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 /* Public: The type signature for a CAN signal decoder.
35 * A SignalDecoder transforms a raw floating point CAN signal into a number,
38 * signal - The CAN signal that we are decoding.
39 * signals - The list of all signals.
40 * signalCount - The length of the signals array.
41 * value - The CAN signal parsed from the message as a raw floating point
43 * send - An output parameter. If the decoding failed or the CAN signal should
44 * not send for some other reason, this should be flipped to false.
46 * Returns a decoded value in an openxc_DynamicField struct.
48 typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal* signal,
49 CanSignal* signals, int signalCount, float value, bool* send);
52 * @brief: The type signature for a CAN signal encoder.
54 * A SignalEncoder transforms a number, string or boolean into a raw floating
55 * point value that fits in the CAN signal.
57 * @params[signal] - The CAN signal to encode.
58 * @params[value] - The dynamic field to encode.
59 * @params[send] - An output parameter. If the encoding failed or the CAN signal should
60 * not be encoded for some other reason, this will be flipped to false.
62 typedef uint64_t (*SignalEncoder)(struct CanSignal* signal,
63 openxc_DynamicField* value, bool* send);
66 * @brief Object representing a can device. Handle opening, closing and reading on the
67 * socket. This is the low level object to be use by can_bus_t.
69 * @params[*interface_] - afb_binding_interface to the binder. Used to log messages
70 * @params[device_name_] - name of the linux device handling the can bus. Generally vcan0, can0, etc.
75 std::string device_name_;
78 struct sockaddr_can txAddress_;
80 bool has_can_message_;
81 std::queue <can_message_t> can_message_q_;
83 std::thread th_reading_;
91 can_message_t* next_can_message();
92 void push_new_can_message(const can_message_t& can_msg);
93 bool has_can_message() const;
98 * @brief Object used to handle decoding and manage event queue to be pushed.
100 * @params[*interface_] - afb_binding_interface to the binder. Used to log messages
101 * @params[conf_file_ifstream_] - stream of configuration file used to initialize
102 * can_bus_dev_t objects.
106 afb_binding_interface *interface_;
108 std::thread th_decoding_;
109 std::thread th_pushing_;
111 bool has_vehicle_message_;
112 std::queue <openxc_VehicleMessage> vehicle_message_q_;
115 void start_threads();
117 void init_can_dev(std::ifstream& conf_file);
118 std::vector<std::string> read_conf()
120 int send_can_message(can_message_t can_msg);
122 openxc_VehicleMessage& next_vehicle_message();
123 void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
124 bool has_vehicle_message() const;
127 /* A compact representation of a single CAN message, meant to be used in in/out
130 * id - The ID of the message.
131 * format - the format of the message's ID.
132 * data - The message's data field.
133 * length - the length of the data array (max 8).
136 CanMessageFormat format;
137 uint8_t data[CAN_MESSAGE_SIZE];
140 typedef struct CanMessage CanMessage;
142 class can_message_t {
144 afb_binding_interface interface_;
146 CanMessageFormat format_;
147 uint8_t data_[CAN_MESSAGE_SIZE];
151 uint32_t get_id() const;
152 int get_format() const;
153 uint8_t get_data() const;
154 uint8_t get_lenght() const;
156 void set_id(uint32_t id);
157 void set_format(CanMessageFormat format);
158 void set_data(uint8_t data);
159 void set_lenght(uint8_t length);
161 void convert_from_canfd_frame(canfd_frame frame);
162 canfd_frame convert_to_canfd_frame();
165 QUEUE_DECLARE(can_message_t, 8);
167 /* Public: The ID format for a CAN message.
169 * STANDARD - standard 11-bit CAN arbitration ID.
170 * EXTENDED - an extended frame, with a 29-bit arbitration ID.
172 enum CanMessageFormat {
176 typedef enum CanMessageFormat CanMessageFormat;
178 /* Public: A state encoded (SED) signal's mapping from numerical values to
179 * OpenXC state names.
181 * value - The integer value of the state on the CAN bus.
182 * name - The corresponding string name for the state in OpenXC.
184 struct CanSignalState {
188 typedef struct CanSignalState CanSignalState;
190 /* Public: A CAN signal to decode from the bus and output over USB.
192 * message - The message this signal is a part of.
193 * genericName - The name of the signal to be output over USB.
194 * bitPosition - The starting bit of the signal in its CAN message (assuming
195 * non-inverted bit numbering, i.e. the most significant bit of
197 * bitSize - The width of the bit field in the CAN message.
198 * factor - The final value will be multiplied by this factor. Use 1 if you
199 * don't need a factor.
200 * offset - The final value will be added to this offset. Use 0 if you
201 * don't need an offset.
202 * minValue - The minimum value for the processed signal.
203 * maxValue - The maximum value for the processed signal.
204 * frequencyClock - A FrequencyClock struct to control the maximum frequency to
205 * process and send this signal. To process every value, set the
206 * clock's frequency to 0.
207 * sendSame - If true, will re-send even if the value hasn't changed.
208 * forceSendChanged - If true, regardless of the frequency, it will send the
209 * value if it has changed.
210 * states - An array of CanSignalState describing the mapping
211 * between numerical and string values for valid states.
212 * stateCount - The length of the states array.
213 * writable - True if the signal is allowed to be written from the USB host
214 * back to CAN. Defaults to false.
215 * decoder - An optional function to decode a signal from the bus to a human
216 * readable value. If NULL, the default numerical decoder is used.
