#include "canutil/read.h"
#include "../utils/openxc-utils.hpp"
+#include "message-definition.hpp"
+#include "../binding/low-can-hat.hpp"
+#include "../utils/converter.hpp"
-/// @brief Parse the signal's bitfield from the given data and return the raw
+/// @brief Parses the signal's bitfield from the given data and returns the raw
/// value.
///
-/// @param[in] signal - The signal to parse from the data.
-/// @param[in] message - can_message_t to parse
+/// @param[in] signal - The signal to be parsed from the data.
+/// @param[in] message - message_t to parse
///
/// @return Returns the raw value of the signal parsed as a bitfield from the given byte
/// array.
///
-float decoder_t::parseSignalBitfield(can_signal_t& signal, const can_message_t& message)
+float decoder_t::parse_signal_bitfield(signal_t& signal, std::shared_ptr<message_t> message)
{
- return bitfield_parse_float(message.get_data(), CAN_MESSAGE_SIZE,
- signal.get_bit_position(), signal.get_bit_size(), signal.get_factor(),
+ const std::vector<uint8_t> data = message->get_data_vector();
+ std::vector<uint8_t> data_signal;
+ uint32_t bit_size = signal.get_bit_size();
+ uint32_t bit_position = signal.get_bit_position();
+
+ int new_start_byte = 0;
+ int new_end_byte = 0;
+ int new_start_bit = 0;
+ int new_end_bit = 0;
+
+ converter_t::signal_to_bits_bytes(bit_position, bit_size, new_start_byte, new_end_byte, new_start_bit, new_end_bit);
+
+ for(int i=new_start_byte;i<=new_end_byte;i++)
+ {
+ data_signal.push_back(data[i]);
+ }
+
+ uint8_t new_bit_size = 0;
+
+ if(bit_size > 255)
+ {
+ AFB_ERROR("Error signal %s to long bit size",signal.get_name().c_str());
+ }
+ else
+ {
+ new_bit_size = (uint8_t) bit_size;
+ }
+
+ uint8_t bit_offset = 0;
+ if(new_start_bit > 255)
+ {
+ AFB_ERROR("Too long signal offset %d", new_start_bit);
+ }
+ else
+ {
+ bit_offset = (uint8_t) new_start_bit;
+ }
+
+ uint16_t length = 0;
+
+ if(data_signal.size() > 65535)
+ {
+ AFB_ERROR("Too long data signal %s",signal.get_name().c_str());
+ }
+ else
+ {
+ length = (uint16_t) data_signal.size();
+ }
+
+ return bitfield_parse_float(data_signal.data(), length,
+ bit_offset, new_bit_size, signal.get_factor(),
signal.get_offset());
}
-/// @brief Wrap a raw CAN signal value in a DynamicField without modification.
+
+/// @brief Decode and return string bytes (hex) for a CAN signal's.
///
-/// This is an implementation of the SignalDecoder type signature, and can be
-/// used directly in the can_signal_t.decoder field.
+/// This is an implementation of the Signal type signature, and can be
+/// used directly in the signal_t.decoder field.
+///
+/// @param[in] signal - The details of the signal.
+/// @param[in] message - The message with data to decode.
+/// @param[out] send - An output argument that will be set to false if the value should
+/// not be sent for any reason.
