X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fcan%2Fcan-signals.hpp;h=2fd7cecfad962db52ef84890b6c5a071566257aa;hb=7cf3679da71727f59c56b446ebf17ad2ce7bfddf;hp=34ebeebdee730795d0918bd5b95570665bce82fd;hpb=a58d40b5ae336a54408201963b065ee049b43acd;p=apps%2Fagl-service-can-low-level.git diff --git a/low-can-binding/can/can-signals.hpp b/low-can-binding/can/can-signals.hpp index 34ebeebd..2fd7cecf 100644 --- a/low-can-binding/can/can-signals.hpp +++ b/low-can-binding/can/can-signals.hpp @@ -19,101 +19,89 @@ #include #include -#include #include #include +#include #include "openxc.pb.h" +#include "can-message-definition.hpp" #include "../utils/timer.hpp" -#include "can-bus.hpp" +#include "../utils/socketcan-bcm.hpp" #include "can-message.hpp" -#include "can-message-definition.hpp" #include "../diagnostic/diagnostic-message.hpp" -extern "C" -{ - #include - #include -} - #define MESSAGE_SET_ID 0 class can_signal_t; - /// /// @brief The type signature for a CAN signal decoder. /// -/// A SignalDecoder transforms a raw floating point CAN signal into a number, +/// A signal_decoder transforms a raw floating point CAN signal into a number, /// string or boolean. /// /// @param[in] signal - The CAN signal that we are decoding. -/// @param[in] signals - The list of all signals. /// @param[in] signalCount - The length of the signals array. /// @param[in] value - The CAN signal parsed from the message as a raw floating point /// value. -/// @param[out] send - An output parameter. If the decoding failed or the CAN signal should -/// not send for some other reason, this should be flipped to false. +/// @param[out] send - An output parameter. If decoding fails or CAN signal is +/// not sending, this should be flipped to false. /// /// @return a decoded value in an openxc_DynamicField struct. /// -typedef openxc_DynamicField (*SignalDecoder)(can_signal_t& signal, - const std::vector& signals, float value, bool* send); +typedef openxc_DynamicField (*signal_decoder)(can_signal_t& signal, float value, bool* send); /// /// @brief: The type signature for a CAN signal encoder. /// -/// A SignalEncoder transforms a number, string or boolean into a raw floating +/// A signal_encoder transforms a number, string or boolean into a raw floating /// point value that fits in the CAN signal. /// -/// @param[in] signal - The CAN signal to encode. +/// @param[in] signal - The CAN signal to encode. /// @param[in] value - The dynamic field to encode. /// @param[out] send - An output parameter. If the encoding failed or the CAN signal should /// not be encoded for some other reason, this will be flipped to false. /// -typedef uint64_t (*SignalEncoder)(can_signal_t* signal, - openxc_DynamicField* value, bool* send); +typedef uint64_t (*signal_encoder)(can_signal_t& signal, + const openxc_DynamicField& field, bool* send); class can_signal_t { private: - std::uint8_t message_set_id_; - std::uint8_t message_id_; + can_message_definition_t* parent_; /*!< parent_ - pointer to the parent message definition holding this signal*/ std::string generic_name_; /*!< generic_name_ - The name of the signal to be output.*/ static std::string prefix_; /*!< prefix_ - generic_name_ will be prefixed with it. It has to reflect the used protocol. - * which make easier to sort message when the come in.*/ + * which make easier to sort message when the come in.*/ uint8_t bit_position_; /*!< bitPosition_ - The starting bit of the signal in its CAN message (assuming - * non-inverted bit numbering, i.e. the most significant bit of - * each byte is 0) */ - uint8_t bit_size_; /*!< bitSize_ - The width of the bit field in the CAN message. */ + * non-inverted bit numbering, i.e. the most significant bit of + * each byte is 0) */ + uint8_t bit_size_; /*!< bit_size_ - The width of the bit field in the CAN message. */ float factor_; /*!< factor_ - The final value will be multiplied by this factor. Use 1 if you - * don't need a factor. */ + * don't need a factor. */ float offset_; /*!< offset_ - The final value will be added to this offset. Use 0 if you - * don't need an offset. */ + * don't need an offset. */ float min_value_; /*!< min_value_ - The minimum value for the processed signal.*/ float max_value_; /*!< max_value_ - The maximum value for the processed signal. */ frequency_clock_t frequency_; /*!< frequency_ - A frequency_clock_t struct to control the maximum frequency to - * process and send this signal. To process every value, set the - * clock's frequency to 0. */ + * process and send this signal. To process every value, set the + * clock's frequency to 0. */ bool send_same_; /*!< send_same_ - If true, will re-send even if the value hasn't changed.*/ bool force_send_changed_; /*!< force_send_changed_ - If true, regardless of the frequency, it will send the - * value if it has changed. */ + * value if it has changed. */ std::map states_; /*!< states_ - A map of CAN signal state describing the mapping - * between numerical and string values for valid states. */ + * between numerical and string values for valid states. */ bool writable_; /*!< writable - True if the signal is allowed to be written from the USB host - * back to CAN. Defaults to false.*/ - SignalDecoder decoder_; /*!< decoder_ - An optional function to decode a signal from the bus to a human - * readable value. If NULL, the default numerical decoder is used. */ - SignalEncoder encoder_; /*!< encoder_ - An optional function to encode a signal value to be written to - * CAN into a byte array. If NULL, the default numerical encoder - * is used. */ + * back to CAN. Defaults to false.*/ + signal_decoder decoder_; /*!< decoder_ - An optional function to decode a signal from the bus to a human + * readable value. If NULL, the default numerical decoder is used. */ + signal_encoder encoder_; /*!< encoder_ - An optional function to encode a signal value to be written to + * CAN into a byte array. If NULL, the default numerical encoder + * is used. */ bool received_; /*!< received_ - True if this signal has ever been received.*/ float last_value_; /*!< lastValue_ - The last received value of the signal. If 'received' is false, - * this value is undefined. */ + * this value is undefined. */ public: can_signal_t( - std::uint8_t message_set_id, - std::uint8_t message_id, std::string generic_name, uint8_t bit_position, uint8_t bit_size, @@ -126,33 +114,30 @@ public: bool force_send_changed, std::map states, bool writable, - SignalDecoder decoder, - SignalEncoder encoder, + signal_decoder decoder, + signal_encoder encoder, bool received); - const can_message_definition_t& get_message() const; - const std::string& get_generic_name() const; + can_message_definition_t* get_message() const; + const std::string get_generic_name() const; const std::string get_name() const; - const std::string& get_prefix() const; uint8_t get_bit_position() const; uint8_t get_bit_size() const; float get_factor() const; float get_offset() const; - float get_min_value() const; - float get_max_value() const; frequency_clock_t& get_frequency(); bool get_send_same() const; - bool get_force_send_changed() const; - const std::map& get_states() const; const std::string get_states(uint8_t value); - size_t get_state_count() const; + uint64_t get_states(const std::string& value) const; bool get_writable() const; - SignalDecoder& get_decoder(); - SignalEncoder& get_encoder(); + signal_decoder& get_decoder(); + signal_encoder& get_encoder(); bool get_received() const; float get_last_value() const; + std::pair get_last_value_with_timestamp() const; - void set_prefix(std::string val); + void set_parent(can_message_definition_t* parent); void set_received(bool r); void set_last_value(float val); -}; \ No newline at end of file + void set_timestamp(uint64_t timestamp); +};