#include "../low-can-binding.hpp"
/// @brief Class constructor
-/// @param dev_name String representing the device name into the linux /dev tree
+///
+/// @param[in] dev_name - String representing the device name into the linux /dev tree
+/// @param[in] address - integer identifier of the bus, set using init_can_dev from can_bus_t.
can_bus_dev_t::can_bus_dev_t(const std::string& dev_name, int32_t address)
: device_name_{dev_name}, address_{address}
{}
}
/// @brief Open the can socket and returning it
+///
+/// We try to open CAN socket and apply the following options
+/// timestamp received messages and pass the socket to FD mode.
+///
/// @return -1 if something wrong.
int can_bus_dev_t::open()
{
struct ifreq ifr;
struct timeval timeout;
- DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_.socket());
+ DEBUG(binder_interface, "open: CAN Handler socket : %d", can_socket_.socket());
if (can_socket_)
return 0;
can_socket_.open(PF_CAN, SOCK_RAW, CAN_RAW);
if (can_socket_)
{
- DEBUG(binder_interface, "CAN Handler socket correctly initialized : %d", can_socket_.socket());
+ DEBUG(binder_interface, "open: CAN Handler socket correctly initialized : %d", can_socket_.socket());
// Set timeout for read
can_socket_.setopt(SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
// Set timestamp for receveid frame
if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, ×tamp_on, sizeof(timestamp_on)) < 0)
- WARNING(binder_interface, "setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
- DEBUG(binder_interface, "Switch CAN Handler socket to use fd mode");
+ WARNING(binder_interface, "open: setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
+ DEBUG(binder_interface, "open: Switch CAN Handler socket to use fd mode");
// try to switch the socket into CAN_FD mode
if (can_socket_.setopt(SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
{
- NOTICE(binder_interface, "Can not switch into CAN Extended frame format.");
+ NOTICE(binder_interface, "open: Can not switch into CAN Extended frame format.");
is_fdmode_on_ = false;
}
else
{
- DEBUG(binder_interface, "Correctly set up CAN socket to use FD frames.");
+ DEBUG(binder_interface, "open: Correctly set up CAN socket to use FD frames.");
is_fdmode_on_ = true;
}
// Attempts to open a socket to CAN bus
::strcpy(ifr.ifr_name, device_name_.c_str());
- DEBUG(binder_interface, "ifr_name is : %s", ifr.ifr_name);
+ DEBUG(binder_interface, "open: ifr_name is : %s", ifr.ifr_name);
if(::ioctl(can_socket_.socket(), SIOCGIFINDEX, &ifr) < 0)
{
- ERROR(binder_interface, "ioctl failed. Error was : %s", strerror(errno));
+ ERROR(binder_interface, "open: ioctl failed. Error was : %s", strerror(errno));
}
else
{
}
/// @brief Close the bus.
+///
+/// @return interger return value of socket.close() function
int can_bus_dev_t::close()
{
return can_socket_.close();
}
-/// @brief Read the can socket and retrieve canfd_frame
+/// @brief Read the can socket and retrieve canfd_frame.
+///
+/// Read operation are blocking and we try to read CANFD frame
+/// rather than classic CAN frame. CANFD frame are retro compatible.
can_message_t can_bus_dev_t::read()
{
ssize_t nbytes;
}
/// @brief Thread function used to read the can socket.
-/// @param[in] can_bus object to be used to read the can socket
+/// @param[in] can_bus - object to be used to read the can socket
void can_bus_dev_t::can_reader(can_bus_t& can_bus)
{
while(is_running_)
}
/// @brief Send a can message from a can_message_t object.
-/// @param[in] can_msg the can message object to send
+/// @param[in] can_msg - the can message object to send
+///
+/// @return 0 if message snet, -1 if something wrong.
int can_bus_dev_t::send(can_message_t& can_msg)
{
ssize_t nbytes;
/// @param[in] arbitration_id - CAN arbitration id.
/// @param[in] data - CAN message payload to send
/// @param[in] size - size of the data to send
+///
+/// @return True if message sent, false if not.
bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
{
ssize_t nbytes;
if (nbytes == -1)
{
ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
- return -1;
+ return false;
}
- return (int)nbytes;
+ return true;
}
else
{
ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
open();
}
- return 0;
+ return false;
}
class can_message_t;
/// @brief Object representing a can device. Handle opening, closing and reading on the
-/// socket. This is the low level object to be use by can_bus_t.