+///
+/// @return Returns a DynamicField with a string value of bytes (hex)
+///
+openxc_DynamicField decoder_t::decode_bytes(signal_t& signal, std::shared_ptr<message_t> message, bool* send)
+{
+ int i=0;
+ openxc_DynamicField decoded_value;
+ std::vector<uint8_t> data = message->get_data_vector();
+ uint32_t length = message->get_length();
+ uint32_t bit_position = signal.get_bit_position();
+ uint32_t bit_size = signal.get_bit_size();
+ std::vector<uint8_t> new_data = std::vector<uint8_t>();
+ new_data.reserve(bit_size << 3);
+
+ int new_start_byte = 0;
+ int new_end_byte = 0;
+ int new_start_bit = 0;
+ int new_end_bit = 0;
+
+ converter_t::signal_to_bits_bytes(bit_position, bit_size, new_start_byte, new_end_byte, new_start_bit, new_end_bit);
+
+ if(new_end_byte >= length)
+ {
+ new_end_byte = length-1;
+ }
+
+ if(new_start_byte >= length)
+ {
+ AFB_ERROR("Error in description of signals");
+ return decoded_value;
+ }
+
+ uint8_t first = data[new_start_byte];
+ int mask_first = 0;
+ for(i=new_start_bit;i<8;i++)
+ {
+ mask_first = mask_first | (1 << i);
+ }
+
+ uint8_t mask_first_v = 0;
+ if(mask_first > 255)
+ {
+ AFB_ERROR("Error mask decode bytes");
+ }
+ else
+ {
+ mask_first_v = (uint8_t)mask_first;
+ }
+
+ data[new_start_byte]=first&mask_first_v;
+
+ uint8_t last = data[new_end_byte];
+ int mask_last = 0;
+ for(i=0;i<=new_end_bit;i++)
+ {
+ mask_last = mask_last | (1 << (7-i));
+ }
+
+ uint8_t mask_last_v = 0;
+ if(mask_last > 255)
+ {
+ AFB_ERROR("Error mask decode bytes");
+ }
+ else
+ {
+ mask_last_v = (uint8_t)mask_last;
+ }
+
+ data[new_end_byte]=last&mask_last_v;
+
+
+ for(i=new_start_byte;i<=new_end_byte;i++)
+ {
+ new_data.push_back(data[i]);
+ }
+
+ decoded_value = build_DynamicField(new_data);
+
+ return decoded_value;
+}
+
+/// @brief Wraps a raw CAN signal value in a DynamicField without modification.
+///
+/// This is an implementation of the Signal type signature, and can be
+/// used directly in the signal_t.decoder field.
///
/// @param[in] signal - The details of the signal that contains the state mapping.
-/// @param[in] signals - The list of all signals
-/// @param[in] value - The numerical value that will be wrapped in a DynamicField.
+/// @param[in] message - The message with data to decode.
/// @param[out] send - An output argument that will be set to false if the value should
/// not be sent for any reason.
///
/// its numeric value. The 'send' argument will not be modified as this decoder
/// always succeeds.
///
-openxc_DynamicField decoder_t::noopDecoder(can_signal_t& signal,
- const std::vector<can_signal_t>& signals, float value, bool* send)
+openxc_DynamicField decoder_t::decode_noop(signal_t& signal, std::shared_ptr<message_t> message, bool* send)
{
+ float value = decoder_t::parse_signal_bitfield(signal, message);
+ AFB_DEBUG("Decoded message from parse_signal_bitfield: %f", value);
openxc_DynamicField decoded_value = build_DynamicField(value);
+ // Don't send if they is no changes
+ if ((signal.get_last_value() == value && !signal.get_send_same()) || !*send )
+ {
+ *send = false;
+ }
+ signal.set_last_value(value);
+
return decoded_value;
}
/// @brief Coerces a numerical value to a boolean.
///
-/// This is an implementation of the SignalDecoder type signature, and can be
-/// used directly in the can_signal_t.decoder field.
+/// This is an implementation of the Signal type signature, and can be
+/// used directly in the signal_t.decoder field.
///
/// @param[in] signal - The details of the signal that contains the state mapping.
-/// @param[in] signals - The list of all signals
-/// @param[in] value - The numerical value that will be converted to a boolean.
+/// @param[in] message - The message with data to decode.
/// @param[out] send - An output argument that will be set to false if the value should
/// not be sent for any reason.
///
/// is 0.0, otherwise true. The 'send' argument will not be modified as this
/// decoder always succeeds.
