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);
117 /* A compact representation of a single CAN message, meant to be used in in/out
120 * id - The ID of the message.
121 * format - the format of the message's ID.
122 * data - The message's data field.
123 * length - the length of the data array (max 8).
126 CanMessageFormat format;
127 uint8_t data[CAN_MESSAGE_SIZE];
130 typedef struct CanMessage CanMessage;
135 CanMessageFormat format;
136 uint8_t data[CAN_MESSAGE_SIZE];
143 uint8_t get_lenght();
145 void set_id(uint32_t id);
146 void set_format(CanMessageFormat format);
147 void set_data(uint8_t data);
148 void set_lenght(uint8_t length);
150 void convert_from_canfd_frame(canfd_frame frame);
151 canfd_frame convert_to_canfd_frame();
154 QUEUE_DECLARE(CanMessage_c, 8);
156 /* Public: The ID format for a CAN message.
158 * STANDARD - standard 11-bit CAN arbitration ID.
159 * EXTENDED - an extended frame, with a 29-bit arbitration ID.
161 enum CanMessageFormat {
165 typedef enum CanMessageFormat CanMessageFormat;
167 /* Public: A state encoded (SED) signal's mapping from numerical values to
168 * OpenXC state names.
170 * value - The integer value of the state on the CAN bus.
171 * name - The corresponding string name for the state in OpenXC.
173 struct CanSignalState {
177 typedef struct CanSignalState CanSignalState;
179 /* Public: A CAN signal to decode from the bus and output over USB.
181 * message - The message this signal is a part of.
182 * genericName - The name of the signal to be output over USB.
183 * bitPosition - The starting bit of the signal in its CAN message (assuming
184 * non-inverted bit numbering, i.e. the most significant bit of
186 * bitSize - The width of the bit field in the CAN message.
187 * factor - The final value will be multiplied by this factor. Use 1 if you
188 * don't need a factor.
189 * offset - The final value will be added to this offset. Use 0 if you
190 * don't need an offset.
191 * minValue - The minimum value for the processed signal.
192 * maxValue - The maximum value for the processed signal.
193 * frequencyClock - A FrequencyClock struct to control the maximum frequency to
194 * process and send this signal. To process every value, set the
195 * clock's frequency to 0.
196 * sendSame - If true, will re-send even if the value hasn't changed.
197 * forceSendChanged - If true, regardless of the frequency, it will send the
198 * value if it has changed.
199 * states - An array of CanSignalState describing the mapping
200 * between numerical and string values for valid states.
201 * stateCount - The length of the states array.
202 * writable - True if the signal is allowed to be written from the USB host
203 * back to CAN. Defaults to false.
204 * decoder - An optional function to decode a signal from the bus to a human
205 * readable value. If NULL, the default numerical decoder is used.
206 * encoder - An optional function to encode a signal value to be written to
207 * CAN into a byte array. If NULL, the default numerical encoder
209 * received - True if this signal has ever been received.
210 * lastValue - The last received value of the signal. If 'received' is false,
211 * this value is undefined.
214 struct CanMessageDefinition* message;
215 const char* genericName;
222 FrequencyClock frequencyClock;
224 bool forceSendChanged;
225 const CanSignalState* states;
228 SignalDecoder decoder;
229 SignalEncoder encoder;
233 struct afb_event event;
235 typedef struct CanSignal CanSignal;
237 /* Public: The definition of a CAN message. This includes a lot of metadata, so
238 * to save memory this struct should not be used for storing incoming and
239 * outgoing CAN messages.
241 * bus - A pointer to the bus this message is on.
242 * id - The ID of the message.
243 * format - the format of the message's ID.
244 * clock - an optional frequency clock to control the output of this
245 * message, if sent raw, or simply to mark the max frequency for custom
246 * handlers to retrieve.
247 * forceSendChanged - If true, regardless of the frequency, it will send CAN
248 * message if it has changed when using raw passthrough.
249 * lastValue - The last received value of the message. Defaults to undefined.
250 * This is required for the forceSendChanged functionality, as the stack
251 * needs to compare an incoming CAN message with the previous frame.