217 * encoder - An optional function to encode a signal value to be written to
218 * CAN into a byte array. If NULL, the default numerical encoder
220 * received - True if this signal has ever been received.
221 * lastValue - The last received value of the signal. If 'received' is false,
222 * this value is undefined.
225 struct CanMessageDefinition* message;
226 const char* genericName;
233 FrequencyClock frequencyClock;
235 bool forceSendChanged;
236 const CanSignalState* states;
239 SignalDecoder decoder;
240 SignalEncoder encoder;
244 typedef struct CanSignal CanSignal;
246 /* Public: The definition of a CAN message. This includes a lot of metadata, so
247 * to save memory this struct should not be used for storing incoming and
248 * outgoing CAN messages.
250 * bus - A pointer to the bus this message is on.
251 * id - The ID of the message.
252 * format - the format of the message's ID.
253 * clock - an optional frequency clock to control the output of this
254 * message, if sent raw, or simply to mark the max frequency for custom
255 * handlers to retrieve.
256 * forceSendChanged - If true, regardless of the frequency, it will send CAN
257 * message if it has changed when using raw passthrough.
258 * lastValue - The last received value of the message. Defaults to undefined.
259 * This is required for the forceSendChanged functionality, as the stack
260 * needs to compare an incoming CAN message with the previous frame.
262 struct CanMessageDefinition {
265 CanMessageFormat format;
266 FrequencyClock frequencyClock;
267 bool forceSendChanged;
268 uint8_t lastValue[CAN_MESSAGE_SIZE];
270 typedef struct CanMessageDefinition CanMessageDefinition;
272 /* Private: An entry in the list of acceptance filters for each CanBus.
274 * This struct is meant to be used with a LIST type from <sys/queue.h>.
276 * filter - the value for the CAN acceptance filter.
277 * activeUserCount - The number of active consumers of this filter's messages.
278 * When 0, this filter can be removed.
279 * format - the format of the ID for the filter.
280 struct AcceptanceFilterListEntry {
282 uint8_t activeUserCount;
283 CanMessageFormat format;
284 LIST_ENTRY(AcceptanceFilterListEntry) entries;
288 /* Private: A type of list containing CAN acceptance filters.
289 LIST_HEAD(AcceptanceFilterList, AcceptanceFilterListEntry);
291 struct CanMessageDefinitionListEntry {
292 CanMessageDefinition definition;
293 LIST_ENTRY(CanMessageDefinitionListEntry) entries;
295 LIST_HEAD(CanMessageDefinitionList, CanMessageDefinitionListEntry);
298 /** Public: A parent wrapper for a particular set of CAN messages and associated
299 * CAN buses(e.g. a vehicle or program).
301 * index - A numerical ID for the message set, ideally the index in an array
303 * name - The name of the message set.
304 * busCount - The number of CAN buses defined for this message set.
305 * messageCount - The number of CAN messages (across all buses) defined for
307 * signalCount - The number of CAN signals (across all messages) defined for
309 * commandCount - The number of CanCommmands defined for this message set.
315 unsigned short messageCount;
316 unsigned short signalCount;
317 unsigned short commandCount;
320 /* Public: The type signature for a function to handle a custom OpenXC command.
322 * name - the name of the received command.
323 * value - the value of the received command, in a DynamicField. The actual type
324 * may be a number, string or bool.
325 * event - an optional event from the received command, in a DynamicField. The
326 * actual type may be a number, string or bool.
327 * signals - The list of all signals.
328 * signalCount - The length of the signals array.
330 typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
331 openxc_DynamicField* event, CanSignal* signals, int signalCount);
333 /* Public: The structure to represent a supported custom OpenXC command.
335 * For completely customized CAN commands without a 1-1 mapping between an
336 * OpenXC message from the host and a CAN signal, you can define the name of the
337 * command and a custom function to handle it in the VI. An example is
338 * the "turn_signal_status" command in OpenXC, which has a value of "left" or
339 * "right". The vehicle may have separate CAN signals for the left and right
340 * turn signals, so you will need to implement a custom command handler to send
341 * the correct signals.
343 * Command handlers are also useful if you want to trigger multiple CAN messages
344 * or signals from a signal OpenXC message.
346 * genericName - The name of the command.
347 * handler - An function to process the received command's data and perform some
350 const char* genericName;
351 CommandHandler handler;
357 const char* genericName;
358 CommandHandler handler;
361 /* Pre initialize actions made before CAN bus initialization
363 * bus - A CanBus struct defining the bus's metadata
364 * writable - configure the controller in a writable mode. If false, it will be
365 * configured as "listen only" and will not allow writes or even CAN ACKs.
366 * buses - An array of all CAN buses.
367 * busCount - The length of the buses array.
369 void pre_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCount);
371 /* Post-initialize actions made after CAN bus initialization and before the
372 * event loop connection.
374 * bus - A CanBus struct defining the bus's metadata
375 * writable - configure the controller in a writable mode. If false, it will be
376 * configured as "listen only" and will not allow writes or even CAN ACKs.
377 * buses - An array of all CAN buses.
378 * busCount - The length of the buses array.
380 void post_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCount);
382 /* Public: Check if the device is connected to an active CAN bus, i.e. it's
383 * received a message in the recent past.
385 * Returns true if a message was received on the CAN bus within
386 * CAN_ACTIVE_TIMEOUT_S seconds.
388 bool isBusActive(CanBus* bus);
390 /* Public: Log transfer statistics about all active CAN buses to the debug log.
392 * buses - an array of active CAN buses.
393 * busCount - the length of the buses array.
395 void logBusStatistics(CanBus* buses, const int busCount);