///
-openxc_DynamicField decoder_t::booleanDecoder(can_signal_t& signal,
- const std::vector<can_signal_t>& signals, float value, bool* send)
+openxc_DynamicField decoder_t::decode_boolean(signal_t& signal, std::shared_ptr<message_t> message, bool* send)
{
+ float value = decoder_t::parse_signal_bitfield(signal, message);
+ AFB_DEBUG("Decoded message from parse_signal_bitfield: %f", value);
openxc_DynamicField decoded_value = build_DynamicField(value == 0.0 ? false : true);
+ // Don't send if they is no changes
+ if ((signal.get_last_value() == value && !signal.get_send_same()) || !*send )
+ {
+ *send = false;
+ }
+ signal.set_last_value(value);
+
+
return decoded_value;
}
/// @brief Update the metadata for a signal and the newly received value.
///
-/// This is an implementation of the SignalDecoder type signature, and can be
-/// used directly in the can_signal_t.decoder field.
+/// This is an implementation of the Signal type signature, and can be
+/// used directly in the signal_t.decoder field.
///
/// This function always flips 'send' to false.
///
/// @param[in] signal - The details of the signal that contains the state mapping.
-/// @param[in] signals - The list of all signals.
-/// @param[in] value - The numerical value that will be converted to a boolean.
+/// @param[in] message - The message with data to decode.
/// @param[out] send - This output argument will always be set to false, so the caller will
/// know not to publish this value to the pipeline.
///
/// @return Return value is undefined.
///
-openxc_DynamicField decoder_t::ignoreDecoder(can_signal_t& signal,
- const std::vector<can_signal_t>& signals, float value, bool* send)
+openxc_DynamicField decoder_t::decode_ignore(signal_t& signal, std::shared_ptr<message_t> message, bool* send)
{
+ float value = decoder_t::parse_signal_bitfield(signal, message);
if(send)
*send = false;
+ signal.set_last_value(value);
openxc_DynamicField decoded_value;
return decoded_value;
/// @brief Find and return the corresponding string state for a CAN signal's
/// raw integer value.
///
-/// This is an implementation of the SignalDecoder type signature, and can be
-/// used directly in the can_signal_t.decoder field.
+/// This is an implementation of the Signal type signature, and can be
+/// used directly in the signal_t.decoder field.
///
/// @param[in] signal - The details of the signal that contains the state mapping.
-/// @param[in] signals - The list of all signals.
-/// @param[in] value - The numerical value that should map to a state.
+/// @param[in] message - The message with data to decode.
/// @param[out] send - An output argument that will be set to false if the value should
/// not be sent for any reason.
///
/// the signal. If an equivalent isn't found, send is sent to false and the
/// return value is undefined.
///
-openxc_DynamicField decoder_t::stateDecoder(can_signal_t& signal,
- const std::vector<can_signal_t>& signals, float value, bool* send)
+openxc_DynamicField decoder_t::decode_state(signal_t& signal, std::shared_ptr<message_t> message, bool* send)
{
+ float value = decoder_t::parse_signal_bitfield(signal, message);
+ AFB_DEBUG("Decoded message from parse_signal_bitfield: %f", value);
const std::string signal_state = signal.get_states((uint8_t)value);
openxc_DynamicField decoded_value = build_DynamicField(signal_state);
if(signal_state.size() <= 0)
{
*send = false;
- ERROR(binder_interface, "stateDecoder: No state found with index: %d", (int)value);
+ AFB_ERROR("No state found with index: %d", (int)value);
+ }
+
+ // Don't send if they is no changes
+ if ((signal.get_last_value() == value && !signal.get_send_same()) || !*send )
+ {
+ *send = false;
}
+ signal.set_last_value(value);
+
+
return decoded_value;
}
/// @brief Parse a signal from a CAN message, apply any required transforations
/// to get a human readable value and public the result to the pipeline.
///
-/// If the can_signal_t has a non-NULL 'decoder' field, the raw CAN signal value
+/// If the signal_t has a non-NULL 'decoder' field, the raw CAN signal value
/// will be passed to the decoder before publishing.
///
/// @param[in] signal - The details of the signal to decode and forward.
-/// @param[in] message - The received CAN message that should contain this signal.
-/// @param[in] signals - an array of all active signals.
+/// @param[in] message - The message with data to decode.
+/// @param[out] send - An output parameter that will be flipped to false if the value could
+/// not be decoded.
