#pragma once
+#include <map>
+#include <mutex>
#include <queue>
-#include <string>
#include <vector>
-#include <fnmatch.h>
-#include <linux/can.h>
+#include <string>
-#include "can-utils.hpp"
-#include "low-can-binding.hpp"
+#include "obd2-signals.hpp"
+#include "timer.hpp"
+#include "openxc.pb.h"
+#include "can-bus.hpp"
+#include "can-message.hpp"
extern "C"
{
+ #include <afb/afb-binding.h>
#include <afb/afb-event-itf.h>
}
#define MESSAGE_SET_ID 0
-/** Can signal event map making access to afb_event
- * external to openxc existing structure.
- */
-static std::map<std::string, struct afb_event> subscribed_signals;
-static std::map<std::string, struct afb_event>::iterator subscribed_signals_i;
+extern std::mutex subscribed_signals_mutex;
+std::mutex& get_subscribed_signals_mutex();
/**
- * @brief Dumb SIGNALS array. It is composed by CanMessageSet
- * SIGNALS[MESSAGE_SET_ID][CanSignal]
+ * @brief return the subscribed_signals map.
+ *
+ * return std::map<std::string, struct afb_event> - map of subscribed signals.
*/
-std::vector<std::vector<CanSignal>> SIGNALS {
- { // message set: example
- }
-};
+extern std::map<std::string, struct afb_event> subscribed_signals;
+std::map<std::string, struct afb_event>& get_subscribed_signals();
-/** Public: Return the currently active CAN configuration. */
-CanMessageSet* getActiveMessageSet();
-
-/** Public: Retrive a list of all possible CAN configurations.
+/**
+ * @brief The type signature for a CAN signal decoder.
*
- * Returns a pointer to an array of all configurations.
- */
-CanMessageSet* getMessageSets();
-
-/** Public: Return the length of the array returned by getMessageSets() */
-int getMessageSetCount();
-
-/* Public: Return the number of CAN buses configured in the active
- * configuration. This is limited to 2, as the hardware controller only has 2
- * CAN channels.
+ * @desc A SignalDecoder transforms a raw floating point CAN signal into a number,
+ * string or boolean.
+ *
+ * @param[in] CanSignal signal - The CAN signal that we are decoding.
+ * @param[in] CanSignal signals - The list of all signals.
+ * @param[in] int signalCount - The length of the signals array.
+ * @param[in] float value - The CAN signal parsed from the message as a raw floating point
+ * value.
+ * @param[out] bool 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.
+ *
+ * @return a decoded value in an openxc_DynamicField struct.
*/
-int getCanBusCount();
+typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal& signal,
+ const std::vector<CanSignal>& signals, float value, bool* send);
-/* Public: Return an array of all CAN messages to be processed in the active
- * configuration.
+/**
+ * @brief: The type signature for a CAN signal encoder.
+ *
+ * @desc A SignalEncoder transforms a number, string or boolean into a raw floating
+ * point value that fits in the CAN signal.
+ *
+ * @params[signal] - The CAN signal to encode.
+ * @params[value] - The dynamic field to encode.
+ * @params[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.
*/
-CanMessageDefinition* getMessages();
+typedef uint64_t (*SignalEncoder)(struct CanSignal* signal,
+ openxc_DynamicField* value, bool* send);
-/* Public: Return signals from an signals array filtered on name.
+/**
+ * @struct CanSignalState
+ *
+ * @brief A state encoded (SED) signal's mapping from numerical values to
+ * OpenXC state names.
*/
-CanSignal* getSignals(std::string name);
+struct CanSignalState {
+ const int value; /*!< int value - The integer value of the state on the CAN bus.*/
+ const char* name; /*!< char* name - The corresponding string name for the state in OpenXC. */
+};
+typedef struct CanSignalState CanSignalState;
-/* Public: Return an array of all OpenXC CAN commands enabled in the active
- * configuration that can write back to CAN with a custom handler.
+/**
+ * @struct CanSignal
*
- * * Commands not defined here are handled using a 1-1 mapping from the signals
- * list.
- * */
-CanCommand* getCommands();
+ * @brief A CAN signal to decode from the bus and output over USB.
+ */
+struct CanSignal {
+ struct CanMessageDefinition* message; /*!< message - The message this signal is a part of. */
+ const char* generic_name; /*!< generic_name - The name of the signal to be output over USB.*/
+ uint8_t bitPosition; /*!< 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 bitSize; /*!< bitSize - 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. */
+ float offset; /*!< offset - The final value will be added to this offset. Use 0 if you
+ * don't need an offset. */
+ float minValue; /*!< minValue - The minimum value for the processed signal.*/
+ float maxValue; /*!< maxValue - The maximum value for the processed signal. */
+ FrequencyClock frequencyClock; /*!< frequencyClock - A FrequencyClock struct to control the maximum frequency to
+ * process and send this signal. To process every value, set the
+ * clock's frequency to 0. */
+ bool sendSame; /*!< sendSame - If true, will re-send even if the value hasn't changed.*/
+ bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send the
+ * value if it has changed. */
+ const CanSignalState* states; /*!< states - An array of CanSignalState describing the mapping
+ * between numerical and string values for valid states. */
+ uint8_t stateCount; /*!< stateCount - The length of the states array. */
+ 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. */
+ bool received; /*!< received - True if this signal has ever been received.*/
+ float lastValue; /*!< lastValue - The last received value of the signal. If 'received' is false,
+ * this value is undefined. */
+};
+typedef struct CanSignal CanSignal;
-/* Public: Return the length of the array returned by getCommandCount(). */
-int getCommandCount();
+std::vector<CanSignal>& get_can_signals();
-/* Public: Return the length of the array returned by getSignals(). */
size_t getSignalCount();
-/* Public: Return the length of the array returned by getMessages(). */
-int getMessageCount();
-
-/**
- * @brief Return an array of the metadata for the 2 CAN buses you want to
- * monitor. The size of this array is fixed at 2.
- */
-CanBus* getCanBuses();
-
-/**
- * @brief Find one or many signals based on its name or id
- * passed through openxc_DynamicField.
- *
- * params[openxc_DynamicField&] - a const reference with the key to search into signal.
- * Key is either a signal name or its CAN arbitration id.
- *
- * return[std::vector<std::string>] return found CanSignal generic name vector.
- */
-std::vector<CanSignal> find_can_signals(const openxc_DynamicField &key);
+void find_can_signals(const openxc_DynamicField &key, std::vector<CanSignal*>& found_signals);
-uint32_t get_CanSignal_id(const CanSignal& sig)
-{
- return sig.message->id;
-}
\ No newline at end of file
+uint32_t get_signal_id(const CanSignal& sig);
\ No newline at end of file
Code Review / apps / agl-service-can-low-level.git / blobdiff