X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fcan%2Fcan-decoder.cpp;h=0e64cccd1d4617c416a00ebfb904b9466b808016;hb=0ff6413b6dc42849f87ce8caa17a91f44ede2f93;hp=b77e13eda33410c9e115c4e8fab52ec2093e954a;hpb=c16ccc9d6a1de5406ba0e74f757403ac7553b6a8;p=apps%2Fagl-service-can-low-level.git diff --git a/low-can-binding/can/can-decoder.cpp b/low-can-binding/can/can-decoder.cpp index b77e13ed..0e64cccd 100644 --- a/low-can-binding/can/can-decoder.cpp +++ b/low-can-binding/can/can-decoder.cpp @@ -19,33 +19,183 @@ #include "canutil/read.h" #include "../utils/openxc-utils.hpp" -#include "can-message-definition.hpp" +#include "message-definition.hpp" #include "../binding/low-can-hat.hpp" +#include "../utils/converter.hpp" -/// @brief Parse the signal's bitfield from the given data and return the raw +/// @brief Handle sign of the signal according to several decoding methods +/// +/// @param[in] signal - The signal +/// @param[in] data_signal - The data of the signal +/// @param[in] new_end_bit - The last bit of in the last byte of the data (data_signal[0]) +/// @param[in] can_data - The whole can data (needed for SIGN BIT EXTERN) +/// +/// @return Returns the sign of the data +/// +int decoder_t::handle_sign(const signal_t& signal, std::vector& data_signal, uint8_t new_end_bit, const std::vector& can_data) +{ + uint8_t data_byte = 0; + uint8_t mask = 0; + int end_bit = 0; + + if(signal.get_sign() == sign_t::UNSIGNED) + return 1; + else if(signal.get_sign() == sign_t::SIGN_BIT_EXTERN) { + end_bit = signal.get_bit_sign_position()%8; + mask = static_cast((1 << (end_bit + 1)) - 1); + data_byte = can_data[signal.get_bit_sign_position()/8] & mask; + } + else { + end_bit = new_end_bit; + mask = static_cast((1 << (end_bit + 1)) - 1); + data_byte = data_signal[0] & mask; + } + + //if negative: decode with right method + if(data_byte >> end_bit) { + switch(signal.get_sign()) + { + //remove the sign bit to get the absolute value + case sign_t::SIGN_BIT: + data_signal[0] = static_cast(data_signal[0] & (mask >> 1)); + break; + //same method twos complement = ones complement + 1 + case sign_t::ONES_COMPLEMENT: + case sign_t::TWOS_COMPLEMENT: + //complement only until end_bit + data_signal[0] = ((data_signal[0] ^ mask) & mask); + if(data_signal.size() > 1) { + for(int i=1; i < data_signal.size(); i++) { + data_signal[i] = data_signal[i] ^ 0xFF; + } + } + if(signal.get_sign() == sign_t::TWOS_COMPLEMENT) + data_signal[data_signal.size() - 1] = static_cast(data_signal[data_signal.size() - 1] + 1); + break; + case sign_t::SIGN_BIT_EXTERN: + break; + default: + AFB_ERROR("Not a valid sign entry %d, considering the value as unsigned", signal.get_sign()); + break; + } + return -1; + } + return 1; +} + +/// @brief Parses the signal's bitfield from the given data and returns the raw /// value. /// -/// @param[in] signal - The signal to parse from the data. -/// @param[in] message - can_message_t to parse +/// @param[in] signal - The signal to be parsed from the data. +/// @param[in] message - message_t to parse /// /// @return Returns the raw value of the signal parsed as a bitfield from the given byte /// array. /// -float decoder_t::parseSignalBitfield(can_signal_t& signal, const can_message_t& message) +float decoder_t::parse_signal_bitfield(signal_t& signal, std::shared_ptr message) { - return bitfield_parse_float(message.get_data(), CAN_MESSAGE_SIZE, - signal.get_bit_position(), signal.get_bit_size(), signal.get_factor(), + const std::vector data = message->get_data_vector(); + std::vector data_signal; + uint8_t bit_size = (uint8_t) signal.get_bit_size(); + uint32_t bit_position = signal.get_bit_position(); + + if(!signal.get_message()->frame_layout_is_little()) + { + bit_position = converter_t::bit_position_swap(message->get_length(), + signal.get_bit_position(), + signal.get_bit_size()); + message->frame_swap(); + } + + int new_start_byte = 0; + int new_end_byte = 0; + uint8_t new_start_bit = 0; + uint8_t new_end_bit = 0; + + converter_t::signal_to_bits_bytes(bit_position, bit_size, new_start_byte, new_end_byte, new_start_bit, new_end_bit); + + for(int