X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fcan%2Fcan-encoder.cpp;h=596cc7e20b6bd9f06a88da6bb751aefd76a93416;hb=92a9d02e999eb72ff08fa0fea375553dbb76a4e6;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..596cc7e2 100644 --- a/low-can-binding/can/can-encoder.cpp +++ b/low-can-binding/can/can-encoder.cpp @@ -20,75 +20,62 @@ #include "canutil/write.h" #include "../utils/openxc-utils.hpp" #include "message-definition.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) -{ - struct canfd_frame cf; - ::memset(&cf, 0, sizeof(cf)); - - cf.can_id = signal->get_message()->get_id(); - cf.len = signal->get_message()->is_fd() ? - CANFD_MAX_DLEN : CAN_MAX_DLEN; - - signal->set_last_value((float)value); - - 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, - cf.len); - } - return cf; -} - +#include "../utils/converter.hpp" /** - * @brief Allows to build a single frame message with correct data to be send + * @brief Allows to encode data for a signal * - * @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 + * @param sig The signal to know its location + * @param data The data to encode + * @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 */ -message_t* encoder_t::build_one_frame_message(const std::shared_ptr& signal, uint64_t value, message_t *message) +void encoder_t::encode_data(std::shared_ptr sig, std::vector &data, bool filter, bool factor, bool offset) { - signal->set_last_value((float)value); - uint8_t data_tab[message->get_length()]; - ::memset(&data_tab, 0, sizeof(data_tab)); - std::vector data; + 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; - for(const auto& sig: signal->get_message()->get_signals()) + 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) { - 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()); - } + 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)); - for (size_t i = 0; i < (uint8_t) message->get_length(); i++) + 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 { - data.push_back(data_tab[i]); + bitfield_encode_float(sig->get_last_value(), + new_start_bit, + bit_size, + factor_v, + offset_v, + data_signal.data(), + bit_size); } - 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]; } /** @@ -97,41 +84,17 @@ 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}; + signal->set_last_value(static_cast(value)); + std::vector data(message->get_length(), 0); for(const auto& sig: signal->get_message()->get_signals()) - { - - 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); - } - - for (size_t i = 0; i < number_of_frame; i++) - { - 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; @@ -142,29 +105,55 @@ 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()) + switch(signal->get_message()->get_flags()) { - 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); - } + 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 - 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); - } + 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 - 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); + 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 Encode a boolean into an integer, fit for a CAN signal bitfield.