X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Fcan%2Fcan-decoder.cpp;h=467261af51754e841ea452e0beb2e8400d4a8283;hb=7b336475a398d37c4d5c4a534c87919263ae4b01;hp=a5e4d8eed93b854a24b3f76fc85a794e06b98947;hpb=3e624c015e7e90ecedb597c71d9b77d185d318a7;p=apps%2Fagl-service-can-low-level.git diff --git a/src/can/can-decoder.cpp b/src/can/can-decoder.cpp index a5e4d8ee..467261af 100644 --- a/src/can/can-decoder.cpp +++ b/src/can/can-decoder.cpp @@ -16,9 +16,19 @@ */ #include "can-decoder.hpp" + #include "canutil/read.h" #include "../utils/openxc-utils.hpp" +/// @brief Parse the signal's bitfield from the given data and return the raw +/// value. +/// +/// @param[in] signal - The signal to parse from the data. +/// @param[in] message - can_message_t to parse +/// +/// @return Returns the raw value of the signal parsed as a bitfield from the given byte +/// array. +/// float decoder_t::parseSignalBitfield(can_signal_t& signal, const can_message_t& message) { return bitfield_parse_float(message.get_data(), CAN_MESSAGE_SIZE, @@ -26,6 +36,21 @@ float decoder_t::parseSignalBitfield(can_signal_t& signal, const can_message_t& signal.get_offset()); } +/// @brief Wrap a raw CAN signal value in a DynamicField without modification. +/// +/// This is an implementation of the SignalDecoder type signature, and can be +/// used directly in the can_signal_t.decoder field. +/// +/// @param[in] signal - The details of the signal that contains the state mapping. +/// @param[in] signals - The list of all signals +/// @param[in] value - The numerical value that will be wrapped in a DynamicField. +/// @param[out] send - An output argument that will be set to false if the value should +/// not be sent for any reason. +/// +/// @return Returns a DynamicField with the original, unmodified raw CAN signal value as +/// its numeric value. The 'send' argument will not be modified as this decoder +/// always succeeds. +/// openxc_DynamicField decoder_t::noopDecoder(can_signal_t& signal, const std::vector& signals, float value, bool* send) { @@ -33,7 +58,21 @@ openxc_DynamicField decoder_t::noopDecoder(can_signal_t& signal, return decoded_value; } - +/// @brief Coerces a numerical value to a boolean. +/// +/// This is an implementation of the SignalDecoder type signature, and can be +/// used directly in the can_signal_t.decoder field. +/// +/// @param[in] signal - The details of the signal that contains the state mapping. +/// @param[in] signals - The list of all signals +/// @param[in] value - The numerical value that will be converted to a boolean. +/// @param[out] send - An output argument that will be set to false if the value should +/// not be sent for any reason. +/// +/// @return Returns a DynamicField with a boolean value of false if the raw signal value +/// is 0.0, otherwise true. The 'send' argument will not be modified as this +/// decoder always succeeds. +/// openxc_DynamicField decoder_t::booleanDecoder(can_signal_t& signal, const std::vector& signals, float value, bool* send) { @@ -41,22 +80,52 @@ openxc_DynamicField decoder_t::booleanDecoder(can_signal_t& signal, return decoded_value; } - +/// @brief Update the metadata for a signal and the newly received value. +/// +/// This is an implementation of the SignalDecoder type signature, and can be +/// used directly in the can_signal_t.decoder field. +/// +/// This function always flips 'send' to false. +/// +/// @param[in] signal - The details of the signal that contains the state mapping. +/// @param[in] signals - The list of all signals. +/// @param[in] value - The numerical value that will be converted to a boolean. +/// @param[out] send - This output argument will always be set to false, so the caller will +/// know not to publish this value to the pipeline. +/// +/// @return Return value is undefined. +/// openxc_DynamicField decoder_t::ignoreDecoder(can_signal_t& signal, const std::vector& signals, float value, bool* send) { if(send) *send = false; - - openxc_DynamicField decoded_value = {0, openxc_DynamicField_Type_BOOL, 0, "", 0, 0, 0, 0}; - + + openxc_DynamicField decoded_value; + return decoded_value; } +/// @brief Find and return the corresponding string state for a CAN signal's +/// raw integer value. +/// +/// This is an implementation of the SignalDecoder type signature, and can be +/// used directly in the can_signal_t.decoder field. +/// +/// @param[in] signal - The details of the