#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
+{
+ std::char string[100];
+ std::double numeric_value;
+ std::bool boolean_value;
+};
+
void can_decode_message(CanBus_c *can_bus)
{
- CanMessage_c can_message;
+ CanMessage_c *can_message;
+ std:vector <CanSignal> *signals;
+ std:vector <CanSignal>::iterator signals_i;
+ openxc_VehicleMessage vehicle_message;
+ openxc_DynamicField search_key, ret;
+
+ Decoder_c 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 */
+ DynamicField signal_id = (double)can_message.get_id();
+ search_key = build_DynamicField(openxc_DynamicField_Type_NUM, signal_id)
+
+ signals = find_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);
+
+ 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);
+
+ 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);
+ }
+ }
}
}
+}
+
+/*
+ * 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;
}
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