X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Fcan-signals.hpp;h=250ff19711e65bbcd9e5f48015ab506207fe1438;hb=d6c1b80cdbd87df96f3f648d67ccdbba6794f957;hp=5e7e5816b4d14b50e630ab5d88d0904d9c36c685;hpb=cba9b59fab054d3a33a4d58ed227fc3d4b6f6d9d;p=apps%2Fagl-service-can-low-level.git diff --git a/src/can-signals.hpp b/src/can-signals.hpp index 5e7e5816..250ff197 100644 --- a/src/can-signals.hpp +++ b/src/can-signals.hpp @@ -17,99 +17,126 @@ #pragma once +#include +#include #include -#include #include -#include -#include +#include -#include "can-utils.hpp" -#include "low-can-binding.hpp" +#include "obd2-signals.hpp" +#include "timer.hpp" +#include "openxc.pb.h" +#include "can-bus.hpp" +#include "can-message.hpp" extern "C" { + #include #include } #define MESSAGE_SET_ID 0 -/** Can signal event map making access to afb_event - * external to openxc existing structure. - */ -static std::map subscribed_signals; -static std::map::iterator subscribed_signals_i; +extern std::mutex subscribed_signals_mutex; +std::mutex& get_subscribed_signals_mutex(); /** - * @brief Dumb SIGNALS array. It is composed by CanMessageSet - * SIGNALS[MESSAGE_SET_ID][CanSignal] + * @brief return the subscribed_signals map. + * + * return std::map - map of subscribed signals. */ -std::vector> SIGNALS { - { // message set: example - } -}; +extern std::map subscribed_signals; +std::map& get_subscribed_signals(); -/** Public: Return the currently active CAN configuration. */ -CanMessageSet* getActiveMessageSet(); - -/** Public: Retrive a list of all possible CAN configurations. +/** + * @brief The type signature for a CAN signal decoder. * - * Returns a pointer to an array of all configurations. - */ -CanMessageSet* getMessageSets(); - -/** Public: Return the length of the array returned by getMessageSets() */ -int getMessageSetCount(); - -/* Public: Return the number of CAN buses configured in the active - * configuration. This is limited to 2, as the hardware controller only has 2 - * CAN channels. + * @desc A SignalDecoder transforms a raw floating point CAN signal into a number, + * string or boolean. + * + * @param[in] CanSignal signal - The CAN signal that we are decoding. + * @param[in] CanSignal signals - The list of all signals. + * @param[in] int signalCount - The length of the signals array. + * @param[in] float value - The CAN signal parsed from the message as a raw floating point + * value. + * @param[out] bool 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. + * + * @return a decoded value in an openxc_DynamicField struct. */ -int getCanBusCount(); +typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal& signal, + const std::vector& signals, float value, bool* send); -/* Public: Return an array of all CAN messages to be processed in the active - * configuration. +/** + * @brief: The type signature for a CAN signal encoder. + * + * @desc A SignalEncoder transforms a number, string or boolean into a raw floating + * point value that fits in the CAN signal. + * + * @params[signal] - The CAN signal to encode. + * @params[value] - The dynamic field to encode. + * @params[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. */ -CanMessageDefinition* getMessages(); +typedef uint64_t (*SignalEncoder)(struct CanSignal* signal, + openxc_DynamicField* value, bool* send); -/* Public: Return signals from an signals array filtered on name. +/** + * @struct CanSignalState + * + * @brief A state encoded (SED) signal's mapping from numerical values to + * OpenXC state names. */ -CanSignal* getSignals(std::string name); +struct CanSignalState { + const int value; /*!< int value - The integer value of the state on the CAN bus.*/ + const char* name; /*!< char* name - The corresponding string name for the state in OpenXC. */ +}; +typedef struct CanSignalState CanSignalState; -/* Public: Return an array of all OpenXC CAN commands enabled in the active - * configuration that can write back to CAN with a custom handler. +/** + * @struct CanSignal * - * * Commands not defined here are handled using a 1-1 mapping from the signals - * list. - * */ -CanCommand* getCommands(); + * @brief A CAN signal to decode from the bus and output over USB. + */ +struct CanSignal { + struct CanMessageDefinition* message; /*!< message - The message this signal is a part of. */ + const char* generic_name; /*!< generic_name - The name of the signal to be output over USB.*/ + uint8_t bitPosition; /*!< 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 bitSize; /*!< bitSize - 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. */ + float offset; /*!< offset - The final value will be added to this offset. Use 0 if you + * don't need an offset. */ + float minValue; /*!< minValue - The minimum value for the processed signal.*/ + float maxValue; /*!< maxValue - The maximum value for the processed signal. */ + FrequencyClock frequencyClock; /*!< frequencyClock - A FrequencyClock struct to control the maximum frequency to + * process and send this signal. To process every value, set the + * clock's frequency to 0. */ + bool sendSame; /*!< sendSame - If true, will re-send even if the value hasn't changed.*/ + bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send the + * value if it has changed. */ + const CanSignalState* states; /*!< states - An array of CanSignalState describing the mapping + * between numerical and string values for valid states. */ + uint8_t stateCount; /*!< stateCount - The length of the states array. */ + 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. */ + bool received; /*!< received - True if this signal has ever been received.*/ + float lastValue; /*!< lastValue - The last received value of the signal. If 'received' is false, + * this value is undefined. */ +}; +typedef struct CanSignal CanSignal; -/* Public: Return the length of the array returned by getCommandCount(). */ -int getCommandCount(); +std::vector& get_can_signals(); -/* Public: Return the length of the array returned by getSignals(). */ size_t getSignalCount(); -/* Public: Return the length of the array returned by getMessages(). */ -int getMessageCount(); - -/** - * @brief Return an array of the metadata for the 2 CAN buses you want to - * monitor. The size of this array is fixed at 2. - */ -CanBus* getCanBuses(); - -/** - * @brief Find one or many signals based on its name or id - * passed through openxc_DynamicField. - * - * params[openxc_DynamicField&] - a const reference with the key to search into signal. - * Key is either a signal name or its CAN arbitration id. - * - * return[std::vector] return found CanSignal generic name vector. - */ -std::vector find_can_signals(const openxc_DynamicField &key); +void find_can_signals(const openxc_DynamicField &key, std::vector& found_signals); -uint32_t get_CanSignal_id(const CanSignal& sig) -{ - return sig.message->id; -} \ No newline at end of file +uint32_t get_signal_id(const CanSignal& sig); \ No newline at end of file