all buses) defined for
302 * signalCount - The number of CAN signals (across all messages) defined for
304 * commandCount - The number of CanCommmands defined for this message set.
310 unsigned short messageCount;
311 unsigned short signalCount;
312 unsigned short commandCount;
315 /* Public: The type signature for a function to handle a custom OpenXC command.
317 * name - the name of the received command.
318 * value - the value of the received command, in a DynamicField. The actual type
319 * may be a number, string or bool.
320 * event - an optional event from the received command, in a DynamicField. The
321 * actual type may be a number, string or bool.
322 * signals - The list of all signals.
323 * signalCount - The length of the signals array.
325 typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
326 openxc_DynamicField* event, CanSignal* signals, int signalCount);
328 /* Public: The structure to represent a supported custom OpenXC command.
330 * For completely customized CAN commands without a 1-1 mapping between an
331 * OpenXC message from the host and a CAN signal, you can define the name of the
332 * command and a custom function to handle it in the VI. An example is
333 * the "turn_signal_status" command in OpenXC, which has a value of "left" or
334 * "right". The vehicle may have separate CAN signals for the left and right
335 * turn signals, so you will need to implement a custom command handler to send
336 * the correct signals.
338 * Command handlers are also useful if you want to trigger multiple CAN messages
339 * or signals from a signal OpenXC message.
341 * genericName - The name of the command.
342 * handler - An function to process the received command's data and perform some
345 const char* genericName;
346 CommandHandler handler;
352 const char* genericName;
353 CommandHandler handler;
356 /* Pre initialize actions made before CAN bus initialization
358 * bus - A CanBus struct defining the bus's metadata
359 * writable - configure the controller in a writable mode. If false, it will be
360 * configured as "listen only" and will not allow writes or even CAN ACKs.
361 * buses - An array of all CAN buses.
362 * busCount - The length of the buses array.
364 void pre_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCount);
366 /* Post-initialize actions made after CAN bus initialization and before the
367 * event loop connection.
369 * bus - A CanBus struct defining the bus's metadata
370 * writable - configure the controller in a writable mode. If false, it will be
371 * configured as "listen only" and will not allow writes or even CAN ACKs.
372 * buses - An array of all CAN buses.
373 * busCount - The length of the buses array.
375 void post_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCount);
377 /* Public: Check if the device is connected to an active CAN bus, i.e. it's
378 * received a message in the recent past.
380 * Returns true if a message was received on the CAN bus within
381 * CAN_ACTIVE_TIMEOUT_S seconds.
383 bool isBusActive(CanBus* bus);
385 /* Public: Log transfer statistics about all active CAN buses to the debug log.
387 * buses - an array of active CAN buses.
388 * busCount - the length of the buses array.
390 void logBusStatistics(CanBus* buses, const int busCount);