X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fcan%2Fcan-encoder.cpp;h=2e79148ff540fc530e457d9a4214c5a3416544ad;hb=b77ee60ae34430fb25b05361ddde33565ab65678;hp=d90e08da8db3cb81b46b5a18837ac7fef4abcadd;hpb=88befdfd812a58fb7a36e090278ad1e70003e925;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 d90e08da..2e79148f 100644 --- a/low-can-binding/can/can-encoder.cpp +++ b/low-can-binding/can/can-encoder.cpp @@ -19,39 +19,259 @@ #include "canutil/write.h" #include "../utils/openxc-utils.hpp" -#include "can-message-definition.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 can_frame struct initialized and ready to be send. -const can_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 can_frame cf; - ::memset(&cf, 0, sizeof(cf)); + uint32_t bit_size = sig->get_bit_size(); + uint32_t bit_position = sig->get_bit_position(); + float factor_v = factor ? sig->get_factor() : 1; + float offset_v = offset ? sig->get_offset() : 0; + + 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); + std::vector data_signal(new_end_byte - new_start_byte + 1); + + if(filter) + { + for (auto& elt: data_signal) + elt = 0xFF; + uint8_t mask_first_v = static_cast(0xFF << new_start_bit); + uint8_t mask_last_v = static_cast(0xFF >> (7 - new_end_bit)); - cf.can_id = signal->get_message()->get_id(); - cf.can_dlc = CAN_MAX_DLEN; + if(new_start_byte == new_end_byte) + { + data_signal[0] = mask_first_v & mask_last_v; + } + else + { + data_signal[0] = mask_first_v; + data_signal[new_end_byte - new_start_byte] = mask_last_v; + } + } + else + { + bitfield_encode_float(sig->get_last_value(), + new_start_bit, + bit_size, + factor_v, + offset_v, + data_signal.data(), + bit_size); + } + for(size_t i = new_start_byte; i <= new_end_byte ; i++) + data[i] = data[i] | data_signal[i-new_start_byte]; +} + +/** + * @brief Allows to build a multi 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 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_frame(const std::shared_ptr& signal, uint64_t value, message_t *message, bool factor, bool offset) +{ + signal->set_last_value(static_cast(value)); + std::vector data(message->get_length(), 0); + + for(const auto& sig: signal->get_message()->get_signals()) + encode_data(sig, data, false, factor, offset); + + message->set_data(data); + return message; +} + +/** + * @brief Allows to build a message_t 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 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, bool factor, bool offset) +{ + message_t *message; + std::vector data; + switch(signal->get_message()->get_flags()) + { + case CAN_PROTOCOL_WITH_FD_FRAME: + 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 + case J1939_PROTOCOL: + 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 + case CAN_PROTOCOL: + 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); + default: + 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); + } + +} + + +/** + * @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); + std::vector data; + data.reserve(message->get_length()); - for(const auto& sig: signal->get_message()->get_can_signals()) + for(const auto& sig: signal->get_message()->get_signals()) { 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, - CAN_MAX_DLEN); + static_cast(sig->get_bit_position()), + static_cast(sig->get_bit_size()), + sig->get_factor(), + sig->get_offset(), + data.data(), + static_cast(message->get_length())); } - return cf; + message->set_data(data); + return message; +} + +/** + * @brief Allows to build a multi 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 multi frame message to complete + * @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) +{ + signal->set_last_value((float)value); + int nb_of_frame; + uint32_t msgs_len = signal->get_message()->get_length(); // multi frame - number of bytes + int max_dlen = signal->get_message()->get_flags() & CAN_PROTOCOL_WITH_FD_FRAME ? CANFD_MAX_DLEN : CAN_MAX_DLEN; + + nb_of_frame = (int) msgs_len / max_dlen; + std::vector data_tab; + data_tab.reserve(nb_of_frame * max_dlen); + + for(const auto& sig: signal->get_message()->get_signals()) + // TODO: find a way to handle huge signal + bitfield_encode_float(sig->get_last_value(), + sig->get_bit_position() % 64, + (uint8_t) sig->get_bit_size(), + sig->get_factor(), + sig->get_offset(), + data_tab.data() + (sig->get_bit_position() / 64), + (nb_of_frame * max_dlen) - (sig->get_bit_position() / 64)); + + message->set_data(data_tab); + return message; +} + +/** + * @brief Allows to build a message_t 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. + * @return message_t* The message that is generated + */ +message_t* encoder_t::build_message(const std::shared_ptr& signal, uint64_t value) +{ + message_t *message; + std::vector data; + + switch(signal->get_message()->get_flags()) + { + case CAN_PROTOCOL_WITH_FD_FRAME: + 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_one_frame_message(signal, value, message); +#ifdef USE_FEATURE_J1939 + case J1939_PROTOCOL: + 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_multi_frame_message(signal, value, message); +#endif + case CAN_PROTOCOL: + 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_one_frame_message(signal, value, message); + default: + 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_one_frame_message(signal, value, message); + } } /// @brief Encode a boolean into an integer, fit for a CAN signal bitfield. @@ -68,7 +288,7 @@ const can_frame encoder_t::build_frame(const std::shared_ptr& sign /// @return Returns the encoded integer. If 'send' is changed to false, the field could /// not be encoded and the return value is undefined. /// -uint64_t encoder_t::encode_boolean(const can_signal_t& signal, bool value, bool* send) +uint64_t encoder_t::encode_boolean(const signal_t& signal, bool value, bool* send) { return encode_number(signal, float(value), send); } @@ -86,7 +306,7 @@ uint64_t encoder_t::encode_boolean(const can_signal_t& signal, bool value, bool* /// @return Returns the encoded integer. If 'send' is changed to false, the field could /// not be encoded and the return value is undefined. /// -uint64_t encoder_t::encode_number(const can_signal_t& signal, float value, bool* send) +uint64_t encoder_t::encode_number(const signal_t& signal, float value, bool* send) { return float_to_fixed_point(value, signal.get_factor(), signal.get_offset()); } @@ -108,7 +328,7 @@ uint64_t encoder_t::encode_number(const can_signal_t& signal, float value, bool* /// @return Returns the encoded integer. If 'send' is changed to false, the field could /// not be encoded and the return value is undefined. /// -uint64_t encoder_t::encode_state(const can_signal_t& signal, const std::string& state, bool* send) +uint64_t encoder_t::encode_state(const signal_t& signal, const std::string& state, bool* send) { uint64_t value = 0; if(state == "") @@ -132,7 +352,7 @@ uint64_t encoder_t::encode_state(const can_signal_t& signal, const std::string& /// @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. @@ -143,7 +363,7 @@ uint64_t encoder_t::encode_state(const can_signal_t& signal, const std::string& /// @return The decoder returns an openxc_DynamicField, which may contain a number, /// string or boolean. If 'send' is false, the return value is undefined. /// -uint64_t encoder_t::encode_DynamicField( can_signal_t& signal, const openxc_DynamicField& field, bool* send) +uint64_t encoder_t::encode_DynamicField( signal_t& signal, const openxc_DynamicField& field, bool* send) { uint64_t value = 0; switch(field.type) {