X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fcan%2Fcan-decoder.cpp;h=3c811be69b10db37f3e19950fcb0c6d0ec9f2f4c;hb=dbc9c9912317185356f0333bd9bb546d4d4f38c7;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..3c811be6 100644 --- a/low-can-binding/can/can-decoder.cpp +++ b/low-can-binding/can/can-decoder.cpp @@ -19,32 +19,81 @@ #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 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] signal - The signal to be parsed from the data. /// @param[in] message - can_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; + uint32_t bit_size = signal.get_bit_size(); + uint32_t bit_position = signal.get_bit_position(); + + int new_start_byte = 0; + int new_end_byte = 0; + int new_start_bit = 0; + int 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]); + } + + uint8_t new_bit_size = 0; + + if(bit_size > 255) + { + AFB_ERROR("Error signal %s to long bit size",signal.get_name().c_str()); + } + else + { + new_bit_size = (uint8_t) bit_size; + } + + uint8_t bit_offset = 0; + if(new_start_bit > 255) + { + AFB_ERROR("Too long signal offset %d", new_start_bit); + } + else + { + bit_offset = (uint8_t) new_start_bit; + } + + uint16_t length = 0; + + if(data_signal.size() > 65535) + { + AFB_ERROR("Too long data signal %s",signal.get_name().c_str()); + } + else + { + length = (uint16_t) data_signal.size(); + } + + return bitfield_parse_float(data_signal.data(), length, + bit_offset, new_bit_size, signal.get_factor(), signal.get_offset()); } -/// @brief Wrap a raw CAN signal value in a DynamicField without modification. +/// @brief Wraps a raw CAN signal value in a DynamicField without modification. /// -/// 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 wrapped in a DynamicField. /// @param[out] send - An output argument that will be set to false if the value should /// not be sent for any reason. @@ -53,8 +102,7 @@ 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, float value, bool* send) { openxc_DynamicField decoded_value = build_DynamicField(value); @@ -62,11 +110,10 @@ openxc_DynamicField decoder_t::noopDecoder(can_signal_t& signal, } /// @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[out] send - An output argument that will be set to false if the value should /// not be sent for any reason. @@ -75,8 +122,7 @@ 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, float value, bool* send) { openxc_DynamicField decoded_value = build_DynamicField(value == 0.0 ? false : true); @@ -84,21 +130,19 @@ openxc_DynamicField decoder_t::booleanDecoder(can_signal_t& signal, } /// @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[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, float value, bool* send) { if(send) *send = false; @@ -111,11 +155,10 @@ 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[out] send - An output argument that will be set to false if the value should /// not be sent for any reason. @@ -124,8 +167,7 @@ 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, float value, bool* send) { const std::string signal_state = signal.get_states((uint8_t)value); openxc_DynamicField decoded_value = build_DynamicField(signal_state); @@ -141,28 +183,26 @@ 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[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); + float value = decoder_t::parse_signal_bitfield(signal, message); + AFB_DEBUG("Decoded message from parse_signal_bitfield: %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, + value, send); signal.set_received(true); @@ -172,7 +212,7 @@ openxc_DynamicField decoder_t::translateSignal(can_signal_t& signal, const can_m *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; } @@ -180,24 +220,22 @@ 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[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, float value, bool* send) { - SignalDecoder decoder = signal.get_decoder() == nullptr ? - noopDecoder : signal.get_decoder(); - openxc_DynamicField decoded_value = decoder(signal, signals, + signal_decoder decoder = signal.get_decoder() == nullptr ? + decode_noop : signal.get_decoder(); + openxc_DynamicField decoded_value = decoder(signal, value, send); return decoded_value; } @@ -205,28 +243,26 @@ openxc_DynamicField decoder_t::decodeSignal( can_signal_t& signal, /// @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 +/// This is the same as decode_signal 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) +openxc_DynamicField decoder_t::decode_signal( signal_t& signal, std::shared_ptr message, bool* send) { - float value = parseSignalBitfield(signal, message); - return decodeSignal(signal, value, signals, send); + float value = parse_signal_bitfield(signal, message); + return decode_signal(signal, value, send); } /// /// @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).