#include <afb/afb-binding.h>
-#include "can-utils.h"
-#include "can-decoder.h"
+#include "can-utils.hpp"
+#include "can-decoder.hpp"
#include "openxc.pb.h"
union DynamicField
{
- std::char string[100];
- std::double numeric_value;
- std::bool boolean_value;
+ char string[100];
+ double numeric_value;
+ bool boolean_value;
};
-void can_decode_message(can_bus_t *can_bus)
+void can_decode_message(can_bus_t &can_bus)
{
- can_message_t *can_message;
- std:vector <CanSignal> *signals;
+ can_message_t can_message;
+ std:vector <CanSignal> signals;
std:vector <CanSignal>::iterator signals_i;
openxc_VehicleMessage vehicle_message;
openxc_DynamicField search_key, ret;
+ bool send = true;
- Decoder_c decoder();
-
+ decoder_t decoder();
while(true)
{
- if(can_message = can_bus->next_can_message())
+ if(can_message = can_bus.next_can_message())
{
/* First we have to found which CanSignal is */
- DynamicField signal_id = (double)can_message.get_id();
- search_key = build_DynamicField(openxc_DynamicField_Type_NUM, signal_id)
+ search_key = build_DynamicField(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, (double)can_message.get_id())
- signals = find_signals(search_key);
+ signals = find_can_signals(search_key);
/* Decoding the message ! Don't kill the messenger ! */
- for(signals_i=signals.begin(); signal_i != signals.end(); signals_i++)
- {
- subscribed_signals_i = subscribed_signals.find(signals_i);
+ for(const auto& sig : signals)
+ {
+ subscribed_signals_i = subscribed_signals.find(sig);
if(subscribed_signals_i != subscribed_signals.end() &&
afb_event_is_valid(subscribed_signals_i->second))
{
- ret = decoder.decodeSignal(&sig, can_message, SIGNALS, SIGNALS.size(), true);
+ ret = decoder.decodeSignal(sig, can_message, getSignals(), &send);
- s_message = build_SimpleMessage(subscribed_signals_i->first->genericName, ret);
+ s_message = build_SimpleMessage(sig.genericName, ret);
vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message);
vehicle_message_q.push(vehicle_message);
* Build a specific VehicleMessage containing a SimpleMessage.
*/
openxc_VehicleMessage build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type type,
- openxc_SimpleMessage message)
+ const openxc_SimpleMessage& message)
{
struct timeb t_msec;
long long int timestamp_msec;
+
+ openxc_VehicleMessage v = {0};
+
if(!ftime(&t_msec))
{
timestamp_msec = ((long long int) t_msec.time) * 1000ll +
(long long int) t_msec.millitm;
- return openxc_VehicleMessage v = {.has_type = true,
- .type = openxc_VehicleMessage_Type::openxc_VehicleMessage_Type_SIMPLE,
- .has_simple_message = true,
- .simple_message = message,
- .has_timestamp = true,
- .timestamp = timestamp_msec};
+ v.has_type = true:
+ v.type = openxc_VehicleMessage_Type::openxc_VehicleMessage_Type_SIMPLE;
+ v.has_simple_message = true;
+ v.simple_message = message;
+ v.has_timestamp = true;
+ v.timestamp = timestamp_msec;
+
+ return v;
}
- return openxc_VehicleMessage v = {.has_type = true,
- .type = openxc_VehicleMessage_Type::openxc_VehicleMessage_Type_SIMPLE,
- .has_simple_message = true,
- .simple_message = message};
+ v.has_type = true,
+ v.type = openxc_VehicleMessage_Type::openxc_VehicleMessage_Type_SIMPLE;
+ v.has_simple_message = true;
+ v.simple_message = message;
+
+ return v;
}
/*
* Build an openxc_SimpleMessage associating a name to an openxc_DynamicField
*/
-openxc_SimpleMessage build_SimpleMessage(std:string name, openxc_DynamicField value)
+openxc_SimpleMessage build_SimpleMessage(const std::string& name, const openxc_DynamicField& value)
{
- return openxc_SimpleMessage s = {.has_name = true,
- .name = name,
- .has_value = true,
- .value = value};
+
+ openxc_SimpleMessage s = {0};
+
+ s.has_name = true;
+ ::strncpy(s.name, name.c_str(), 100);
+ s.has_value = true;
+ s.value = value;
+
+ return s;
}
-
+/*
+ * Build an openxc_DynamicField depending what we pass as argument
+ */
+openxc_DynamicField build_DynamicField(const std::string& value)
+{
+ openxc_DynamicField d = {0}
+ d.has_type = true;
+ d.type = openxc_DynamicField_Type_STRING;
+
+ d.has_string_value = true;
+ ::strncpy(d.string_value, value.c_tr(), 100);
+
+ return d;
}
/*
- * Build an openxc_DynamicField using its type and an union.
- * Why do not use of union in first place anyway...
+ * Build an openxc_DynamicField depending what we pass as argument
*/
-openxc_DynamicField build_DynamicField(openxc_DynamicField_Type type, DynamicField field)
+openxc_DynamicField build_DynamicField(double value)
{
- openxc_DynamicField d = {.has_type = true,
- .type = type};
+ openxc_DynamicField d = {0}
+ d.has_type = true;
+ d.type = openxc_DynamicField_Type_NUM;
- switch(type)
- {
- case openxc_DynamicField_Type_BOOL:
- d.has_boolean_value = true;
- d.boolean_value = field;
- break;
- case openxc_DynamicField_Type_NUM:
- d.has_numeric_value = true;
- d.numeric_value = field;
- break;
- case openxc_DynamicField_Type_STRING:
- d.has_string_value = true;
- strcpy(d.string_value, field);
- break;
- default:
- return nullptr;
- }
+ d.has_numeric_value = true;
+ d.numeric_value = field;
+
+ return d;
+}
+/*
+ * Build an openxc_DynamicField depending what we pass as argument
+ */
+openxc_DynamicField build_DynamicField(bool value)
+{
+ openxc_DynamicField d = {0}
+ d.has_type = true;
+ d.type = openxc_DynamicField_Type_BOOL;
+
+ d.has_boolean_value = true;
+ d.boolean_value = field;
+
return d;
}
\ No newline at end of file
Code Review / apps / agl-service-can-low-level.git / blobdiff