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;
102 std::queue <CanMessage_c> can_message_q;
103 std::queue <openxc_VehicleMessage> VehicleMessage_q;
109 void start_threads();
110 int send_can_message(CanMessage_c can_msg);
113 /* A compact representation of a single CAN message, meant to be used in in/out
116 * id - The ID of the message.
117 * format - the format of the message's ID.
118 * data - The message's data field.
119 * length - the length of the data array (max 8).
122 CanMessageFormat format;
123 uint8_t data[CAN_MESSAGE_SIZE];
126 typedef struct CanMessage CanMessage;
131 CanMessageFormat format;
132 uint8_t data[CAN_MESSAGE_SIZE];
139 uint8_t get_lenght();
141 void set_id(uint32_t id);
142 void set_format(CanMessageFormat format);
143 void set_data(uint8_t data);
144 void set_lenght(uint8_t length);
146 void convert_from_canfd_frame(canfd_frame frame);
147 canfd_frame convert_to_canfd_frame();
150 QUEUE_DECLARE(CanMessage_c, 8);
152 /* Public: The ID format for a CAN message.
154 * STANDARD - standard 11-bit CAN arbitration ID.
155 * EXTENDED - an extended frame, with a 29-bit arbitration ID.
157 enum CanMessageFormat {
161 typedef enum CanMessageFormat CanMessageFormat;
163 /* Public: A state encoded (SED) signal's mapping from numerical values to
164 * OpenXC state names.
166 * value - The integer value of the state on the CAN bus.
167 * name - The corresponding string name for the state in OpenXC.
168 struct CanSignalState {
172 typedef struct CanSignalState CanSignalState;
174 class CanSignalState_c {
180 /* Public: A CAN signal to decode from the bus and output over USB.
182 * message - The message this signal is a part of.
183 * genericName - The name of the signal to be output over USB.
184 * bitPosition - The starting bit of the signal in its CAN message (assuming
185 * non-inverted bit numbering, i.e. the most significant bit of
187 * bitSize - The width of the bit field in the CAN message.
188 * factor - The final value will be multiplied by this factor. Use 1 if you
189 * don't need a factor.
190 * offset - The final value will be added to this offset. Use 0 if you
191 * don't need an offset.
192 * minValue - The minimum value for the processed signal.
193 * maxValue - The maximum value for the processed signal.
194 * frequencyClock - A FrequencyClock struct to control the maximum frequency to
195 * process and send this signal. To process every value, set the
196 * clock's frequency to 0.
197 * sendSame - If true, will re-send even if the value hasn't changed.
198 * forceSendChanged - If true, regardless of the frequency, it will send the
199 * value if it has changed.
200 * states - An array of CanSignalState describing the mapping
201 * between numerical and string values for valid states.
202 * stateCount - The length of the states array.
203 * writable - True if the signal is allowed to be written from the USB host
204 * back to CAN. Defaults to false.
205 * decoder - An optional function to decode a signal from the bus to a human
206 * readable value. If NULL, the default numerical decoder is used.
207 * encoder - An optional function to encode a signal value to be written to
208 * CAN into a byte array. If NULL, the default numerical encoder
210 * received - True if this signal has ever been received.
211 * lastValue - The last received value of the signal. If 'received' is false,
212 * this value is undefined.
215 struct CanMessageDefinition* message;
216 const char* genericName;
223 FrequencyClock frequencyClock;
225 bool forceSendChanged;
226 const CanSignalState* states;
229 SignalDecoder decoder;
230 SignalEncoder encoder;
234 struct afb_event event;
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.
306 unsigned short messageCount;
307 unsigned short signalCount;
308 unsigned short commandCount;
311 class CanMessageSet_c {
316 unsigned short messageCount;
317 unsigned short signalCount;
318 unsigned short commandCount;
321 /* Public: The type signature for a function to handle a custom OpenXC command.
323 * name - the name of the received command.
324 * value - the value of the received command, in a DynamicField. The actual type
325 * may be a number, string or bool.
326 * event - an optional event from the received command, in a DynamicField. The
327 * actual type may be a number, string or bool.
328 * signals - The list of all signals.
329 * signalCount - The length of the signals array.
331 typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
332 openxc_DynamicField* event, CanSignal* signals, int signalCount);
334 /* Public: The structure to represent a supported custom OpenXC command.
336 * For completely customized CAN commands without a 1-1 mapping between an
337 * OpenXC message from the host and a CAN signal, you can define the name of the
338 * command and a custom function to handle it in the VI. An example is
339 * the "turn_signal_status" command in OpenXC, which has a value of "left" or
340 * "right". The vehicle may have separate CAN signals for the left and right
341 * turn signals, so you will need to implement a custom command handler to send
342 * the correct signals.
344 * Command handlers are also useful if you want to trigger multiple CAN messages
345 * or signals from a signal OpenXC message.
347 * genericName - The name of the command.
348 * handler - An function to process the received command's data and perform some
351 const char* genericName;
352 CommandHandler handler;
358 const char* genericName;
359 CommandHandler handler;
362 /* Pre initialize actions made before CAN bus initialization
364 * bus - A CanBus struct defining the bus's metadata
365 * writable - configure the controller in a writable mode. If false, it will be
366 * configured as "listen only" and will not allow writes or even CAN ACKs.
367 * buses - An array of all CAN buses.
368 * busCount - The length of the buses array.
370 void pre_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCount);
372 /* Post-initialize actions made after CAN bus initialization and before the
373 * event loop connection.
375 * bus - A CanBus struct defining the bus's metadata
376 * writable - configure the controller in a writable mode. If false, it will be
377 * configured as "listen only" and will not allow writes or even CAN ACKs.
378 * buses - An array of all CAN buses.
379 * busCount - The length of the buses array.
381 void post_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCount);
383 /* Public: Check if the device is connected to an active CAN bus, i.e. it's
384 * received a message in the recent past.
386 * Returns true if a message was received on the CAN bus within
387 * CAN_ACTIVE_TIMEOUT_S seconds.
389 bool isBusActive(CanBus* bus);
391 /* Public: Log transfer statistics about all active CAN buses to the debug log.
393 * buses - an array of active CAN buses.
394 * busCount - the length of the buses array.
396 void logBusStatistics(CanBus* buses, const int busCount);