i=new_start_byte;i<=new_end_byte;i++) + data_signal.push_back(data[i]); + + int sign = decoder_t::handle_sign(signal, data_signal, new_end_bit, data); + + if(data_signal.size() > 65535) + AFB_ERROR("Too long data signal %s", signal.get_name().c_str()); + + return static_cast(sign) * bitfield_parse_float(data_signal.data(), (uint16_t) data_signal.size(), + new_start_bit, bit_size, signal.get_factor(), signal.get_offset()); } -/// @brief Wrap a raw CAN signal value in a DynamicField without modification. + +/// @brief Decode and return string bytes (hex) for a CAN signal's. +/// +/// This is an implementation of the Signal type signature, and can be +/// used directly in the signal_t.decoder field. +/// +/// @param[in] signal - The details of the signal. +/// @param[in] message - The message with data to decode. +/// @param[out] send - An output argument that will be set to false if the value should +/// not be sent for any reason. /// -/// This is an implementation of the SignalDecoder type signature, and can be -/// used directly in the can_signal_t.decoder field. +/// @return Returns a DynamicField with a string value of bytes (hex) +/// +openxc_DynamicField decoder_t::decode_bytes(signal_t& signal, std::shared_ptr message, bool* send) +{ + int i=0; + openxc_DynamicField decoded_value; + std::vector data = message->get_data_vector(); + uint32_t length = message->get_length(); + uint32_t bit_position = signal.get_bit_position(); + uint32_t bit_size = signal.get_bit_size(); + + std::vector new_data = std::vector(); + new_data.reserve((bit_size / 8) + 1); + + int new_start_byte = 0; + int new_end_byte = 0; + uint8_t new_start_bit = 0; + uint8_t new_end_bit = 0; + + converter_t::signal_to_bits_bytes(bit_position, bit_size, new_start_byte, new_end_byte, new_start_bit, new_end_bit); + + if(new_end_byte >= length) + new_end_byte = length-1; + + if(new_start_byte >= length) + { + AFB_ERROR("Error in signal's description"); + return decoded_value; + } + + uint8_t mask_first_v = static_cast(0xFF << new_start_bit); + uint8_t mask_last_v = static_cast(0xFF >> (7 - new_end_bit)); + + if(new_start_byte == new_end_byte) + { + data[new_start_byte] = data[new_start_byte] & (mask_first_v & mask_last_v); + } + else + { + data[new_start_byte] = data[new_start_byte] & mask_first_v; + data[new_end_byte] = data[new_end_byte] & mask_last_v; + } + + for(i=new_start_byte ; i <= new_end_byte ; i++) + new_data.push_back(data[i]); + + decoded_value = build_DynamicField(new_data); + + return decoded_value; +} + +/// @brief Wraps a raw CAN signal value in a DynamicField without modification. +/// +/// This is an implementation of the Signal type signature, and can be +/// used directly in the signal_t.decoder field. /// /// @param[in] signal - The details of the signal that contains the state mapping. -/// @param[in] signals - The list of all signals -/// @param[in] value - The numerical value that will be wrapped in a DynamicField. +/// @param[in] message - The message with data to decode. /// @param[out] send - An output argument that will be set to false if the value should /// not be sent for any reason. /// @@ -53,21 +203,28 @@ float decoder_t::parseSignalBitfield(can_signal_t& signal, const can_message_t& /// its numeric value. The 'send' argument will not be modified as this decoder /// always succeeds. /// -openxc_DynamicField decoder_t::noopDecoder(can_signal_t& signal, - const std::vector >& signals, float value, bool* send) +openxc_DynamicField decoder_t::decode_noop(signal_t& signal, std::shared_ptr message, bool* send) { + float value = decoder_t::parse_signal_bitfield(signal, message); + AFB_DEBUG("Decoded message from parse_signal_bitfield: %f", value); openxc_DynamicField decoded_value = build_DynamicField(value); + // 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); + return decoded_value; } /// @brief Coerces a numerical value to a boolean. /// -/// This is an implementation of the SignalDecoder type signature, and can be -/// used directly in the can_signal_t.decoder field. +/// This is an implementation of the Signal type