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);
65 /* Public: The ID format for a CAN message.
67 * STANDARD - standard 11-bit CAN arbitration ID.
68 * EXTENDED - an extended frame, with a 29-bit arbitration ID.
70 enum CanMessageFormat {
74 typedef enum CanMessageFormat CanMessageFormat;
76 /* A compact representation of a single CAN message, meant to be used in in/out
79 * id - The ID of the message.
80 * format - the format of the message's ID.
81 * data - The message's data field.
82 * length - the length of the data array (max 8).
85 CanMessageFormat format;
86 uint8_t data[CAN_MESSAGE_SIZE];
89 typedef struct CanMessage CanMessage;
93 afb_binding_interface interface_;
95 CanMessageFormat format_;
96 uint8_t data_[CAN_MESSAGE_SIZE];
100 uint32_t get_id() const;
101 int get_format() const;
102 uint8_t get_data() const;
103 uint8_t get_lenght() const;
105 void set_id(uint32_t id);
106 void set_format(CanMessageFormat format);
107 void set_data(uint8_t data);
108 void set_lenght(uint8_t length);
110 void convert_from_canfd_frame(canfd_frame frame);
111 canfd_frame convert_to_canfd_frame();
115 * @brief Object representing a can device. Handle opening, closing and reading on the
116 * socket. This is the low level object to be use by can_bus_t.
118 * @params[*interface_] - afb_binding_interface to the binder. Used to log messages
119 * @params[device_name_] - name of the linux device handling the can bus. Generally vcan0, can0, etc.
122 class can_bus_dev_t {
124 std::string device_name_;
127 struct sockaddr_can txAddress_;
129 bool has_can_message_;
130 std::queue <can_message_t> can_message_q_;
132 std::thread th_reading_;
140 can_message_t* next_can_message();
141 void push_new_can_message(const can_message_t& can_msg);
142 bool has_can_message() const;
146 * @brief Object used to handle decoding and manage event queue to be pushed.
148 * @params[*interface_] - afb_binding_interface to the binder. Used to log messages
149 * @params[conf_file_ifstream_] - stream of configuration file used to initialize
150 * can_bus_dev_t objects.
154 afb_binding_interface *interface_;
156 std::thread th_decoding_;
157 std::thread th_pushing_;
159 bool has_vehicle_message_;
160 std::queue <openxc_VehicleMessage> vehicle_message_q_;
164 std::vector<std::string> read_conf();
166 void start_threads();
168 int send_can_message(can_message_t can_msg);
170 openxc_VehicleMessage& next_vehicle_message();
171 void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
172 bool has_vehicle_message() const;
175 /* Public: A state encoded (SED) signal's mapping from numerical values to
176 * OpenXC state names.
178 * value - The integer value of the state on the CAN bus.
179 * name - The corresponding string name for the state in OpenXC.
181 struct CanSignalState {
185 typedef struct CanSignalState CanSignalState;
187 /* Public: A CAN signal to decode from the bus and output over USB.
189 * message - The message this signal is a part of.
190 * genericName - The name of the signal to be output over USB.
191 * bitPosition - The starting bit of the signal in its CAN message (assuming
192 * non-inverted bit numbering, i.e. the most significant bit of
194 * bitSize - The width of the bit field in the CAN message.
195 * factor - The final value will be multiplied by this factor. Use 1 if you
196 * don't need a factor.
197 * offset - The final value will be added to this offset. Use 0 if you
198 * don't need an offset.
199 * minValue - The minimum value for the processed signal.
200 * maxValue - The maximum value for the processed signal.
201 * frequencyClock - A FrequencyClock struct to control the maximum frequency to
202 * process and send this signal. To process every value, set the
203 * clock's frequency to 0.
204 * sendSame - If true, will re-send even if the value hasn't changed.
205 * forceSendChanged - If true, regardless of the frequency, it will send the
206 * value if it has changed.
207 * states - An array of CanSignalState describing the mapping
208 * between numerical and string values for valid states.
209 * stateCount - The length of the states array.
210 * writable - True if the signal is allowed to be written from the USB host
211 * back to CAN. Defaults to false.
212 * decoder - An optional function to decode a signal from the bus to a human
213 * readable value. If NULL, the default numerical decoder is used.
