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.
26 #include <linux/can.h>
29 #include "openxc.pb.h"
31 // TODO actual max is 32 but dropped to 24 for memory considerations
32 #define MAX_ACCEPTANCE_FILTERS 24
33 // TODO this takes up a ton of memory
34 #define MAX_DYNAMIC_MESSAGE_COUNT 12
36 #define CAN_MESSAGE_SIZE 8
38 #define CAN_ACTIVE_TIMEOUT_S 30
41 * @brief The type signature for a CAN signal decoder.
43 * @desc A SignalDecoder transforms a raw floating point CAN signal into a number,
46 * @param[in] CanSignal signal - The CAN signal that we are decoding.
47 * @param[in] CanSignal signals - The list of all signals.
48 * @param[in] int signalCount - The length of the signals array.
49 * @param[in] float value - The CAN signal parsed from the message as a raw floating point
51 * @param[out] bool send - An output parameter. If the decoding failed or the CAN signal should
52 * not send for some other reason, this should be flipped to false.
54 * @return a decoded value in an openxc_DynamicField struct.
56 typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal* signal,
57 CanSignal* signals, int signalCount, float value, bool* send);
60 * @brief: The type signature for a CAN signal encoder.
62 * @desc A SignalEncoder transforms a number, string or boolean into a raw floating
63 * point value that fits in the CAN signal.
65 * @params[signal] - The CAN signal to encode.
66 * @params[value] - The dynamic field to encode.
67 * @params[send] - An output parameter. If the encoding failed or the CAN signal should
68 * not be encoded for some other reason, this will be flipped to false.
70 typedef uint64_t (*SignalEncoder)(struct CanSignal* signal,
71 openxc_DynamicField* value, bool* send);
74 * @brief The ID format for a CAN message.
76 * STANDARD - standard 11-bit CAN arbitration ID.
77 * EXTENDED - an extended frame, with a 29-bit arbitration ID.
79 enum CanMessageFormat {
83 typedef enum CanMessageFormat CanMessageFormat;
86 * @brief A compact representation of a single CAN message, meant to be used in in/out
89 * param[in] uint32_t id - The ID of the message.
90 * param[in] CanMessageFormat format - the format of the message's ID.
91 * param[in] uint8_t data - The message's data field.
92 * @param[in] uint8_t length - the length of the data array (max 8).
93 *************************
94 * old CanMessage struct *
95 *************************
98 CanMessageFormat format;
99 uint8_t data[CAN_MESSAGE_SIZE];
102 typedef struct CanMessage CanMessage;
104 class can_message_t {
106 const struct afb_binding_interface *interface_;
108 CanMessageFormat format_;
109 uint8_t data_[CAN_MESSAGE_SIZE];
113 uint32_t get_id() const;
114 int get_format() const;
115 uint8_t get_data() const;
116 uint8_t get_lenght() const;
118 void set_id(uint32_t id);
119 void set_format(CanMessageFormat format);
120 void set_data(uint8_t data);
121 void set_lenght(uint8_t length);
123 void convert_from_canfd_frame(canfd_frame frame);
124 canfd_frame convert_to_canfd_frame();
128 * @brief Object representing a can device. Handle opening, closing and reading on the
129 * socket. This is the low level object to be use by can_bus_t.
131 * @params[in] std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc.
133 class can_bus_dev_t {
135 std::string device_name_;
138 struct sockaddr_can txAddress_;
140 bool has_can_message_;
141 std::queue <can_message_t> can_message_q_;
143 std::thread th_reading_;
147 can_bus_dev_t(const std::string& dev_name);
153 can_message_t* next_can_message();
154 void push_new_can_message(const can_message_t& can_msg);
155 bool has_can_message() const;
159 * @brief Object used to handle decoding and manage event queue to be pushed.
161 * @params[in] interface_ - afb_binding_interface pointer to the binder. Used to log messages
162 * @params[in] conf_file_ - configuration file handle used to initialize can_bus_dev_t objects.
166 const struct afb_binding_interface *interface_;
169 std::thread th_decoding_;
170 std::thread th_pushing_;
172 bool has_vehicle_message_;
173 std::queue <openxc_VehicleMessage> vehicle_message_q_;
176 can_bus_t(const struct afb_binding_interface *itf, int& conf_file);
178 std::vector<std::string> read_conf();
180 void start_threads();
182 int send_can_message(can_message_t can_msg);
184 openxc_VehicleMessage& next_vehicle_message();
185 void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
186 bool has_vehicle_message() const;
190 * @brief A state encoded (SED) signal's mapping from numerical values to
191 * OpenXC state names.
193 * @param[in] in value - The integer value of the state on the CAN bus.
194 * @param[in] char* name - The corresponding string name for the state in OpenXC.
196 struct CanSignalState {
200 typedef struct CanSignalState CanSignalState;
203 * @brief A CAN signal to decode from the bus and output over USB.
205 * @param[in] message - The message this signal is a part of.
206 * @param[in] genericName - The name of the signal to be output over USB.
207 * @param[in] bitPosition - The starting bit of the signal in its CAN message (assuming
208 * non-inverted bit numbering, i.e. the most significant bit of
210 * @param[in] bitSize - The width of the bit field in the CAN message.
211 * @param[in] factor - The final value will be multiplied by this factor. Use 1 if you
212 * don't need a factor.
213 * @param[in] offset - The final value will be added to this offset. Use 0 if you
214 * don't need an offset.
215 * @param[in] minValue - The minimum value for the processed signal.
216 * @param[in] maxValue - The maximum value for the processed signal.
