#include "../binding/low-can-hat.hpp"
#include "../utils/converter.hpp"
+/// @brief Handle sign of the signal according to several decoding methods
+///
+/// @param[in] signal - The signal
+/// @param[in] data_signal - The data of the signal
+/// @param[in] new_end_bit - The last bit of in the last byte of the data (data_signal[0])
+/// @param[in] can_data - The whole can data (needed for SIGN BIT EXTERN)
+///
+/// @return Returns the sign of the data
+///
+int decoder_t::handle_sign(const signal_t& signal, std::vector<uint8_t>& data_signal, uint8_t new_end_bit, const std::vector<uint8_t>& can_data)
+{
+ uint8_t data_byte = 0;
+ uint8_t mask = 0;
+ int end_bit = 0;
+
+ if(signal.get_sign() == sign_t::UNSIGNED)
+ return 1;
+ else if(signal.get_sign() == sign_t::SIGN_BIT_EXTERN) {
+ end_bit = signal.get_bit_sign_position()%8;
+ mask = static_cast<uint8_t>((1 << (end_bit + 1)) - 1);
+ data_byte = can_data[signal.get_bit_sign_position()/8] & mask;
+ }
+ else {
+ end_bit = new_end_bit;
+ mask = static_cast<uint8_t>((1 << (end_bit + 1)) - 1);
+ data_byte = data_signal[0] & mask;
+ }
+
+ //if negative: decode with right method
+ if(data_byte >> end_bit) {
+ switch(signal.get_sign())
+ {
+ //remove the sign bit to get the absolute value
+ case sign_t::SIGN_BIT:
+ data_signal[0] = static_cast<uint8_t>(data_signal[0] & (mask >> 1));
+ break;
+ //same method twos complement = ones complement + 1
+ case sign_t::ONES_COMPLEMENT:
+ case sign_t::TWOS_COMPLEMENT:
+ //complement only until end_bit
+ data_signal[0] = ((data_signal[0] ^ mask) & mask);
+ if(data_signal.size() > 1) {
+ for(int i=1; i < data_signal.size(); i++) {
+ data_signal[i] = data_signal[i] ^ 0xFF;
+ }
+ }
+ if(signal.get_sign() == sign_t::TWOS_COMPLEMENT)
+ data_signal[data_signal.size() - 1] = static_cast<uint8_t>(data_signal[data_signal.size() - 1] + 1);
+ break;
+ case sign_t::SIGN_BIT_EXTERN:
+ break;
+ default:
+ AFB_ERROR("Not a valid sign entry %d, considering the value as unsigned", signal.get_sign());
+ break;
+ }
+ return -1;
+ }
+ return 1;
+}
+
/// @brief Parses the signal's bitfield from the given data and returns the raw
/// value.
///
for(int i=new_start_byte;i<=new_end_byte;i++)
data_signal.push_back(data[i]);
-// if(bit_size > 255)
-// AFB_ERROR("Error signal %s to long bit size", signal.get_name().c_str());
-
-// if(new_start_bit > 255)
-// AFB_ERROR("Too long signal offset %d", new_start_bit);
+ int sign = decoder_t::handle_sign(signal, data_signal, new_end_bit, data);
if(data_signal.size() > 65535)
AFB_ERROR("Too long data signal %s", signal.get_name().c_str());
- return bitfield_parse_float(data_signal.data(), (uint16_t) data_signal.size(),
+ return static_cast<float>(sign) * bitfield_parse_float(data_signal.data(), (uint16_t) data_signal.size(),
new_start_bit, bit_size, signal.get_factor(),
signal.get_offset());
}
///
openxc_DynamicField decoder_t::translate_signal(signal_t& signal, std::shared_ptr<message_t> message, bool* send)
{
-
+ if(!signal.get_message()->frame_layout_is_little())
+ {
+ signal.set_bit_position(converter_t::bit_position_swap(signal.get_bit_position(),signal.get_bit_size()));
+ }
// Must call the decoders every time, regardless of if we are going to
// decide to send the signal or not.