214 * encoder - An optional function to encode a signal value to be written to
215 * CAN into a byte array. If NULL, the default numerical encoder
217 * received - True if this signal has ever been received.
218 * lastValue - The last received value of the signal. If 'received' is false,
219 * this value is undefined.
222 struct CanMessageDefinition* message;
223 const char* genericName;
230 FrequencyClock frequencyClock;
232 bool forceSendChanged;
233 const CanSignalState* states;
236 SignalDecoder decoder;
237 SignalEncoder encoder;
241 typedef struct CanSignal CanSignal;
243 /* Public: The definition of a CAN message. This includes a lot of metadata, so
244 * to save memory this struct should not be used for storing incoming and
245 * outgoing CAN messages.
247 * bus - A pointer to the bus this message is on.
248 * id - The ID of the message.
249 * format - the format of the message's ID.
250 * clock - an optional frequency clock to control the output of this
251 * message, if sent raw, or simply to mark the max frequency for custom
252 * handlers to retrieve.
253 * forceSendChanged - If true, regardless of the frequency, it will send CAN
254 * message if it has changed when using raw passthrough.
255 * lastValue - The last received value of the message. Defaults to undefined.
256 * This is required for the forceSendChanged functionality, as the stack
257 * needs to compare an incoming CAN message with the previous frame.
259 struct CanMessageDefinition {
262 CanMessageFormat format;
263 FrequencyClock frequencyClock;
264 bool forceSendChanged;
265 uint8_t lastValue[CAN_MESSAGE_SIZE];
267 typedef struct CanMessageDefinition CanMessageDefinition;
269 /* Private: An entry in the list of acceptance filters for each CanBus.
271 * This struct is meant to be used with a LIST type from <sys/queue.h>.
273 * filter - the value for the CAN acceptance filter.
274 * activeUserCount - The number of active consumers of this filter's messages.
275 * When 0, this filter can be removed.
276 * format - the format of the ID for the filter.
277 struct AcceptanceFilterListEntry {
279 uint8_t activeUserCount;
280 CanMessageFormat format;
281 LIST_ENTRY(AcceptanceFilterListEntry) entries;
285 /* Private: A type of list containing CAN acceptance filters.
286 LIST_HEAD(AcceptanceFilterList, AcceptanceFilterListEntry);
288 struct CanMessageDefinitionListEntry {
289 CanMessageDefinition definition;
290 LIST_ENTRY(CanMessageDefinitionListEntry) entries;
292 LIST_HEAD(CanMessageDefinitionList, CanMessageDefinitionListEntry);
295 /** Public: A parent wrapper for a particular set of CAN messages and associated
296 * CAN buses(e.g. a vehicle or program).
298 * index - A numerical ID for the message set, ideally the index in an array
300 * name - The name of the message set.
301 * busCount - The number of CAN buses defined for this message set.
302 * messageCount - The number of CAN messages (across all buses) defined for
304 * signalCount - The number of CAN signals (across all messages) defined for
306 * commandCount - The number of CanCommmands defined for this message set.
312 unsigned short messageCount;
313 unsigned short signalCount;
314 unsigned short commandCount;
317 /* Public: The type signature for a function to handle a custom OpenXC command.
319 * name - the name of the received command.
320 * value - the value of the received command, in a DynamicField. The actual type
321 * may be a number, string or bool.
322 * event - an optional event from the received command, in a DynamicField. The
323 * actual type may be a number, string or bool.
324 * signals - The list of all signals.
325 * signalCount - The length of the signals array.
327 typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
328 openxc_DynamicField* event, CanSignal* signals, int signalCount);
330 /* Public: The structure to represent a supported custom OpenXC command.
332 * For completely customized CAN commands without a 1-1 mapping between an
333 * OpenXC message from the host and a CAN signal, you can define the name of the
334 * command and a custom function to handle it in the VI. An example is
335 * the "turn_signal_status" command in OpenXC, which has a value of "left" or
336 * "right". The vehicle may have separate CAN signals for the left and right
337 * turn signals, so you will need to implement a custom command handler to send
338 * the correct signals.
340 * Command handlers are also useful if you want to trigger multiple CAN messages
341 * or signals from a signal OpenXC message.
343 * genericName - The name of the command.
344 * handler - An function to process the received command's data and perform some
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);