X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=CAN-binder%2Flow-can-binding%2Fcan%2Fcan-decoder.cpp;h=aa1f57edbdef24cc38a16a8aeb6ab73ea1c6b0e2;hb=e4a50a3e96aa39346ad7212cae984524276973dd;hp=902484e5a0dd619f8f0edb0046a1de4934934ab1;hpb=0b4dccf94a2a6b1ff4f5dc233b0ce0977927096d;p=apps%2Fagl-service-can-low-level.git

diff --git a/CAN-binder/low-can-binding/can/can-decoder.cpp b/CAN-binder/low-can-binding/can/can-decoder.cpp
index 902484e5..aa1f57ed 100644
--- a/CAN-binder/low-can-binding/can/can-decoder.cpp
+++ b/CAN-binder/low-can-binding/can/can-decoder.cpp
@@ -19,8 +19,8 @@
 
 #include "canutil/read.h"
 #include "../utils/openxc-utils.hpp"
-
-#include "../low-can-binding.hpp"
+#include "can-message-definition.hpp"
+#include "../binding/low-can-hat.hpp"
 
 /// @brief Parse the signal's bitfield from the given data and return the raw
 /// value.
@@ -54,7 +54,7 @@ float decoder_t::parseSignalBitfield(can_signal_t& signal, const can_message_t&
 /// always succeeds.
 ///
 openxc_DynamicField decoder_t::noopDecoder(can_signal_t& signal,
-		const std::vector<can_signal_t>& signals, float value, bool* send)
+		const std::vector<std::shared_ptr<can_signal_t> > signals, float value, bool* send)
 {
 	openxc_DynamicField decoded_value = build_DynamicField(value);
 
@@ -76,7 +76,7 @@ openxc_DynamicField decoder_t::noopDecoder(can_signal_t& signal,
 /// decoder always succeeds.
 ///
 openxc_DynamicField decoder_t::booleanDecoder(can_signal_t& signal,
-		const std::vector<can_signal_t>& signals, float value, bool* send)
+		const std::vector<std::shared_ptr<can_signal_t> > signals, float value, bool* send)
 {
 	openxc_DynamicField decoded_value = build_DynamicField(value == 0.0 ? false : true);
 
@@ -98,7 +98,7 @@ openxc_DynamicField decoder_t::booleanDecoder(can_signal_t& signal,
 /// @return Return value is undefined.
 ///
 openxc_DynamicField decoder_t::ignoreDecoder(can_signal_t& signal,
-		const std::vector<can_signal_t>& signals, float value, bool* send)
+		const std::vector<std::shared_ptr<can_signal_t> > signals, float value, bool* send)
 {
 	if(send)
 	  *send = false;
@@ -125,7 +125,7 @@ openxc_DynamicField decoder_t::ignoreDecoder(can_signal_t& signal,
 /// return value is undefined.
 ///
 openxc_DynamicField decoder_t::stateDecoder(can_signal_t& signal,
-		const std::vector<can_signal_t>& signals, float value, bool* send)
+		const std::vector<std::shared_ptr<can_signal_t> > signals, float value, bool* send)
 {
 	const std::string signal_state = signal.get_states((uint8_t)value);
 	openxc_DynamicField decoded_value = build_DynamicField(signal_state);
@@ -147,24 +147,33 @@ openxc_DynamicField decoder_t::stateDecoder(can_signal_t& signal,
 /// @param[in] signal - The details of the signal to decode and forward.
 /// @param[in] message - The received CAN message that should contain this signal.
 /// @param[in] signals - an array of all active signals.
+/// @param[out] send - An output parameter that will be flipped to false if the value could
+///      not be decoded.
 ///
 /// The decoder returns an openxc_DynamicField, which may contain a number,
 /// string or boolean.
 ///
-openxc_DynamicField decoder_t::translateSignal(can_signal_t& signal, can_message_t& message,
-	const std::vector<can_signal_t>& signals)
+openxc_DynamicField decoder_t::translateSignal(can_signal_t& signal, const can_message_t& message,
+	const std::vector<std::shared_ptr<can_signal_t> > signals, bool* send)
 {
 	float value = decoder_t::parseSignalBitfield(signal, message);
 	DEBUG(binder_interface, "%s: Decoded message from parseSignalBitfield: %f", __FUNCTION__, value);
 
-	bool send = true;
 	// Must call the decoders every time, regardless of if we are going to
 	// decide to send the signal or not.
 	openxc_DynamicField decoded_value = decoder_t::decodeSignal(signal,
-			value, signals, &send);
+			value, signals, send);
 
 	signal.set_received(true);
+
+	// Don't send if they is no changes
+	if ((signal.get_last_value() == value && !signal.get_send_same()) || !send )
+	{
+		*send = false;
+	}
 	signal.set_last_value(value);
+	signal.set_timestamp(message.get_timestamp());
+	signal.get_message()->set_last_value(message);
 	return decoded_value;
 }
 
@@ -184,7 +193,7 @@ openxc_DynamicField decoder_t::translateSignal(can_signal_t& signal, can_message
 /// string or boolean. If 'send' is false, the return value is undefined.
 ///
 openxc_DynamicField decoder_t::decodeSignal( can_signal_t& signal,
-		float value, const std::vector<can_signal_t>& signals, bool* send)
+		float value, const std::vector<std::shared_ptr<can_signal_t> > signals, bool* send)
 {
 	SignalDecoder decoder = signal.get_decoder() == nullptr ?
 							noopDecoder : signal.get_decoder();
@@ -207,7 +216,7 @@ openxc_DynamicField decoder_t::decodeSignal( can_signal_t& signal,
 ///      not be decoded.
 ///
 openxc_DynamicField decoder_t::decodeSignal( can_signal_t& signal,
-		const can_message_t& message, const std::vector<can_signal_t>& signals, bool* send)
+		const can_message_t& message, const std::vector<std::shared_ptr<can_signal_t> > signals, bool* send)
 {
 	float value = parseSignalBitfield(signal, message);
 	return decodeSignal(signal, value, signals, send);