217 * @param[in] frequencyClock - A FrequencyClock struct to control the maximum frequency to
218 * process and send this signal. To process every value, set the
219 * clock's frequency to 0.
220 * @param[in] sendSame - If true, will re-send even if the value hasn't changed.
221 * @param[in] forceSendChanged - If true, regardless of the frequency, it will send the
222 * value if it has changed.
223 * @param[in] states - An array of CanSignalState describing the mapping
224 * between numerical and string values for valid states.
225 * @param[in] stateCount - The length of the states array.
226 * @param[in] writable - True if the signal is allowed to be written from the USB host
227 * back to CAN. Defaults to false.
228 * @param[in] decoder - An optional function to decode a signal from the bus to a human
229 * readable value. If NULL, the default numerical decoder is used.
230 * @param[in] encoder - An optional function to encode a signal value to be written to
231 * CAN into a byte array. If NULL, the default numerical encoder
233 * @param[in] received - True if this signal has ever been received.
234 * @param[in] lastValue - The last received value of the signal. If 'received' is false,
235 * this value is undefined.
238 struct CanMessageDefinition* message;
239 const char* genericName;
246 FrequencyClock frequencyClock;
248 bool forceSendChanged;
249 const CanSignalState* states;
252 SignalDecoder decoder;
253 SignalEncoder encoder;
257 typedef struct CanSignal CanSignal;
260 * @brief The definition of a CAN message. This includes a lot of metadata, so
261 * to save memory this struct should not be used for storing incoming and
262 * outgoing CAN messages.
264 * @param[in] bus - A pointer to the bus this message is on.
265 * @param[in] id - The ID of the message.
266 * @param[in] format - the format of the message's ID.
267 * @param[in] clock - an optional frequency clock to control the output of this
268 * message, if sent raw, or simply to mark the max frequency for custom
269 * handlers to retrieve.
270 * @param[in] forceSendChanged - If true, regardless of the frequency, it will send CAN
271 * message if it has changed when using raw passthrough.
272 * @param[in] lastValue - The last received value of the message. Defaults to undefined.
273 * This is required for the forceSendChanged functionality, as the stack
274 * needs to compare an incoming CAN message with the previous frame.
276 struct CanMessageDefinition {
279 CanMessageFormat format;
280 FrequencyClock frequencyClock;
281 bool forceSendChanged;
282 uint8_t lastValue[CAN_MESSAGE_SIZE];
284 typedef struct CanMessageDefinition CanMessageDefinition;
287 * @brief A parent wrapper for a particular set of CAN messages and associated
288 * CAN buses(e.g. a vehicle or program).
290 * @param[in] index - A numerical ID for the message set, ideally the index in an array
292 * @param[in] name - The name of the message set.
293 * @param[in] busCount - The number of CAN buses defined for this message set.
294 * @param[in] messageCount - The number of CAN messages (across all buses) defined for
296 * @param[in] signalCount - The number of CAN signals (across all messages) defined for
298 * @param[in] commandCount - The number of CanCommmands defined for this message set.
304 unsigned short messageCount;
305 unsigned short signalCount;
306 unsigned short commandCount;
310 * @brief The type signature for a function to handle a custom OpenXC command.
312 * @param[in] char* name - the name of the received command.
313 * @param[in] openxc_DynamicField* value - the value of the received command, in a DynamicField. The actual type
314 * may be a number, string or bool.
315 * @param[in] openxc_DynamicField* event - an optional event from the received command, in a DynamicField. The
316 * actual type may be a number, string or bool.
317 * @param[in] CanSignal* signals - The list of all signals.
318 * @param[in] int signalCount - The length of the signals array.
320 typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
321 openxc_DynamicField* event, CanSignal* signals, int signalCount);
323 /* Public: The structure to represent a supported custom OpenXC command.
325 * For completely customized CAN commands without a 1-1 mapping between an
326 * OpenXC message from the host and a CAN signal, you can define the name of the
327 * command and a custom function to handle it in the VI. An example is
328 * the "turn_signal_status" command in OpenXC, which has a value of "left" or
329 * "right". The vehicle may have separate CAN signals for the left and right
330 * turn signals, so you will need to implement a custom command handler to send
331 * the correct signals.
333 * Command handlers are also useful if you want to trigger multiple CAN messages
334 * or signals from a signal OpenXC message.
336 * genericName - The name of the command.
337 * handler - An function to process the received command's data and perform some
341 const char* genericName;
342 CommandHandler handler;
346 * @brief Pre initialize actions made before CAN bus initialization
348 * @param[in] can_bus_dev_t bus - A CanBus struct defining the bus's metadata
349 * @param[in] bool writable - configure the controller in a writable mode. If false, it will be
350 * configured as "listen only" and will not allow writes or even CAN ACKs.
351 * @param[in] buses - An array of all CAN buses.
352 * @param[in] int busCount - The length of the buses array.
354 void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
356 /* Post-initialize actions made after CAN bus initialization and before the
357 * event loop connection.
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 post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
367 /* Public: Check if the device is connected to an active CAN bus, i.e. it's
368 * received a message in the recent past.
370 * Returns true if a message was received on the CAN bus within
371 * CAN_ACTIVE_TIMEOUT_S seconds.
373 bool isBusActive(can_bus_dev_t* bus);
375 /* Public: Log transfer statistics about all active CAN buses to the debug log.
377 * buses - an array of active CAN buses.
378 * busCount - the length of the buses array.
380 void logBusStatistics(can_bus_dev_t* buses, const int busCount);