+/// socket. This is the low level object to be initialized and use by can_bus_t.
class can_bus_dev_t
{
private:
- std::string device_name_;
+ std::string device_name_; ///< a string identifier identitfying the linux CAN device.
utils::socket_t can_socket_;
- int32_t address_; /// < an identifier used through binding that refer to that device
+ int32_t address_; ///< an identifier used through binding that refer to that device
- bool is_fdmode_on_; /// < boolean telling if whether or not the can socket use fdmode.
+ bool is_fdmode_on_; ///< boolean telling if whether or not the can socket use fdmode.
struct sockaddr_can txAddress_; /// < internal member using to bind to the socket
- std::thread th_reading_; /// < Thread handling read the socket can device filling can_message_q_ queue of can_bus_t
- bool is_running_ = false; /// < boolean telling whether or not reading is running or not
+ std::thread th_reading_; ///< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t
+ bool is_running_ = false; ///< boolean telling whether or not reading is running or not
void can_reader(can_bus_t& can_bus);
public:
#include <afb/afb-binding.h>
}
-/**
-* @brief Class constructor
-*
-* @param struct afb_binding_interface *interface between daemon and binding
-* @param int file handle to the json configuration file.
-*/
+/// @brief Class constructor
+///
+/// @param[in] conf_file - handle to the json configuration file.
can_bus_t::can_bus_t(int conf_file)
: conf_file_{conf_file}
{
std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::can_devices_;
-/**
- * @brief Will make the decoding operation on a classic CAN message. It will not
- * handle CAN commands nor diagnostic messages that have their own method to get
- * this happens.
- *
- * It will add to the vehicle_message queue the decoded message and tell the event push
- * thread to process it.
- *
- * @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
- *
- * @return How many signals has been decoded.
- */
+/// @brief Will make the decoding operation on a classic CAN message. It will not
+/// handle CAN commands nor diagnostic messages that have their own method to get
+/// this happens.
+///
+/// It will add to the vehicle_message queue the decoded message and tell the event push
+/// thread to process it.
+///
+/// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
+///
+/// @return How many signals has been decoded.
int can_bus_t::process_can_signals(can_message_t& can_message)
{
int processed_signals = 0;
openxc_DynamicField search_key, decoded_message;
openxc_VehicleMessage vehicle_message;
- /* First we have to found which can_signal_t it is */
+ // First we have to found which can_signal_t it is
search_key = build_DynamicField((double)can_message.get_id());
configuration_t::instance().find_can_signals(search_key, signals);
- /* Decoding the message ! Don't kill the messenger ! */
+ // Decoding the message ! Don't kill the messenger !
for(auto& sig : signals)
{
std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
std::map<std::string, struct afb_event>& s = get_subscribed_signals();
- /* DEBUG message to make easier debugger STL containers...
- DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[sig.generic_name]));
- DEBUG(binder_interface, "Operator[] key string: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[std::string(sig.generic_name)]));
- DEBUG(binder_interface, "Nb elt matched char: %d", (int)s.count(sig.generic_name));
- DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.generic_name)));*/
+ // DEBUG message to make easier debugger STL containers...
+ //DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[sig.generic_name]));
+ //DEBUG(binder_interface, "Operator[] key string: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[std::string(sig.generic_name)]));
+ //DEBUG(binder_interface, "Nb elt matched char: %d", (int)s.count(sig.generic_name));
+ //DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.generic_name));
if( s.find(sig->get_name()) != s.end() && afb_event_is_valid(s[sig->get_name()]))
{
decoded_message = decoder_t::translateSignal(*sig, can_message, configuration_t::instance().get_can_signals());
return processed_signals;
}
-/**
- * @brief Will make the decoding operation on a diagnostic CAN message.It will add to
- * the vehicle_message queue the decoded message and tell the event push thread to process it.
- *
- * @param[in] manager - the diagnostic manager object that handle diagnostic communication
- * @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
- *
- * @return How many signals has been decoded.
