#include <map>
#include <mutex>
-#include <queue>
#include <vector>
#include <string>
+#include <memory>
#include "openxc.pb.h"
+#include "can-message-definition.hpp"
#include "../utils/timer.hpp"
-#include "can-bus.hpp"
+#include "../utils/socketcan-bcm.hpp"
#include "can-message.hpp"
-#include "can-message-definition.hpp"
#include "../diagnostic/diagnostic-message.hpp"
-extern "C"
-{
- #include <afb/afb-binding.h>
- #include <afb/afb-event-itf.h>
-}
-
#define MESSAGE_SET_ID 0
class can_signal_t;
-
///
/// @brief The type signature for a CAN signal decoder.
///
-/// A SignalDecoder transforms a raw floating point CAN signal into a number,
+/// A signal_decoder transforms a raw floating point CAN signal into a number,
/// string or boolean.
///
/// @param[in] signal - The CAN signal that we are decoding.
-/// @param[in] signals - The list of all signals.
/// @param[in] signalCount - The length of the signals array.
/// @param[in] value - The CAN signal parsed from the message as a raw floating point
/// value.
-/// @param[out] send - An output parameter. If the decoding failed or the CAN signal should
-/// not send for some other reason, this should be flipped to false.
+/// @param[out] send - An output parameter. If decoding fails or CAN signal is
+/// not sending, this should be flipped to false.
///
/// @return a decoded value in an openxc_DynamicField struct.
///
-typedef openxc_DynamicField (*SignalDecoder)(can_signal_t& signal,
- const std::vector<can_signal_t>& signals, float value, bool* send);
+typedef openxc_DynamicField (*signal_decoder)(can_signal_t& signal, float value, bool* send);
///
/// @brief: The type signature for a CAN signal encoder.
///
-/// A SignalEncoder transforms a number, string or boolean into a raw floating
+/// A signal_encoder transforms a number, string or boolean into a raw floating
/// point value that fits in the CAN signal.
///
-/// @param[in] signal - The CAN signal to encode.
+/// @param[in] signal - The CAN signal to encode.
/// @param[in] value - The dynamic field to encode.
/// @param[out] send - An output parameter. If the encoding failed or the CAN signal should
/// not be encoded for some other reason, this will be flipped to false.
///
-typedef uint64_t (*SignalEncoder)(can_signal_t* signal,
- openxc_DynamicField* value, bool* send);
+typedef uint64_t (*signal_encoder)(can_signal_t& signal,
+ const openxc_DynamicField& field, bool* send);
class can_signal_t
{
private:
- std::uint8_t message_set_id_;
- std::uint8_t message_id_;
+ can_message_definition_t* parent_; /*!< parent_ - pointer to the parent message definition holding this signal*/
std::string generic_name_; /*!< generic_name_ - The name of the signal to be output.*/
static std::string prefix_; /*!< prefix_ - generic_name_ will be prefixed with it. It has to reflect the used protocol.
- * which make easier to sort message when the come in.*/
+ * which make easier to sort message when the come in.*/
uint8_t bit_position_; /*!< bitPosition_ - The starting bit of the signal in its CAN message (assuming
- * non-inverted bit numbering, i.e. the most significant bit of
- * each byte is 0) */
- uint8_t bit_size_; /*!< bitSize_ - The width of the bit field in the CAN message. */
+ * non-inverted bit numbering, i.e. the most significant bit of
+ * each byte is 0) */
+ uint8_t bit_size_; /*!< bit_size_ - The width of the bit field in the CAN message. */
float factor_; /*!< factor_ - The final value will be multiplied by this factor. Use 1 if you
- * don't need a factor. */
+ * don't need a factor. */
float offset_; /*!< offset_ - The final value will be added to this offset. Use 0 if you
- * don't need an offset. */
+ * don't need an offset. */
float min_value_; /*!< min_value_ - The minimum value for the processed signal.*/
float max_value_; /*!< max_value_ - The maximum value for the processed signal. */
frequency_clock_t frequency_; /*!< frequency_ - A frequency_clock_t struct to control the maximum frequency to
- * process and send this signal. To process every value, set the
- * clock's frequency to 0. */
+ * process and send this signal. To process every value, set the
+ * clock's frequency to 0. */
bool send_same_; /*!< send_same_ - If true, will re-send even if the value hasn't changed.*/
bool force_send_changed_; /*!< force_send_changed_ - If true, regardless of the frequency, it will send the
- * value if it has changed. */
+ * value if it has changed. */
std::map<uint8_t, std::string> states_; /*!< states_ - A map of CAN signal state describing the mapping
- * between numerical and string values for valid states. */
+ * between numerical and string values for valid states. */
bool writable_; /*!< writable - True if the signal is allowed to be written from the USB host
- * back to CAN. Defaults to false.*/
- SignalDecoder decoder_; /*!< decoder_ - An optional function to decode a signal from the bus to a human
- * readable value. If NULL, the default numerical decoder is used. */
- SignalEncoder encoder_; /*!< encoder_ - An optional function to encode a signal value to be written to
- * CAN into a byte array. If NULL, the default numerical encoder
- * is used. */
+ * back to CAN. Defaults to false.*/
+ signal_decoder decoder_; /*!< decoder_ - An optional function to decode a signal from the bus to a human
+ * readable value. If NULL, the default numerical decoder is used. */
+ signal_encoder encoder_; /*!< encoder_ - An optional function to encode a signal value to be written to
+ * CAN into a byte array. If NULL, the default numerical encoder
+ * is used. */
bool received_; /*!< received_ - True if this signal has ever been received.*/
float last_value_; /*!< lastValue_ - The last received value of the signal. If 'received' is false,
- * this value is undefined. */
+ * this value is undefined. */
public:
can_signal_t(
- std::uint8_t message_set_id,
- std::uint8_t message_id,
std::string generic_name,
uint8_t bit_position,
uint8_t bit_size,
bool force_send_changed,
std::map<uint8_t, std::string> states,
bool writable,
- SignalDecoder decoder,
- SignalEncoder encoder,
+ signal_decoder decoder,
+ signal_encoder encoder,
bool received);
- const can_message_definition_t& get_message() const;
- const std::string& get_generic_name() const;
+ can_message_definition_t* get_message() const;
+ const std::string get_generic_name() const;
const std::string get_name() const;
- const std::string& get_prefix() const;
uint8_t get_bit_position() const;
uint8_t get_bit_size() const;
float get_factor() const;
float get_offset() const;
- float get_min_value() const;
- float get_max_value() const;
frequency_clock_t& get_frequency();
bool get_send_same() const;
- bool get_force_send_changed() const;
- const std::map<uint8_t, std::string>& get_states() const;
const std::string get_states(uint8_t value);
- size_t get_state_count() const;
+ uint64_t get_states(const std::string& value) const;
bool get_writable() const;
- SignalDecoder& get_decoder();
- SignalEncoder& get_encoder();
+ signal_decoder& get_decoder();
+ signal_encoder& get_encoder();
bool get_received() const;
float get_last_value() const;
+ std::pair<float, uint64_t> get_last_value_with_timestamp() const;
- void set_prefix(std::string val);
+ void set_parent(can_message_definition_t* parent);
void set_received(bool r);
void set_last_value(float val);
-};
\ No newline at end of file
+ void set_timestamp(uint64_t timestamp);
+};
Code Review / apps / agl-service-can-low-level.git / blobdiff