--- /dev/null
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include "can-utils.h"
+
+/** Public: Return the currently active CAN configuration. */
+CanMessageSet* getActiveMessageSet();
+
+/** Public: Retrive a list of all possible CAN configurations.
+ * *
+ * * 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.
+ * */
+int getCanBusCount();
+
+/* Public: Return an array of all CAN messages to be processed in the active
+ * * configuration.
+ * */
+CanMessageDefinition* getMessages();
+
+/* Public: Return an array of all CAN signals to be processed in the active
+ * * configuration.
+ * */
+CanSignal* getSignals();
+
+/* Public: Return an array of all OpenXC CAN commands enabled in the active
+ * * configuration that can write back to CAN with a custom handler.
+ * *
+ * * Commands not defined here are handled using a 1-1 mapping from the signals
+ * * list.
+ * */
+CanCommand* getCommands();
+
+/* Public: Return the length of the array returned by getCommandCount(). */
+int getCommandCount();
+
+/* Public: Return the length of the array returned by getSignals(). */
+int getSignalCount();
+
+/* Public: Return the length of the array returned by getMessages(). */
+int getMessageCount();
+
+/* Public: 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();
+
+/* Public: Decode CAN signals from raw CAN messages, translate from engineering
+ * * units to something more human readable, and send the resulting value over USB
+ * * as an OpenXC-style JSON message.
+ * *
+ * * This is the main workhorse function of the VI. Every time a new
+ * * CAN message is received that matches one of the signals in the list returend
+ * * by getSignals(), this function is called with the message ID and 64-bit data
+ * * field.
+ * *
+ * * bus - The CAN bus this message was received on.
+ * * message - The received CAN message.
+ * */
+void decodeCanMessage(openxc::pipeline::Pipeline* pipeline, CanBus* bus, CanMessage* message);
+
--- /dev/null
+
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include "timer.h"
+#include "openxc.pb.h"
+
+// TODO actual max is 32 but dropped to 24 for memory considerations
+#define MAX_ACCEPTANCE_FILTERS 24
+// TODO this takes up a ton of memory
+#define MAX_DYNAMIC_MESSAGE_COUNT 12
+
+#define CAN_MESSAGE_SIZE 8
+
+#define CAN_ACTIVE_TIMEOUT_S 30
+
+#define QUEUE_DECLARE(type, max_length) \
+static const int queue_##type##_max_length = max_length; \
+static const int queue_##type##_max_internal_length = max_length + 1; \
+typedef struct queue_##type##_s { \
+ int head; \
+ int tail; \
+ type elements[max_length + 1]; \
+} queue_##type; \
+\
+bool queue_##type##_push(queue_##type* queue, type value); \
+\
+type queue_##type##_pop(queue_##type* queue); \
+\
+type queue_##type##_peek(queue_##type* queue); \
+void queue_##type##_init(queue_##type* queue); \
+int queue_##type##_length(queue_##type* queue); \
+int queue_##type##_available(queue_##type* queue); \
+bool queue_##type##_full(queue_##type* queue); \
+bool queue_##type##_empty(queue_##type* queue); \
+void queue_##type##_snapshot(queue_##type* queue, type* snapshot, int max);
+
+/* Public: The type signature for a CAN signal decoder.
+ *
+ * A SignalDecoder transforms a raw floating point CAN signal into a number,
+ * string or boolean.
+ *
+ * signal - The CAN signal that we are decoding.
+ * signals - The list of all signals.
+ * signalCount - The length of the signals array.
+ * pipeline - you may want to generate arbitrary additional messages for
+ * publishing.
+ * value - The CAN signal parsed from the message as a raw floating point
+ * value.
+ * 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.
+ *
+ * Returns a decoded value in an openxc_DynamicField struct.
+ */
+typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal* signal,
+ CanSignal* signals, int signalCount,
+ openxc::pipeline::Pipeline* pipeline, float value, bool* send);
+
+/* Public: The type signature for a CAN signal encoder.
+ *
+ * A SignalEncoder transforms a number, string or boolean into a raw floating
+ * point value that fits in the CAN signal.
+ *
+ * signal - The CAN signal to encode.
+ * value - The dynamic field to encode.
+ * 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)(struct CanSignal* signal,
+ openxc_DynamicField* value, bool* send);
+
+/* Public: The ID format for a CAN message.
