* limitations under the License.
*/
-#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 "openxc.pb.h"
-
-union DynamicField
-{
- char string[100];
- double numeric_value;
- bool boolean_value;
-};
+#include "can_decode_message.hpp"
void can_decode_message(can_bus_t &can_bus)
{
- can_message_t *can_message;
- std:vector <CanSignal> signals;
- std:vector <CanSignal>::iterator signals_i;
+ can_message_t can_message(can_bus.interface_) ;
+ std::vector <CanSignal> signals;
+ std::vector <CanSignal>::iterator signals_i;
openxc_VehicleMessage vehicle_message;
openxc_DynamicField search_key, ret;
-
- decoder_t decoder();
+ bool send = true;
+ decoder_t decoder;
- while(true)
+ while(can_bus.has_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)
-
- signals = find_signals(search_key);
+ can_message = can_bus.next_can_message();
+
+ /* First we have to found which CanSignal is */
+ search_key = build_DynamicField((double)can_message.get_id());
+ signals = find_can_signals(can_bus.interface_, search_key);
+
+ /* Decoding the message ! Don't kill the messenger ! */
+ for(const auto& sig : signals)
+ {
+ std::map<std::string, struct afb_event> subscribed_signals = get_subscribed_signals();
+ const auto& it_event = subscribed_signals.find(sig.genericName);
- /* Decoding the message ! Don't kill the messenger ! */
- for(signals_i=signals.begin(); signal_i != signals.end(); signals_i++)
+ if(it_event != subscribed_signals.end() &&
+ afb_event_is_valid(it_event->second))
{
- subscribed_signals_i = subscribed_signals.find(signals_i);
-
- 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);
+
+ openxc_SimpleMessage s_message = build_SimpleMessage(sig.genericName, ret);
- s_message = build_SimpleMessage(subscribed_signals_i->first->genericName, ret);
-
- vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message);
- vehicle_message_q.push(vehicle_message);
- }
+ vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message);
+ can_bus.push_new_vehicle_message(vehicle_message);
}
}
}
}
-
-/*
- * Build a specific VehicleMessage containing a SimpleMessage.
- */
-openxc_VehicleMessage build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type type,
- openxc_SimpleMessage message)
-{
- struct timeb t_msec;
- long long int timestamp_msec;
- 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};
- }
-
- return openxc_VehicleMessage v = {.has_type = true,
- .type = openxc_VehicleMessage_Type::openxc_VehicleMessage_Type_SIMPLE,
- .has_simple_message = true,
- .simple_message = message};
-}
-
-/*
- * Build an openxc_SimpleMessage associating a name to an openxc_DynamicField
- */
-openxc_SimpleMessage build_SimpleMessage(std:string name, openxc_DynamicField value)
-{
- return openxc_SimpleMessage s = {.has_name = true,
- .name = name,
- .has_value = true,
- .value = value};
-}
-
-
-}
-
-/*
- * Build an openxc_DynamicField using its type and an union.
- * Why do not use of union in first place anyway...
- */
-openxc_DynamicField build_DynamicField(openxc_DynamicField_Type type, DynamicField field)
-{
- openxc_DynamicField d = {.has_type = true,
- .type = type};
-
- 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;
- }
-
- return d;
-}
\ No newline at end of file