#include <linux/can.h>
#include <linux/can/raw.h>
#include <queue>
+#include <sys/timeb.h>
#include <afb/afb-binding.h>
-#include "can-utils.h"
+#include "can-utils.hpp"
+#include "can-decoder.hpp"
#include "openxc.pb.h"
-void can_decode_message(CanBus_c *can_bus)
+union DynamicField
{
- CanMessage_c can_message;
+ char string[100];
+ double numeric_value;
+ bool boolean_value;
+};
+
+void can_decode_message(can_bus_t &can_bus)
+{
+ 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_t decoder();
while(true)
{
- if(! can_bus->can_message_q.empty())
+ if(can_message = can_bus.next_can_message())
{
- can_message = can_bus->can_message_q.front();
- can_bus->can_message_q.pop();
+ /* First we have to found which CanSignal is */
+ search_key = build_DynamicField(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, (double)can_message.get_id())
+
+ signals = find_can_signals(search_key);
+
+ /* Decoding the message ! Don't kill the messenger ! */
+ 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, getSignals(), &send);
+
+ 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,
+ 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;
+
+ 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;
+ }
+
+ 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(const std::string& name, const openxc_DynamicField& 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 depending what we pass as argument
+ */
+openxc_DynamicField build_DynamicField(double value)
+{
+ openxc_DynamicField d = {0}
+ d.has_type = true;
+ d.type = openxc_DynamicField_Type_NUM;
+
+ 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;
}
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