+ *
+ * STANDARD - standard 11-bit CAN arbitration ID.
+ * EXTENDED - an extended frame, with a 29-bit arbitration ID.
+ */
+enum CanMessageFormat {
+ STANDARD,
+ EXTENDED,
+};
+typedef enum CanMessageFormat CanMessageFormat;
+
+/* Public: A state encoded (SED) signal's mapping from numerical values to
+ * OpenXC state names.
+ *
+ * value - The integer value of the state on the CAN bus.
+ * name - The corresponding string name for the state in OpenXC.
+ */
+struct CanSignalState {
+ const int value;
+ const char* name;
+};
+typedef struct CanSignalState CanSignalState;
+
+/* Public: A CAN signal to decode from the bus and output over USB.
+ *
+ * message - The message this signal is a part of.
+ * genericName - The name of the signal to be output over USB.
+ * 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)
+ * bitSize - The width of the bit field in the CAN message.
+ * factor - The final value will be multiplied by this factor. Use 1 if you
+ * don't need a factor.
+ * offset - The final value will be added to this offset. Use 0 if you
+ * don't need an offset.
+ * minValue - The minimum value for the processed signal.
+ * maxValue - The maximum value for the processed signal.
+ * 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.
+ * sendSame - If true, will re-send even if the value hasn't changed.
+ * forceSendChanged - If true, regardless of the frequency, it will send the
+ * value if it has changed.
+ * states - An array of CanSignalState describing the mapping
+ * between numerical and string values for valid states.
+ * stateCount - The length of the states array.
+ * writable - True if the signal is allowed to be written from the USB host
+ * back to CAN. Defaults to false.
+ * decoder - An optional function to decode a signal from the bus to a human
+ * readable value. If NULL, the default numerical decoder is used.
+ * 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.
+ * received - True if this signal has ever been received.
+ * lastValue - The last received value of the signal. If 'received' is false,
+ * this value is undefined.
+ */
+struct CanSignal {
+ struct CanMessageDefinition* message;
+ const char* genericName;
+ uint8_t bitPosition;
+ uint8_t bitSize;
+ float factor;
+ float offset;
+ float minValue;
+ float maxValue;
+ FrequencyClock frequencyClock;
+ bool sendSame;
+ bool forceSendChanged;
+ const CanSignalState* states;
+ uint8_t stateCount;
+ bool writable;
+ SignalDecoder decoder;
+ SignalEncoder encoder;
+ bool received;
+ float lastValue;
+};
+typedef struct CanSignal CanSignal;
+
+/* Public: The definition of a CAN message. This includes a lot of metadata, so
+ * to save memory this struct should not be used for storing incoming and
+ * outgoing CAN messages.
+ *
+ * bus - A pointer to the bus this message is on.
+ * id - The ID of the message.
+ * format - the format of the message's ID.
+ * frequencyClock - an optional frequency clock to control the output of this
+ * message, if sent raw, or simply to mark the max frequency for custom
+ * handlers to retrieve.
+ * forceSendChanged - If true, regardless of the frequency, it will send CAN
+ * message if it has changed when using raw passthrough.
+ * lastValue - The last received value of the message. Defaults to undefined.
+ * This is required for the forceSendChanged functionality, as the stack
+ * needs to compare an incoming CAN message with the previous frame.
+ */
+struct CanMessageDefinition {
+ struct CanBus* bus;
+ uint32_t id;
+ CanMessageFormat format;
+ FrequencyClock frequencyClock;
+ bool forceSendChanged;
+ uint8_t lastValue[CAN_MESSAGE_SIZE];
+};
+typedef struct CanMessageDefinition CanMessageDefinition;
+
+/* A compact representation of a single CAN message, meant to be used in in/out
+ * buffers.
+ *
+ * id - The ID of the message.
+ * format - the format of the message's ID.
+ * data - The message's data field.
+ * length - the length of the data array (max 8).
+ */
+struct CanMessage {
+ uint32_t id;
+ CanMessageFormat format;
+ uint8_t data[CAN_MESSAGE_SIZE];
+ uint8_t length;
+};
+typedef struct CanMessage CanMessage;
+
+QUEUE_DECLARE(CanMessage, 8);
+
+/* Private: An entry in the list of acceptance filters for each CanBus.
+ *
+ * This struct is meant to be used with a LIST type from <sys/queue.h>.
+ *
+ * filter - the value for the CAN acceptance filter.