///
/// The decoder returns an openxc_DynamicField, which may contain a number,
/// string or boolean.
///
-openxc_DynamicField decoder_t::translateSignal(can_signal_t& signal, can_message_t& message,
- const std::vector<can_signal_t>& signals)
+openxc_DynamicField decoder_t::translate_signal(signal_t& signal, std::shared_ptr<message_t> message, bool* send)
{
- float value = decoder_t::parseSignalBitfield(signal, message);
- DEBUG(binder_interface, "translateSignal: Decoded message from parseSignalBitfield: %f", value);
- bool send = true;
// Must call the decoders every time, regardless of if we are going to
// decide to send the signal or not.
- openxc_DynamicField decoded_value = decoder_t::decodeSignal(signal,
- value, signals, &send);
+ openxc_DynamicField decoded_value = decoder_t::decode_signal(signal,
+ message, send);
signal.set_received(true);
- signal.set_last_value(value);
+ signal.set_timestamp(message->get_timestamp());
+ signal.get_message()->set_last_value(message);
return decoded_value;
}
/// @brief Parse a signal from a CAN message and apply any required
/// transforations to get a human readable value.
///
-/// If the can_signal_t has a non-NULL 'decoder' field, the raw CAN signal value
+/// If the signal_t has a non-NULL 'decoder' field, the raw CAN signal value
/// will be passed to the decoder before returning.
///
/// @param[in] signal - The details of the signal to decode and forward.
-/// @param[in] value - The numerical value that will be converted to a boolean.
-/// @param[in] signals - an array of all active signals.
+/// @param[in] message - The message with data to decode.
/// @param[out] send - An output parameter that will be flipped to false if the value could
/// not be decoded.
///
/// @return The decoder returns an openxc_DynamicField, which may contain a number,
/// string or boolean. If 'send' is false, the return value is undefined.
///
-openxc_DynamicField decoder_t::decodeSignal( can_signal_t& signal,
- float value, const std::vector<can_signal_t>& signals, bool* send)
+openxc_DynamicField decoder_t::decode_signal( signal_t& signal, std::shared_ptr<message_t> message, bool* send)
{
- SignalDecoder decoder = signal.get_decoder() == nullptr ?
- noopDecoder : signal.get_decoder();
- openxc_DynamicField decoded_value = decoder(signal, signals,
- value, send);
- return decoded_value;
-}
+ signal_decoder decoder = signal.get_decoder() == nullptr ?
+ decode_noop : signal.get_decoder();
-/// @brief Decode a transformed, human readable value from an raw CAN signal
-/// already parsed from a CAN message.
-///
-/// This is the same as decodeSignal but you must parse the bitfield value of the signal from the CAN
-/// message yourself. This is useful if you need that raw value for something
-/// else.
-///
-/// @param[in] signal - The details of the signal to decode and forward.
-/// @param[in] message - Raw CAN message to decode
-/// @param[in] signals - an array of all active signals.
-/// @param[out] send - An output parameter that will be flipped to false if the value could
-/// not be decoded.
-///
-openxc_DynamicField decoder_t::decodeSignal( can_signal_t& signal,
- const can_message_t& message, const std::vector<can_signal_t>& signals, bool* send)
-{
- float value = parseSignalBitfield(signal, message);
- return decodeSignal(signal, value, signals, send);
+ openxc_DynamicField decoded_value = decoder(signal,
+ message, send);
+ return decoded_value;
}
-
///
/// @brief Decode the payload of an OBD-II PID.
///
-/// This function matches the type signature for a DiagnosticResponseDecoder, so
+/// This function matches the type signature for a DiagnosticResponse, so
/// it can be used as the decoder for a DiagnosticRequest. It returns the decoded
/// value of the PID, using the standard formulas (see
/// http://en.wikipedia.org/wiki/OBD-II_PIDs#Mode_01).
float decoder_t::decode_obd2_response(const DiagnosticResponse* response, float parsed_payload)
{
return diagnostic_decode_obd2_pid(response);
-}
\ No newline at end of file
+}
Code Review / apps / agl-service-can-low-level.git / blobdiff