openxc_DynamicField decoded_value = decoder_t::decode_signal(signal,
std::shared_ptr<message_set_t> message_set =
std::make_shared<message_set_t>(message_set_t{0,"AGL Virtual Car",
{ // beginning message_definition_ vector
- {std::make_shared<message_definition_t>(message_definition_t{"ls", 0x30,"", 0, 0 ,false, frequency_clock_t(5.00000f), true,
+ {std::make_shared<message_definition_t>(message_definition_t{"ls", 0x30,"", 0, 0, false, frequency_clock_t(5.00000f), true,
{ // beginning signals vector
{std::make_shared<signal_t> (signal_t{
"hvac.fan.speed",// generic_name
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
0,// is_big_endian
- 0,// is_signed
+ static_cast<sign_t>(0),// signed
+ -1,// bit_sign_position
""// unit
})},
{std::make_shared<signal_t> (signal_t{
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
0,// is_big_endian
- 0,// is_signed
+ static_cast<sign_t>(0),// signed
+ -1,// bit_sign_position
""// unit
})},
{std::make_shared<signal_t> (signal_t{
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
0,// is_big_endian
- 0,// is_signed
+ static_cast<sign_t>(0),// signed
+ -1,// bit_sign_position
""// unit
})},
{std::make_shared<signal_t> (signal_t{
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
0,// is_big_endian
- 0,// is_signed
+ static_cast<sign_t>(0),// signed
+ -1,// bit_sign_position
""// unit
})}
} // end signals vector
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
0,// is_big_endian
- 0,// is_signed
+ static_cast<sign_t>(0),// signed
+ -1,// bit_sign_position
""// unit
})},
{std::make_shared<signal_t> (signal_t{
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
0,// is_big_endian
- 0,// is_signed
+ static_cast<sign_t>(0),// signed
+ -1,// bit_sign_position
""// unit
})},
{std::make_shared<signal_t> (signal_t{
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
0,// is_big_endian
- 0,// is_signed
+ static_cast<sign_t>(0),// signed
+ -1,// bit_sign_position
""// unit
})}
} // end signals vector
})} // end message_definition entry
-, {std::make_shared<message_definition_t>(message_definition_t{"hs", 0x3E9,"", 0, 0,false, frequency_clock_t(5.00000f), true,
+, {std::make_shared<message_definition_t>(message_definition_t{"hs", 0x3E9,"", 0, 0, false, frequency_clock_t(5.00000f), true,
{ // beginning signals vector
{std::make_shared<signal_t> (signal_t{
"vehicle.average.speed",// generic_name
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
0,// is_big_endian
- 0,// is_signed
+ static_cast<sign_t>(0),// signed
+ -1,// bit_sign_position
""// unit
})}
} // end signals vector
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
0,// is_big_endian
- 0,// is_signed
+ static_cast<sign_t>(0),// signed
+ -1,// bit_sign_position
""// unit
})},
{std::make_shared<signal_t> (signal_t{
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
0,// is_big_endian
- 0,// is_signed
+ static_cast<sign_t>(0),// signed
+ -1,// bit_sign_position
""// unit
})}
} // end signals vector
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
0,// is_big_endian
- 0,// is_signed
+ static_cast<sign_t>(0),// signed
+ -1,// bit_sign_position
""// unit
})},
{std::make_shared<signal_t> (signal_t{
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
0,// is_big_endian
- 0,// is_signed
+ static_cast<sign_t>(0),// signed
+ -1,// bit_sign_position
""// unit
})},
{std::make_shared<signal_t> (signal_t{
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
0,// is_big_endian
- 0,// is_signed
+ static_cast<sign_t>(0),// signed
+ -1,// bit_sign_position
""// unit
})},
{std::make_shared<signal_t> (signal_t{
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
0,// is_big_endian
- 0,// is_signed
+ static_cast<sign_t>(0),// signed
+ -1,// bit_sign_position
""// unit
})},
{std::make_shared<signal_t> (signal_t{
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
0,// is_big_endian
- 0,// is_signed
+ static_cast<sign_t>(0),// signed
+ -1,// bit_sign_position
""// unit
})}
} // end signals vector
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
0,// is_big_endian
- 0,// is_signed
+ static_cast<sign_t>(0),// signed
+ -1,// bit_sign_position
""// unit
})},
{std::make_shared<signal_t> (signal_t{
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
0,// is_big_endian
- 0,// is_signed
+ static_cast<sign_t>(0),// signed
+ -1,// bit_sign_position
""// unit
})},
{std::make_shared<signal_t> (signal_t{
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
0,// is_big_endian
- 0,// is_signed
+ static_cast<sign_t>(0),// signed
+ -1,// bit_sign_position
""// unit
})},
{std::make_shared<signal_t> (signal_t{
false,// received
std::make_pair<bool, int>(false, 0),// multiplex
0,// is_big_endian
- 0,// is_signed
+ static_cast<sign_t>(0),// signed
+ -1,// bit_sign_position
""// unit
})}
} // end signals vector
Code Review / apps / agl-service-can-low-level.git / commitdiff