Addind missing library

[apps/agl-service-can-low-level.git] / src / can_decode_message.cpp

diff --git a/src/can_decode_message.cpp b/src/can_decode_message.cpp
index e8eec0b..7e20f88 100644 (file)
--- a/src/can_decode_message.cpp
+++ b/src/can_decode_message.cpp
@@ -19,59 +19,152 @@
 #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-decoder.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;
-       int i;
-       std:vector <CanSignal> *signals;
-       CanSignal sig;
-       openxc_VehicleMessage vehicle_message;
-       openxc_SimpleMessage s_message;
-       openxc_DynamicField key, ret;
-       Decoder_c decoder();
+       char string[100];
+       double numeric_value;
+       bool boolean_value;
+};
 
-       vehicle_message = {.has_type = true,
-                                         .type = openxc_VehicleMessage_Type::openxc_VehicleMessage_Type_SIMPLE,
-                                         .has_simple_message = true };
+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_message = can_bus->next_can_message())
+               if(can_message = can_bus.next_can_message())
                {
                        /* First we have to found which CanSignal is */
-                       key = { .has_type = true,
-                                       .type = openxc_DynamicField_Type::openxc_DynamicField_Type_NUM,
-                                       .has_numeric_value = true,
-                                       .numeric_value = (double)can_message.get_id() };
-
-                       signals = GetSignals(key);
+                       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(i=0; i< signals.size(); i++)
-                       {
-                               sig = signals.back();
-                               if(afb_event_is_valid(sig->event))
+                       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 = {.has_name = true,
-                                                                       .name = sig->genericName,
-                                                                       .has_value = true,
-                                                                       .value = ret
-                                                               };
+                                       s_message = build_SimpleMessage(sig.genericName, ret);
                                                
-                                       vehicle_message.simple_message = s_message;
+                                       vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message);
                                        vehicle_message_q.push(vehicle_message);
                                }
-                                       signals.pop_back();
                        }
                }
        }
+}
+
+/*
+ * 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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