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 <can_message_t> can_message_q_;
105 std::queue <openxc_VehicleMessage> vehicle_message_q_;
111 void start_threads();
114 int send_can_message(can_message_t can_msg);
116 can_message_t* next_can_message();
117 void insert_new_can_message(can_message_t &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;
138 class can_message_t {
140 afb_binding_interface interface_;
142 CanMessageFormat format_;
143 uint8_t data_[CAN_MESSAGE_SIZE];
147 uint32_t get_id() const;
148 int get_format() const;
149 uint8_t get_data() const;
150 uint8_t get_lenght() const;
152 void set_id(uint32_t id);
153 void set_format(CanMessageFormat format);
154 void set_data(uint8_t data);
155 void set_lenght(uint8_t length);
157 void convert_from_canfd_frame(canfd_frame frame);
158 canfd_frame convert_to_canfd_frame();
161 QUEUE_DECLARE(can_message_t, 8);
163 /* Public: The ID format for a CAN message.
165 * STANDARD - standard 11-bit CAN arbitration ID.
166 * EXTENDED - an extended frame, with a 29-bit arbitration ID.
168 enum CanMessageFormat {
172 typedef enum CanMessageFormat CanMessageFormat;
174 /* Public: A state encoded (SED) signal's mapping from numerical values to
175 * OpenXC state names.
177 * value - The integer value of the state on the CAN bus.
178 * name - The corresponding string name for the state in OpenXC.
180 struct CanSignalState {
184 typedef struct CanSignalState CanSignalState;
186 /* Public: A CAN signal to decode from the bus and output over USB.
188 * message - The message this signal is a part of.
189 * genericName - The name of the signal to be output over USB.
190 * bitPosition - The starting bit of the signal in its CAN message (assuming
191 * non-inverted bit numbering, i.e. the most significant bit of
193 * bitSize - The width of the bit field in the CAN message.
194 * factor - The final value will be multiplied by this factor. Use 1 if you
195 * don't need a factor.
196 * offset - The final value will be added to this offset. Use 0 if you
197 * don't need an offset.
198 * minValue - The minimum value for the processed signal.
199 * maxValue - The maximum value for the processed signal.
200 * frequencyClock - A FrequencyClock struct to control the maximum frequency to
201 * process and send this signal. To process every value, set the
202 * clock's frequency to 0.
203 * sendSame - If true, will re-send even if the value hasn't changed.
204 * forceSendChanged - If true, regardless of the frequency, it will send the
205 * value if it has changed.
206 * states - An array of CanSignalState describing the mapping
207 * between numerical and string values for valid states.
208 * stateCount - The length of the states array.
209 * writable - True if the signal is allowed to be written from the USB host
210 * back to CAN. Defaults to false.
211 * decoder - An optional function to decode a signal from the bus to a human
212 * readable value. If NULL, the default numerical decoder is used.
213 * encoder - An optional function to encode a signal value to be written to
214 * CAN into a byte array. If NULL, the default numerical encoder
216 * received - True if this signal has ever been received.
217 * lastValue - The last received value of the signal. If 'received' is false,
218 * this value is undefined.
221 struct CanMessageDefinition* message;
222 const char* genericName;
229 FrequencyClock frequencyClock;
231 bool forceSendChanged;
232 const CanSignalState* states;
235 SignalDecoder decoder;
236 SignalEncoder encoder;
240 typedef struct CanSignal CanSignal;
242 /* Public: The definition of a CAN message. This includes a lot of metadata, so
243 * to save memory this struct should not be used for storing incoming and
244 * outgoing CAN messages.
246 * bus - A pointer to the bus this message is on.
247 * id - The ID of the message.
248 * format - the format of the message's ID.
249 * clock - an optional frequency clock to control the output of this
250 * message, if sent raw, or simply to mark the max frequency for custom
251 * handlers to retrieve.
252 * forceSendChanged - If true, regardless of the frequency, it will send CAN
253 * message if it has changed when using raw passthrough.
254 * lastValue - The last received value of the message. Defaults to undefined.
255 * This is required for the forceSendChanged functionality, as the stack
256 * needs to compare an incoming CAN message with the previous frame.