253 struct CanMessageDefinition {
256 CanMessageFormat format;
257 FrequencyClock frequencyClock;
258 bool forceSendChanged;
259 uint8_t lastValue[CAN_MESSAGE_SIZE];
261 typedef struct CanMessageDefinition CanMessageDefinition;
263 /* Private: An entry in the list of acceptance filters for each CanBus.
265 * This struct is meant to be used with a LIST type from <sys/queue.h>.
267 * filter - the value for the CAN acceptance filter.
268 * activeUserCount - The number of active consumers of this filter's messages.
269 * When 0, this filter can be removed.
270 * format - the format of the ID for the filter.
271 struct AcceptanceFilterListEntry {
273 uint8_t activeUserCount;
274 CanMessageFormat format;
275 LIST_ENTRY(AcceptanceFilterListEntry) entries;
279 /* Private: A type of list containing CAN acceptance filters.
280 LIST_HEAD(AcceptanceFilterList, AcceptanceFilterListEntry);
282 struct CanMessageDefinitionListEntry {
283 CanMessageDefinition definition;
284 LIST_ENTRY(CanMessageDefinitionListEntry) entries;
286 LIST_HEAD(CanMessageDefinitionList, CanMessageDefinitionListEntry);
289 /** Public: A parent wrapper for a particular set of CAN messages and associated
290 * CAN buses(e.g. a vehicle or program).
292 * index - A numerical ID for the message set, ideally the index in an array
294 * name - The name of the message set.
295 * busCount - The number of CAN buses defined for this message set.
296 * messageCount - The number of CAN messages (across all buses) defined for
298 * signalCount - The number of CAN signals (across all messages) defined for
300 * commandCount - The number of CanCommmands defined for this message set.
306 unsigned short messageCount;
307 unsigned short signalCount;
308 unsigned short commandCount;
311 /* Public: The type signature for a function to handle a custom OpenXC command.
313 * name - the name of the received command.
314 * value - the value of the received command, in a DynamicField. The actual type
315 * may be a number, string or bool.
316 * event - an optional event from the received command, in a DynamicField. The
317 * actual type may be a number, string or bool.
318 * signals - The list of all signals.
319 * signalCount - The length of the signals array.
321 typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
322 openxc_DynamicField* event, CanSignal* signals, int signalCount);
324 /* Public: The structure to represent a supported custom OpenXC command.
326 * For completely customized CAN commands without a 1-1 mapping between an
327 * OpenXC message from the host and a CAN signal, you can define the name of the
328 * command and a custom function to handle it in the VI. An example is
329 * the "turn_signal_status" command in OpenXC, which has a value of "left" or
330 * "right". The vehicle may have separate CAN signals for the left and right
331 * turn signals, so you will need to implement a custom command handler to send
332 * the correct signals.
334 * Command handlers are also useful if you want to trigger multiple CAN messages
335 * or signals from a signal OpenXC message.
337 * genericName - The name of the command.
338 * handler - An function to process the received command's data and perform some
341 const char* genericName;
342 CommandHandler handler;
348 const char* genericName;
349 CommandHandler handler;
352 /* Pre initialize actions made before CAN bus initialization
354 * bus - A CanBus struct defining the bus's metadata
355 * writable - configure the controller in a writable mode. If false, it will be
356 * configured as "listen only" and will not allow writes or even CAN ACKs.
357 * buses - An array of all CAN buses.
358 * busCount - The length of the buses array.
360 void pre_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCount);
362 /* Post-initialize actions made after CAN bus initialization and before the
363 * event loop connection.
365 * bus - A CanBus struct defining the bus's metadata
366 * writable - configure the controller in a writable mode. If false, it will be
367 * configured as "listen only" and will not allow writes or even CAN ACKs.
368 * buses - An array of all CAN buses.
369 * busCount - The length of the buses array.
371 void post_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCount);
373 /* Public: Check if the device is connected to an active CAN bus, i.e. it's
374 * received a message in the recent past.
376 * Returns true if a message was received on the CAN bus within
377 * CAN_ACTIVE_TIMEOUT_S seconds.
379 bool isBusActive(CanBus* bus);
381 /* Public: Log transfer statistics about all active CAN buses to the debug log.
383 * buses - an array of active CAN buses.
384 * busCount - the length of the buses array.
386 void logBusStatistics(CanBus* buses, const int busCount);