X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fcan%2Fcan-encoder.cpp;h=ccd49722f1eb73dada0730699ba96a694a354bcc;hb=923002874271bacdd2e8b12377e8093e628a1756;hp=4f1efa2a773b82bf40ebab43d2ccefb433b7de78;hpb=731624acf76d58e1847f797e15747ccc94c052f0;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 4f1efa2a..ccd49722 100644 --- a/low-can-binding/can/can-encoder.cpp +++ b/low-can-binding/can/can-encoder.cpp @@ -19,7 +19,7 @@ #include "canutil/write.h" #include "../utils/openxc-utils.hpp" -#include "can-message-definition.hpp" +#include "message-definition.hpp" /// @brief Write a value in a CAN signal in the destination buffer. /// @@ -28,18 +28,19 @@ /// @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) +/// @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 can_frame cf; + struct canfd_frame cf; ::memset(&cf, 0, sizeof(cf)); cf.can_id = signal->get_message()->get_id(); - cf.can_dlc = CAN_MAX_DLEN; + 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_can_signals()) + for(const auto& sig: signal->get_message()->get_signals()) { float last_value = sig->get_last_value(); bitfield_encode_float(last_value, @@ -48,12 +49,124 @@ const can_frame encoder_t::build_frame(const std::shared_ptr& sign sig->get_factor(), sig->get_offset(), cf.data, - CAN_MAX_DLEN); + cf.len); } - 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; + + 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(), + data_tab, + (uint8_t)message->get_length()); + } + + for (size_t i = 0; i < (uint8_t) message->get_length(); i++) + { + data.push_back(data_tab[i]); + } + + 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); + 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()) + { + + 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]); + } + } + + 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. + * @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; + 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); + } +#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); + } +#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); + } +} + /// @brief Encode a boolean into an integer, fit for a CAN signal bitfield. /// /// This is a shortcut for encodeDynamicField(CanSignal*, openxc_DynamicField*, @@ -68,7 +181,7 @@ 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 +199,7 @@ 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 +221,7 @@ 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 +245,7 @@ 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 +256,7 @@ 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) {