X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fcan%2Fcan-decoder.cpp;h=c19614c00fef4ecf025af1a9b31a908a1bc83648;hb=491c4d4d0bc418c1fbc6e3a1af8093e4049d8b87;hp=763bfcb0f5475d04b807e20d38fcd363af14f41f;hpb=2eb313e5330dbfa1b6eab146b3698d8ffe054347;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 763bfcb0..c19614c0 100644 --- a/low-can-binding/can/can-decoder.cpp +++ b/low-can-binding/can/can-decoder.cpp @@ -19,32 +19,173 @@ #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 Parses the signal's bitfield from the given data and returns the raw /// value. /// /// @param[in] signal - The signal to be parsed from the data. -/// @param[in] message - can_message_t to parse +/// @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::parse_signal_bitfield(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 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. +/// +/// @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 << 3); + + 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); + + if(new_end_byte >= length) + { + new_end_byte = length-1; + } + + if(new_start_byte >= length) + { + AFB_ERROR("Error in description of signals"); + return decoded_value; + } + + uint8_t first = data[new_start_byte]; + int mask_first = 0; + for(i=new_start_bit;i<8;i++) + { + mask_first = mask_first | (1 << i); + } + + uint8_t mask_first_v = 0; + if(mask_first > 255) + { + AFB_ERROR("Error mask decode bytes"); + } + else + { + mask_first_v = (uint8_t)mask_first; + } + + data[new_start_byte]=first&mask_first_v; + + uint8_t last = data[new_end_byte]; + int mask_last = 0; + for(i=0;i<=new_end_bit;i++) + { + mask_last = mask_last | (1 << (7-i)); + } + + uint8_t mask_last_v = 0; + if(mask_last > 255) + { + AFB_ERROR("Error mask decode bytes"); + } + else + { + mask_last_v = (uint8_t)mask_last; + } + + data[new_end_byte]=last&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 can_signal_t.decoder field. +/// used directly in the signal_t.decoder field. /// /// @param[in] signal - The details of the signal that contains the state mapping. -/// @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. /// @@ -52,19 +193,28 @@ float decoder_t::parse_signal_bitfield(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::decode_noop(can_signal_t& signal, 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 Signal type signature, and can be -/// used directly in the can_signal_t.decoder field. +/// used directly in the signal_t.decoder field. /// /// @param[in] signal - The details of the signal that contains the state mapping. -/// @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. /// @@ -72,31 +222,43 @@ openxc_DynamicField decoder_t::decode_noop(can_signal_t& signal, float value, bo /// is 0.0, otherwise true. The 'send' argument will not be modified as this /// decoder always succeeds. /// -openxc_DynamicField decoder_t::decode_boolean(can_signal_t& signal, 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 Signal type signature, and can be -/// used directly in the can_signal_t.decoder field. +/// 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] 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::decode_ignore(can_signal_t& signal, 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; @@ -106,10 +268,10 @@ openxc_DynamicField decoder_t::decode_ignore(can_signal_t& signal, float value, /// raw integer value. /// /// This is an implementation of the Signal type signature, and can be -/// used directly in the can_signal_t.decoder field. +/// used directly in the signal_t.decoder field. /// /// @param[in] signal - The details of the signal that contains the state mapping. -/// @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. /// @@ -117,8 +279,10 @@ openxc_DynamicField decoder_t::decode_ignore(can_signal_t& signal, float value, /// the signal. If an equivalent isn't found, send is sent to false and the /// return value is undefined. /// -openxc_DynamicField decoder_t::decode_state(can_signal_t& signal, 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) @@ -126,6 +290,15 @@ openxc_DynamicField decoder_t::decode_state(can_signal_t& signal, float value, b *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; } @@ -133,36 +306,27 @@ openxc_DynamicField decoder_t::decode_state(can_signal_t& signal, float value, b /// @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] 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::translate_signal(can_signal_t& signal, const can_message_t& message, bool* send) +openxc_DynamicField decoder_t::translate_signal(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); // 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::decode_signal(signal, - value, send); + 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; } @@ -170,45 +334,27 @@ openxc_DynamicField decoder_t::translate_signal(can_signal_t& signal, const can_ /// @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] 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::decode_signal( can_signal_t& signal, float value, bool* send) +openxc_DynamicField decoder_t::decode_signal( signal_t& signal, std::shared_ptr message, bool* send) { signal_decoder decoder = signal.get_decoder() == nullptr ? decode_noop : signal.get_decoder(); + openxc_DynamicField decoded_value = decoder(signal, - value, send); + message, send); return decoded_value; } -/// @brief Decode a transformed, human readable value from an raw CAN signal -/// already parsed from a CAN message. -/// -/// 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[out] send - An output parameter that will be flipped to false if the value could -/// not be decoded. -/// -openxc_DynamicField decoder_t::decode_signal( can_signal_t& signal, const can_message_t& message, bool* send) -{ - float value = parse_signal_bitfield(signal, message); - return decode_signal(signal, value, send); -} - - /// /// @brief Decode the payload of an OBD-II PID. ///