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_;
80 struct sockaddr_can txAddress_;
82 bool has_can_message_;
83 std::queue <can_message_t> can_message_q_;
85 std::thread th_reading_;
93 can_message_t* next_can_message();
94 void push_new_can_message(const can_message_t& can_msg);
99 * @brief Object used to handle decoding and manage event queue to be pushed.
101 * @params[*interface_] - afb_binding_interface to the binder. Used to log messages
102 * @params[conf_file_ifstream_] - stream of configuration file used to initialize
103 * can_bus_dev_t objects.
107 afb_binding_interface *interface_;
109 std::vector<can_bus_dev_t> devices;
111 std::thread th_decoding_;
112 std::thread th_pushing_;
114 bool has_vehicle_message_;
115 std::queue <openxc_VehicleMessage> vehicle_message_q_;
118 void start_threads();
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);
126 /* A compact representation of a single CAN message, meant to be used in in/out
129 * id - The ID of the message.
130 * format - the format of the message's ID.
131 * data - The message's data field.
132 * length - the length of the data array (max 8).
135 CanMessageFormat format;
136 uint8_t data[CAN_MESSAGE_SIZE];
139 typedef struct CanMessage CanMessage;
141 class can_message_t {
143 afb_binding_interface interface_;
145 CanMessageFormat format_;
146 uint8_t data_[CAN_MESSAGE_SIZE];
150 uint32_t get_id() const;
151 int get_format() const;
152 uint8_t get_data() const;
153 uint8_t get_lenght() const;
155 void set_id(uint32_t id);
156 void set_format(CanMessageFormat format);
157 void set_data(uint8_t data);
158 void set_lenght(uint8_t length);
160 void convert_from_canfd_frame(canfd_frame frame);
161 canfd_frame convert_to_canfd_frame();
164 QUEUE_DECLARE(can_message_t, 8);
166 /* Public: The ID format for a CAN message.
168 * STANDARD - standard 11-bit CAN arbitration ID.
169 * EXTENDED - an extended frame, with a 29-bit arbitration ID.
171 enum CanMessageFormat {
175 typedef enum CanMessageFormat CanMessageFormat;
177 /* Public: A state encoded (SED) signal's mapping from numerical values to
178 * OpenXC state names.
180 * value - The integer value of the state on the CAN bus.
181 * name - The corresponding string name for the state in OpenXC.
183 struct CanSignalState {
187 typedef struct CanSignalState CanSignalState;
189 /* Public: A CAN signal to decode from the bus and output over USB.
191 * message - The message this signal is a part of.
192 * genericName - The name of the signal to be output over USB.
193 * bitPosition - The starting bit of the signal in its CAN message (assuming
194 * non-inverted bit numbering, i.e. the most significant bit of
196 * bitSize - The width of the bit field in the CAN message.
197 * factor - The final value will be multiplied by this factor. Use 1 if you
198 * don't need a factor.
199 * offset - The final value will be added to this offset. Use 0 if you
200 * don't need an offset.
201 * minValue - The minimum value for the processed signal.
202 * maxValue - The maximum value for the processed signal.
203 * frequencyClock - A FrequencyClock struct to control the maximum frequency to
204 * process and send this signal. To process every value, set the
205 * clock's frequency to 0.
206 * sendSame - If true, will re-send even if the value hasn't changed.
207 * forceSendChanged - If true, regardless of the frequency, it will send the
208 * value if it has changed.
209 * states - An array of CanSignalState describing the mapping
210 * between numerical and string values for valid states.
211 * stateCount - The length of the states array.
212 * writable - True if the signal is allowed to be written from the USB host
213 * back to CAN. Defaults to false.
214 * decoder - An optional function to decode a signal from the bus to a human
215 * readable value. If NULL, the default numerical decoder is used.
216 * encoder - An optional function to encode a signal value to be written to
217 * CAN into a byte array. If NULL, the default numerical encoder
219 * received - True if this signal has ever been received.
220 * lastValue - The last received value of the signal. If 'received' is false,
221 * this value is undefined.
224 struct CanMessageDefinition* message;
225 const char* genericName;
232 FrequencyClock frequencyClock;
234 bool forceSendChanged;
235 const CanSignalState* states;
238 SignalDecoder decoder;
239 SignalEncoder encoder;
243 typedef struct CanSignal CanSignal;
245 /* Public: The definition of a CAN message. This includes a lot of metadata, so
246 * to save memory this struct should not be used for storing incoming and
247 * outgoing CAN messages.
249 * bus - A pointer to the bus this message is on.
250 * id - The ID of the message.
251 * format - the format of the message's ID.
252 * clock - an optional frequency clock to control the output of this
253 * message, if sent raw, or simply to mark the max frequency for custom
254 * handlers to retrieve.
