X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fcan%2Fcan-encoder.cpp;h=113428b98678179597b9b636556a03e2dd5a3ad0;hb=e1caf27db81e9897af7512a0b47e0783593833d5;hp=ccd49722f1eb73dada0730699ba96a694a354bcc;hpb=88077fb4b383cf7f35093b6cc0d2d9d86c6f1bf3;p=apps%2Fagl-service-can-low-level.git diff --git a/low-can-binding/can/can-encoder.cpp b/low-can-binding/can/can-encoder.cpp index ccd49722..113428b9 100644 --- a/low-can-binding/can/can-encoder.cpp +++ b/low-can-binding/can/can-encoder.cpp @@ -20,75 +20,111 @@ #include "canutil/write.h" #include "../utils/openxc-utils.hpp" #include "message-definition.hpp" +#include "../utils/converter.hpp" -/// @brief Write a value in a CAN signal in the destination buffer. -/// -/// @param[in] signal - The CAN signal to write, including the bit position and bit size. -/// @param[in] value - The encoded integer value to write in the CAN signal. -/// @param[out] data - The destination buffer. -/// @param[in] length - The length of the destination buffer. -/// -/// @return Returns a canfd_frame struct initialized and ready to be send. -const canfd_frame encoder_t::build_frame(const std::shared_ptr& signal, uint64_t value) +/** + * @brief Allows to encode data for a signal + * + * @param sig The signal to know its location + * @param data The data to encod + * @param filter If true that will generate the filter BCM for the signal + * @param factor If true that will use the factor of the signal else 1 + * @param offset If true that will use the offset of the signal else 0 + */ +void encoder_t::encode_data(std::shared_ptr sig, std::vector &data, bool filter, bool factor, bool offset) { - struct canfd_frame cf; - ::memset(&cf, 0, sizeof(cf)); + uint32_t bit_size = sig->get_bit_size(); + uint32_t bit_position = sig->get_bit_position(); + int new_start_byte = 0; + int new_end_byte = 0; + uint8_t new_start_bit = 0; + uint8_t new_end_bit = 0; - cf.can_id = signal->get_message()->get_id(); - cf.len = signal->get_message()->is_fd() ? - CANFD_MAX_DLEN : CAN_MAX_DLEN; + converter_t::signal_to_bits_bytes(bit_position, bit_size, new_start_byte, new_end_byte, new_start_bit, new_end_bit); - signal->set_last_value((float)value); + int len_signal_bytes_tmp = new_end_byte - new_start_byte + 1; - for(const auto& sig: signal->get_message()->get_signals()) + uint8_t len_signal_bytes = 0; + if(len_signal_bytes_tmp > 255) { - float last_value = sig->get_last_value(); - bitfield_encode_float(last_value, - sig->get_bit_position(), - sig->get_bit_size(), - sig->get_factor(), - sig->get_offset(), - cf.data, - cf.len); + AFB_ERROR("Error signal %s too long", sig->get_name().c_str()); + } + else + { + len_signal_bytes = (uint8_t) len_signal_bytes_tmp; + } +/* + if(new_start_bit > 255) + { + AFB_ERROR("Error signal %s too long", sig->get_name().c_str()); + } +*/ + uint8_t new_bit_size = 0; + if(bit_size > 255) + { + AFB_ERROR("Error signal %s to long bit size", sig->get_name().c_str()); + } + else + { + new_bit_size = (uint8_t) bit_size; } - return cf; -} - -/** - * @brief Allows to build a single frame message with correct data to be send - * - * @param signal The CAN signal to write, including the bit position and bit size. - * @param value The encoded integer value to write in the CAN signal. - * @param message A single frame message to complete - * @return message_t* The message that is generated - */ -message_t* encoder_t::build_one_frame_message(const std::shared_ptr& signal, uint64_t value, message_t *message) -{ - signal->set_last_value((float)value); - uint8_t data_tab[message->get_length()]; - ::memset(&data_tab, 0, sizeof(data_tab)); - std::vector data; + uint8_t data_signal[len_signal_bytes] = {0}; + float factor_v = 1; + if(factor) + { + factor_v = sig->get_factor(); + } - for(const auto& sig: signal->get_message()->get_signals()) + float offset_v = 0; + if(factor) { - float last_value = sig->get_last_value(); - bitfield_encode_float(last_value, - sig->get_bit_position(), - sig->get_bit_size(), - sig->get_factor(), - sig->get_offset(), - data_tab, - (uint8_t)message->get_length()); + offset_v = sig->get_offset(); } - for (size_t i = 0; i < (uint8_t) message->get_length(); i++) + if(filter) + { + uint8_t tmp = 0; + int j=0; + for(int i=0;i> ((i%8)+new_start_bit); + + uint8_t mask_v = 0; + if(mask > 255) + { + AFB_ERROR("Error mask too large"); + } + else + { + mask_v = (uint8_t) mask; + } + tmp = tmp|mask_v; + + if(i%8 == 7) + { + data_signal[j] = tmp; + tmp = 0; + j++; + } + } + data_signal[j]=tmp; + } + else { - data.push_back(data_tab[i]); + bitfield_encode_float( sig->get_last_value(), + new_start_bit, + new_bit_size, + factor_v, + offset_v, + data_signal, + len_signal_bytes); } - message->set_data(data); - return message; + for(size_t i = new_start_byte; i <= new_end_byte ; i++) + { + data[i] = data[i] | data_signal[i-new_start_byte]; + } } /** @@ -97,42 +133,23 @@ message_t* encoder_t::build_one_frame_message(const std::shared_ptr& s * @param signal The CAN signal to write, including the bit position and bit size. * @param value The encoded integer value to write in the CAN signal. * @param message A multi frame message to complete + * @param factor If true that will use the factor of the signal else 1 + * @param offset If true that will use the offset of the signal else 0 * @return message_t* The message that is generated */ -message_t* encoder_t::build_multi_frame_message(const std::shared_ptr& signal, uint64_t value, message_t *message) +message_t* encoder_t::build_frame(const std::shared_ptr& signal, uint64_t value, message_t *message, bool factor, bool offset) { signal->set_last_value((float)value); std::vector data; - - uint32_t msgs_len = signal->get_message()->get_length(); // multi frame - number of bytes - int number_of_frame = (int) msgs_len / 8; - - uint8_t data_tab[number_of_frame][8] = {0}; - - for(const auto& sig: signal->get_message()->get_signals()) + for(int i = 0; iget_length();i++) { - - int frame_position = (int) sig->get_bit_position() / 64; - float last_value = sig->get_last_value(); - uint8_t bit_position = sig->get_bit_position() - ((uint8_t)(64 * frame_position)); - - bitfield_encode_float(last_value, - bit_position, - sig->get_bit_size(), - sig->get_factor(), - sig->get_offset(), - data_tab[frame_position], - 8); + data.push_back(0); } - for (size_t i = 0; i < number_of_frame; i++) + for(const auto& sig: signal->get_message()->get_signals()) { - for(size_t j = 0; j < 8 ; j++) - { - data.push_back(data_tab[i][j]); - } + encode_data(sig, data, false, factor, offset); } - message->set_data(data); return message; } @@ -142,28 +159,48 @@ message_t* encoder_t::build_multi_frame_message(const std::shared_ptr& * * @param signal The CAN signal to write, including the bit position and bit size. * @param value The encoded integer value to write in the CAN signal. + * @param factor If true that will use the factor of the signal else 1 + * @param offset If true that will use the offset of the signal else 0 * @return message_t* The message that is generated */ -message_t* encoder_t::build_message(const std::shared_ptr& signal, uint64_t value) +message_t* encoder_t::build_message(const std::shared_ptr& signal, uint64_t value, bool factor, bool offset) { message_t *message; std::vector data; if(signal->get_message()->is_fd()) { - message = new can_message_t(CANFD_MAX_DLEN,signal->get_message()->get_id(),CANFD_MAX_DLEN,signal->get_message()->get_format(),false,CAN_FD_FRAME,data,0); - return build_one_frame_message(signal,value,message); + message = new can_message_t( CANFD_MAX_DLEN, + signal->get_message()->get_id(), + CANFD_MAX_DLEN, + false, + signal->get_message()->get_flags(), + data, + 0); + + return build_frame(signal, value, message, factor, offset); } #ifdef USE_FEATURE_J1939 else if(signal->get_message()->is_j1939()) { - message = new j1939_message_t(J1939_MAX_DLEN,signal->get_message()->get_length(),signal->get_message()->get_format(),data,0,J1939_NO_NAME,signal->get_message()->get_id(),J1939_NO_ADDR); - return build_multi_frame_message(signal,value,message); + message = new j1939_message_t( signal->get_message()->get_length(), + data, + 0, + J1939_NO_NAME, + signal->get_message()->get_id(), + J1939_NO_ADDR); + return build_frame(signal, value, message, factor, offset); } #endif else { - message = new can_message_t(CAN_MAX_DLEN,signal->get_message()->get_id(),CAN_MAX_DLEN,signal->get_message()->get_format(),false,0,data,0); - return build_one_frame_message(signal,value,message); + message = new can_message_t(CAN_MAX_DLEN, + signal->get_message()->get_id(), + CAN_MAX_DLEN, + false, + signal->get_message()->get_flags(), + data, + 0); + return build_frame(signal,value,message, factor, offset); } }