258 struct CanMessageDefinition {
261 CanMessageFormat format;
262 FrequencyClock frequencyClock;
263 bool forceSendChanged;
264 uint8_t lastValue[CAN_MESSAGE_SIZE];
266 typedef struct CanMessageDefinition CanMessageDefinition;
268 /* Private: An entry in the list of acceptance filters for each CanBus.
270 * This struct is meant to be used with a LIST type from <sys/queue.h>.
272 * filter - the value for the CAN acceptance filter.
273 * activeUserCount - The number of active consumers of this filter's messages.
274 * When 0, this filter can be removed.
275 * format - the format of the ID for the filter.
276 struct AcceptanceFilterListEntry {
278 uint8_t activeUserCount;
279 CanMessageFormat format;
280 LIST_ENTRY(AcceptanceFilterListEntry) entries;
284 /* Private: A type of list containing CAN acceptance filters.
285 LIST_HEAD(AcceptanceFilterList, AcceptanceFilterListEntry);
287 struct CanMessageDefinitionListEntry {
288 CanMessageDefinition definition;
289 LIST_ENTRY(CanMessageDefinitionListEntry) entries;
291 LIST_HEAD(CanMessageDefinitionList, CanMessageDefinitionListEntry);
294 /** Public: A parent wrapper for a particular set of CAN messages and associated
295 * CAN buses(e.g. a vehicle or program).
297 * index - A numerical ID for the message set, ideally the index in an array
299 * name - The name of the message set.
300 * busCount - The number of CAN buses defined for this message set.
301 * messageCount - The number of CAN messages (across all buses) defined for
303 * signalCount - The number of CAN signals (across all messages) defined for
305 * commandCount - The number of CanCommmands defined for this message set.
311 unsigned short messageCount;
312 unsigned short signalCount;
313 unsigned short commandCount;
316 /* Public: The type signature for a function to handle a custom OpenXC command.
318 * name - the name of the received command.
319 * value - the value of the received command, in a DynamicField. The actual type
320 * may be a number, string or bool.
321 * event - an optional event from the received command, in a DynamicField. The
322 * actual type may be a number, string or bool.
323 * signals - The list of all signals.
324 * signalCount - The length of the signals array.
326 typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
327 openxc_DynamicField* event, CanSignal* signals, int signalCount);
329 /* Public: The structure to represent a supported custom OpenXC command.
331 * For completely customized CAN commands without a 1-1 mapping between an
332 * OpenXC message from the host and a CAN signal, you can define the name of the
333 * command and a custom function to handle it in the VI. An example is
334 * the "turn_signal_status" command in OpenXC, which has a value of "left" or
335 * "right". The vehicle may have separate CAN signals for the left and right
336 * turn signals, so you will need to implement a custom command handler to send
337 * the correct signals.
339 * Command handlers are also useful if you want to trigger multiple CAN messages
340 * or signals from a signal OpenXC message.
342 * genericName - The name of the command.
343 * handler - An function to process the received command's data and perform some
346 const char* genericName;
347 CommandHandler handler;
353 const char* genericName;
354 CommandHandler handler;
357 /* Pre initialize actions made before CAN bus initialization
359 * bus - A CanBus struct defining the bus's metadata
360 * writable - configure the controller in a writable mode. If false, it will be
361 * configured as "listen only" and will not allow writes or even CAN ACKs.
362 * buses - An array of all CAN buses.
363 * busCount - The length of the buses array.
365 void pre_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCount);
367 /* Post-initialize actions made after CAN bus initialization and before the
368 * event loop connection.
370 * bus - A CanBus struct defining the bus's metadata
371 * writable - configure the controller in a writable mode. If false, it will be
372 * configured as "listen only" and will not allow writes or even CAN ACKs.
373 * buses - An array of all CAN buses.
374 * busCount - The length of the buses array.
376 void post_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCount);
378 /* Public: Check if the device is connected to an active CAN bus, i.e. it's
379 * received a message in the recent past.
381 * Returns true if a message was received on the CAN bus within
382 * CAN_ACTIVE_TIMEOUT_S seconds.
384 bool isBusActive(CanBus* bus);
386 /* Public: Log transfer statistics about all active CAN buses to the debug log.
388 * buses - an array of active CAN buses.
389 * busCount - the length of the buses array.
391 void logBusStatistics(CanBus* buses, const int busCount);