signature, and can be +/// used directly in the signal_t.decoder field. /// /// @param[in] signal - The details of the signal that contains the state mapping. -/// @param[in] signals - The list of all signals -/// @param[in] value - The numerical value that will be converted to a boolean. +/// @param[in] message - The message with data to decode. /// @param[out] send - An output argument that will be set to false if the value should /// not be sent for any reason. /// @@ -75,34 +232,42 @@ openxc_DynamicField decoder_t::noopDecoder(can_signal_t& signal, /// is 0.0, otherwise true. The 'send' argument will not be modified as this /// decoder always succeeds. /// -openxc_DynamicField decoder_t::booleanDecoder(can_signal_t& signal, - const std::vector >& signals, float value, bool* send) +openxc_DynamicField decoder_t::decode_boolean(signal_t& signal, std::shared_ptr message, bool* send) { + float value = decoder_t::parse_signal_bitfield(signal, message); + AFB_DEBUG("Decoded message from parse_signal_bitfield: %f", value); openxc_DynamicField decoded_value = build_DynamicField(value == 0.0 ? false : 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); + + return decoded_value; } /// @brief Update the metadata for a signal and the newly received value. /// -/// This is an implementation of the SignalDecoder type signature, and can be -/// used directly in the can_signal_t.decoder field. +/// This is an implementation of the Signal type signature, and can be +/// used directly in the signal_t.decoder field. /// /// This function always flips 'send' to false. /// /// @param[in] signal - The details of the signal that contains the state mapping. -/// @param[in] signals - The list of all signals. -/// @param[in] value - The numerical value that will be converted to a boolean. +/// @param[in] message - The message with data to decode. /// @param[out] send - This output argument will always be set to false, so the caller will /// know not to publish this value to the pipeline. /// /// @return Return value is undefined. /// -openxc_DynamicField decoder_t::ignoreDecoder(can_signal_t& signal, - const std::vector >& signals, float value, bool* send) +openxc_DynamicField decoder_t::decode_ignore(signal_t& signal, std::shared_ptr message, bool* send) { + float value = decoder_t::parse_signal_bitfield(signal, message); if(send) *send = false; + signal.set_last_value(value); openxc_DynamicField decoded_value; return decoded_value; @@ -111,12 +276,11 @@ openxc_DynamicField decoder_t::ignoreDecoder(can_signal_t& signal, /// @brief Find and return the corresponding string state for a CAN signal's /// raw integer value. /// -/// This is an implementation of the SignalDecoder type signature, and can be -/// used directly in the can_signal_t.decoder field. +/// This is an implementation of the Signal type signature, and can be +/// used directly in the signal_t.decoder field. /// /// @param[in] signal - The details of the signal that contains the state mapping. -/// @param[in] signals - The list of all signals. -/// @param[in] value - The numerical value that should map to a state. +/// @param[in] message - The message with data to decode. /// @param[out] send - An output argument that will be set to false if the value should /// not be sent for any reason. /// @@ -124,9 +288,10 @@ openxc_DynamicField decoder_t::ignoreDecoder(can_signal_t& signal, /// the signal. If an equivalent isn't found, send is sent to false and the /// return value is undefined. /// -openxc_DynamicField decoder_t::stateDecoder(can_signal_t& signal, - const std::vector >& signals, float value, bool* send) +openxc_DynamicField decoder_t::decode_state(signal_t& signal, std::shared_ptr message, bool* send) { + float value = decoder_t::parse_signal_bitfield(signal, message); + AFB_DEBUG("Decoded message from parse_signal_bitfield: %f", value); const std::string signal_state = signal.get_states((uint8_t)value); openxc_DynamicField decoded_value = build_DynamicField(signal_state); if(signal_state.size() <= 0) @@ -134,6 +299,15 @@ openxc_DynamicField decoder_t::stateDecoder(can_signal_t& signal, *send = false; AFB_ERROR("No state found with index: %d", (int)value); } + + // 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); + + return decoded_value; } @@ -141,38 +315,26 @@ openxc_DynamicField decoder_t::stateDecoder(can_signal_t& signal, /// @brief Parse a signal from a CAN message, apply any required transforations /// to get a human readable value and public the result to the pipeline. /// -/// If the can_signal_t has a non-NULL 'decoder' field, the raw CAN signal value +/// If the signal_t has a non-NULL 'decoder' field, the raw CAN signal value /// will be passed to the decoder before publishing. /// /// @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[in] message - The message with data to decode. /// @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, const can_message_t& message, - const std::vector >& signals, bool* send) +openxc_DynamicField decoder_t::translate_signal(signal_t& signal, std::shared_ptr message, bool* send) { - float value = decoder_t::parseSignalBitfield(signal, message); - AFB_DEBUG("Decoded message from parseSignalBitfield: %f", value); - // 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); + openxc_DynamicField decoded_value = decoder_t::decode_signal(signal, + message, 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.set_timestamp(message->get_timestamp()); signal.get_message()->set_last_value(message); return decoded_value; } @@ -180,53 +342,31 @@ openxc_DynamicField decoder_t::translateSignal(can_signal_t& signal, const can_m /// @brief Parse a signal from a CAN message and apply any required /// transforations to get a human readable value. /// -/// If the can_signal_t has a non-NULL 'decoder' field, the raw CAN signal value +/// If the signal_t has a non-NULL 'decoder' field, the raw CAN signal value /// will be passed to the decoder before returning. /// /// @param[in] signal - The details of the signal to decode and forward. -/// @param[in] value - The numerical value that will be converted to a boolean. -/// @param[in] signals - an array of all active signals. +/// @param[in] message - The message with data to decode. /// @param[out] send - An output parameter that will be flipped to false if the value could /// not be decoded. /// /// @return The decoder returns an openxc_DynamicField, which may contain a number, /// 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 >& signals, bool* send) +openxc_DynamicField decoder_t::decode_signal( signal_t& signal, std::shared_ptr message, bool* send) { - SignalDecoder decoder = signal.get_decoder() == nullptr ? - noopDecoder : signal.get_decoder(); - openxc_DynamicField decoded_value = decoder(signal, signals, - value, send); - return decoded_value; -} + signal_decoder decoder = signal.get_decoder() == nullptr ? + decode_noop : signal.get_decoder(); -/// @brief Decode a transformed, human readable value from an raw CAN signal -/// already parsed from a CAN message. -/// -/// This is the same as decodeSignal but you must parse the bitfield value of the signal from the CAN -/// message yourself. This is useful if you need that raw value for something -/// else. -/// -/// @param[in] signal - The details of the signal to decode and forward. -/// @param[in] message - Raw CAN message to decode -/// @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. -/// -openxc_DynamicField decoder_t::decodeSignal( can_signal_t& signal, - const can_message_t& message, const std::vector >& signals, bool* send) -{ - float value = parseSignalBitfield(signal, message); - return decodeSignal(signal, value, signals, send); + openxc_DynamicField decoded_value = decoder(signal, + message, send); + return decoded_value; } - /// /// @brief Decode the payload of an OBD-II PID. /// -/// This function matches the type signature for a DiagnosticResponseDecoder, so +/// This function matches the type signature for a DiagnosticResponse, so /// it can be used as the decoder for a DiagnosticRequest. It returns the decoded /// value of the PID, using the standard formulas (see /// http://en.wikipedia.org/wiki/OBD-II_PIDs#Mode_01).