255 * forceSendChanged - If true, regardless of the frequency, it will send CAN
256 * message if it has changed when using raw passthrough.
257 * lastValue - The last received value of the message. Defaults to undefined.
258 * This is required for the forceSendChanged functionality, as the stack
259 * needs to compare an incoming CAN message with the previous frame.
261 struct CanMessageDefinition {
264 CanMessageFormat format;
265 FrequencyClock frequencyClock;
266 bool forceSendChanged;
267 uint8_t lastValue[CAN_MESSAGE_SIZE];
269 typedef struct CanMessageDefinition CanMessageDefinition;
271 /* Private: An entry in the list of acceptance filters for each CanBus.
273 * This struct is meant to be used with a LIST type from <sys/queue.h>.
275 * filter - the value for the CAN acceptance filter.
276 * activeUserCount - The number of active consumers of this filter's messages.
277 * When 0, this filter can be removed.
278 * format - the format of the ID for the filter.
279 struct AcceptanceFilterListEntry {
281 uint8_t activeUserCount;
282 CanMessageFormat format;
283 LIST_ENTRY(AcceptanceFilterListEntry) entries;
287 /* Private: A type of list containing CAN acceptance filters.
288 LIST_HEAD(AcceptanceFilterList, AcceptanceFilterListEntry);
290 struct CanMessageDefinitionListEntry {
291 CanMessageDefinition definition;
292 LIST_ENTRY(CanMessageDefinitionListEntry) entries;
294 LIST_HEAD(CanMessageDefinitionList, CanMessageDefinitionListEntry);
297 /** Public: A parent wrapper for a particular set of CAN messages and associated
298 * CAN buses(e.g. a vehicle or program).
300 * index - A numerical ID for the message set, ideally the index in an array
302 * name - The name of the message set.
303 * busCount - The number of CAN buses defined for this message set.
304 * messageCount - The number of CAN messages (across all buses) defined for
306 * signalCount - The number of CAN signals (across all messages) defined for
308 * commandCount - The number of CanCommmands defined for this message set.
314 unsigned short messageCount;
315 unsigned short signalCount;
316 unsigned short commandCount;
319 /* Public: The type signature for a function to handle a custom OpenXC command.
321 * name - the name of the received command.
322 * value - the value of the received command, in a DynamicField. The actual type
323 * may be a number, string or bool.
324 * event - an optional event from the received command, in a DynamicField. The
325 * actual type may be a number, string or bool.
326 * signals - The list of all signals.
327 * signalCount - The length of the signals array.
329 typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
330 openxc_DynamicField* event, CanSignal* signals, int signalCount);
332 /* Public: The structure to represent a supported custom OpenXC command.
334 * For completely customized CAN commands without a 1-1 mapping between an
335 * OpenXC message from the host and a CAN signal, you can define the name of the
336 * command and a custom function to handle it in the VI. An example is
337 * the "turn_signal_status" command in OpenXC, which has a value of "left" or
338 * "right". The vehicle may have separate CAN signals for the left and right
339 * turn signals, so you will need to implement a custom command handler to send
340 * the correct signals.
342 * Command handlers are also useful if you want to trigger multiple CAN messages
343 * or signals from a signal OpenXC message.
345 * genericName - The name of the command.
346 * handler - An function to process the received command's data and perform some
349 const char* genericName;
350 CommandHandler handler;
356 const char* genericName;
357 CommandHandler handler;
360 /* Pre initialize actions made before CAN bus initialization
362 * bus - A CanBus struct defining the bus's metadata
363 * writable - configure the controller in a writable mode. If false, it will be
364 * configured as "listen only" and will not allow writes or even CAN ACKs.
365 * buses - An array of all CAN buses.
366 * busCount - The length of the buses array.
368 void pre_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCount);
370 /* Post-initialize actions made after CAN bus initialization and before the
371 * event loop connection.
373 * bus - A CanBus struct defining the bus's metadata
374 * writable - configure the controller in a writable mode. If false, it will be
375 * configured as "listen only" and will not allow writes or even CAN ACKs.
376 * buses - An array of all CAN buses.
377 * busCount - The length of the buses array.
379 void post_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCount);
381 /* Public: Check if the device is connected to an active CAN bus, i.e. it's
382 * received a message in the recent past.
384 * Returns true if a message was received on the CAN bus within
385 * CAN_ACTIVE_TIMEOUT_S seconds.
387 bool isBusActive(CanBus* bus);
389 /* Public: Log transfer statistics about all active CAN buses to the debug log.
391 * buses - an array of active CAN buses.
392 * busCount - the length of the buses array.
394 void logBusStatistics(CanBus* buses, const int busCount);