+ * activeUserCount - The number of active consumers of this filter's messages.
+ * When 0, this filter can be removed.
+ * format - the format of the ID for the filter.
+struct AcceptanceFilterListEntry {
+ uint32_t filter;
+ uint8_t activeUserCount;
+ CanMessageFormat format;
+ LIST_ENTRY(AcceptanceFilterListEntry) entries;
+};
+ */
+
+/* Private: A type of list containing CAN acceptance filters.
+LIST_HEAD(AcceptanceFilterList, AcceptanceFilterListEntry);
+
+struct CanMessageDefinitionListEntry {
+ CanMessageDefinition definition;
+ LIST_ENTRY(CanMessageDefinitionListEntry) entries;
+};
+LIST_HEAD(CanMessageDefinitionList, CanMessageDefinitionListEntry);
+ */
+
+/** Public: A parent wrapper for a particular set of CAN messages and associated
+ * CAN buses(e.g. a vehicle or program).
+ *
+ * index - A numerical ID for the message set, ideally the index in an array
+ * for fast lookup
+ * name - The name of the message set.
+ * busCount - The number of CAN buses defined for this message set.
+ * messageCount - The number of CAN messages (across all buses) defined for
+ * this message set.
+ * signalCount - The number of CAN signals (across all messages) defined for
+ * this message set.
+ * commandCount - The number of CanCommmands defined for this message set.
+ */
+typedef struct {
+ uint8_t index;
+ const char* name;
+ uint8_t busCount;
+ unsigned short messageCount;
+ unsigned short signalCount;
+ unsigned short commandCount;
+} CanMessageSet;
+
+/* Public: The type signature for a function to handle a custom OpenXC command.
+ *
+ * name - the name of the received command.
+ * value - the value of the received command, in a DynamicField. The actual type
+ * may be a number, string or bool.
+ * event - an optional event from the received command, in a DynamicField. The
+ * actual type may be a number, string or bool.
+ * signals - The list of all signals.
+ * signalCount - The length of the signals array.
+ */
+typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
+ openxc_DynamicField* event, CanSignal* signals, int signalCount);
+
+/* Public: The structure to represent a supported custom OpenXC command.
+ *
+ * For completely customized CAN commands without a 1-1 mapping between an
+ * OpenXC message from the host and a CAN signal, you can define the name of the
+ * command and a custom function to handle it in the VI. An example is
+ * the "turn_signal_status" command in OpenXC, which has a value of "left" or
+ * "right". The vehicle may have separate CAN signals for the left and right
+ * turn signals, so you will need to implement a custom command handler to send
+ * the correct signals.
+ *
+ * Command handlers are also useful if you want to trigger multiple CAN messages
+ * or signals from a signal OpenXC message.
+ *
+ * genericName - The name of the command.
+ * handler - An function to process the received command's data and perform some
+ * action.
+ */
+typedef struct {
+ const char* genericName;
+ CommandHandler handler;
+} CanCommand;
+
+/* Pre initialize actions made before CAN bus initialization
+ *
+ * bus - A CanBus struct defining the bus's metadata
+ * writable - configure the controller in a writable mode. If false, it will be
+ * configured as "listen only" and will not allow writes or even CAN ACKs.
+ * buses - An array of all CAN buses.
+ * busCount - The length of the buses array.
+ */
+void pre_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCount);
+
+/* Post-initialize actions made after CAN bus initialization and before the
+ * event loop connection.
+ *
+ * bus - A CanBus struct defining the bus's metadata
+ * writable - configure the controller in a writable mode. If false, it will be
+ * configured as "listen only" and will not allow writes or even CAN ACKs.
+ * buses - An array of all CAN buses.
+ * busCount - The length of the buses array.
+ */
+void post_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCount);
+
+/* Public: Check if the device is connected to an active CAN bus, i.e. it's
+ * received a message in the recent past.
+ *
+ * Returns true if a message was received on the CAN bus within
+ * CAN_ACTIVE_TIMEOUT_S seconds.
+ */
+bool isBusActive(CanBus* bus);
+
+/* Public: Log transfer statistics about all active CAN buses to the debug log.
+ *
+ * buses - an array of active CAN buses.
+ * busCount - the length of the buses array.
+ */
+void logBusStatistics(CanBus* buses, const int busCount);
Code Review / apps / agl-service-can-low-level.git / commitdiff