signal that contains the state mapping. +/// @param[in] signals - The list of all signals. +/// @param[in] value - The numerical value that should map to a state. +/// @param[out] send - An output argument that will be set to false if the value should +/// not be sent for any reason. +/// +/// @return Returns a DynamicField with a string value if a matching state is found in +/// the signal. If an equivalent isn't found, send is sent to false and the +/// return value is undefined. +/// openxc_DynamicField decoder_t::stateDecoder(can_signal_t& signal, const std::vector& signals, float value, bool* send) { - const std::string signal_state = signal.get_states(value); + const std::string signal_state = signal.get_states((uint8_t)value); openxc_DynamicField decoded_value = build_DynamicField(signal_state); if(signal_state.size() <= 0) { @@ -66,6 +135,20 @@ openxc_DynamicField decoder_t::stateDecoder(can_signal_t& signal, return decoded_value; } + +/// @brief Parse a signal from a CAN message, apply any required transforations +/// to get a human readable value and public the result to the pipeline. +/// +/// If the can_signal_t has a non-NULL 'decoder' field, the raw CAN signal value +/// will be passed to the decoder before publishing. +/// +/// @param[in] signal - The details of the signal to decode and forward. +/// @param[in] message - The received CAN message that should contain this signal. +/// @param[in] signals - an array of all active signals. +/// +/// The decoder returns an openxc_DynamicField, which may contain a number, +/// string or boolean. +/// openxc_DynamicField decoder_t::translateSignal(can_signal_t& signal, can_message_t& message, const std::vector& signals) { @@ -89,6 +172,21 @@ openxc_DynamicField decoder_t::translateSignal(can_signal_t& signal, can_message return decoded_value; } +/// @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 +/// will be passed to the decoder before returning. +/// +/// @param[in] signal - The details of the signal to decode and forward. +/// @param[in] value - The numerical value that will be converted to a boolean. +/// @param[in] signals - an array of all active signals. +/// @param[out] send - An output parameter that will be flipped to false if the value could +/// not be decoded. +/// +/// @return The decoder returns an openxc_DynamicField, which may contain a number, +/// string or boolean. If 'send' is false, the return value is undefined. +/// openxc_DynamicField decoder_t::decodeSignal( can_signal_t& signal, float value, const std::vector& signals, bool* send) { @@ -99,9 +197,43 @@ openxc_DynamicField decoder_t::decodeSignal( can_signal_t& signal, return decoded_value; } +/// @brief Decode a transformed, human readable value from an raw CAN signal +/// already parsed from a CAN message. +/// +/// This is the same as decodeSignal but you must parse the bitfield value of the signal from the CAN +/// message yourself. This is useful if you need that raw value for something +/// else. +/// +/// @param[in] signal - The details of the signal to decode and forward. +/// @param[in] message - Raw CAN message to decode +/// @param[in] signals - an array of all active signals. +/// @param[out] send - An output parameter that will be flipped to false if the value could +/// not be decoded. +/// openxc_DynamicField decoder_t::decodeSignal( can_signal_t& signal, const can_message_t& message, const std::vector& signals, bool* send) { float value = parseSignalBitfield(signal, message); return decodeSignal(signal, value, signals, send); } + + +/// +/// @brief Decode the payload of an OBD-II PID. +/// +/// This function matches the type signature for a DiagnosticResponseDecoder, so +/// it can be used as the decoder for a DiagnosticRequest. It returns the decoded +/// value of the PID, using the standard formulas (see +/// http://en.wikipedia.org/wiki/OBD-II_PIDs#Mode_01). +/// +/// @param[in] response - the received DiagnosticResponse (the data is in response.payload, +/// a byte array). This is most often used when the byte order is +/// signiticant, i.e. with many OBD-II PID formulas. +/// @param[in] parsed_payload - the entire payload of the response parsed as an int. +/// +/// @return Float decoded value. +/// +float decoder_t::decode_obd2_response(const DiagnosticResponse* response, float parsed_payload) +{ + return diagnostic_decode_obd2_pid(response); +} \ No newline at end of file