- */
+/// @brief Will make the decoding operation on a diagnostic CAN message.Then it find the subscribed signal
+/// corresponding and will add the vehicle_message to the queue of event to pushed before notifying
+/// the event push thread to process it.
+///
+/// @param[in] manager - the diagnostic manager object that handle diagnostic communication
+/// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
+///
+/// @return How many signals has been decoded.
int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message)
{
int processed_signals = 0;
return processed_signals;
}
-/**
-* @brief thread to decoding raw CAN messages.
-*
-* @desc It will take from the can_message_q_ queue the next can message to process then it will search
-* about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
-* subscription has been made. Can message will be decoded using translateSignal that will pass it to the
-* corresponding decoding function if there is one assigned for that signal. If not, it will be the default
-* noopDecoder function that will operate on it.
-*
-* Depending on the nature of message, if id match a diagnostic request corresponding id for a response
-* then decoding a diagnostic message else use classic CAN signals decoding functions.
-*
-* TODO: make diagnostic messages parsing optionnal.
-*/
+/// @brief thread to decoding raw CAN messages.
+///
+/// Depending on the nature of message, if arbitration ID matches ID for a diagnostic response
+/// then decoding a diagnostic message else use classic CAN signals decoding functions.
+///
+/// It will take from the can_message_q_ queue the next can message to process then it search
+/// about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
+/// subscription has been made. Can message will be decoded using translateSignal that will pass it to the
+/// corresponding decoding function if there is one assigned for that signal. If not, it will be the default
+/// noopDecoder function that will operate on it.
+///
+/// TODO: make diagnostic messages parsing optionnal.
void can_bus_t::can_decode_message()
{
can_message_t can_message;
}
}
-/**
-* @brief thread to push events to suscribers. It will read subscribed_signals map to look
-* which are events that has to be pushed.
-*/
+/// @brief thread to push events to suscribers. It will read subscribed_signals map to look
+/// which are events that has to be pushed.
void can_bus_t::can_event_push()
{
openxc_VehicleMessage v_message;
}
}
-/**
-* @brief Will initialize threads that will decode
-* and push subscribed events.
-*/
+/// @brief Will initialize threads that will decode
+/// and push subscribed events.
void can_bus_t::start_threads()
{
is_decoding_ = true;
is_pushing_ = false;
}
-/**
-* @brief Will stop all threads holded by can_bus_t object
-* which are decoding and pushing then will wait that's
-* they'll finish their job.
-*/
+/// @brief Will stop all threads holded by can_bus_t object
+/// which are decoding and pushing then will wait that's
+/// they'll finish their job.
void can_bus_t::stop_threads()
{
is_decoding_ = false;
is_pushing_ = false;
}
-/**
-* @brief Will initialize can_bus_dev_t objects after reading
-* the configuration file passed in the constructor. All CAN buses
-* Initialized here will be added to a vector holding them for
-* inventory and later access.
-*
-* That will initialize CAN socket reading too using a new thread.
-*/
+/// @brief Will initialize can_bus_dev_t objects after reading
+/// the configuration file passed in the constructor. All CAN buses
+/// Initialized here will be added to a vector holding them for
+/// inventory and later access.
+///
+/// That will initialize CAN socket reading too using a new thread.
+///
+/// @return 0 if ok, other if not.
int can_bus_t::init_can_dev()
{
std::vector<std::string> devices_name;
return 1;
}
-/**
-* @brief read the conf_file_ and will parse json objects
-* in it searching for canbus objects devices name.
-*
-* @return Vector of can bus device name string.
-*/
+/// @brief read the conf_file_ and will parse json objects
+/// in it searching for canbus objects devices name.
+///
+/// @return Vector of can bus device name string.
std::vector<std::string> can_bus_t::read_conf()
{
std::vector<std::string> ret;
return ret;
}
-/**
-* @brief return new_can_message_cv_ member
-*
-* @return return new_can_message_cv_ member
-*/
+/// @brief return new_can_message_cv_ member
+///
+/// @return return new_can_message_cv_ member
std::condition_variable& can_bus_t::get_new_can_message_cv()
{
return new_can_message_cv_;
}
-/**
-* @brief return can_message_mutex_ member
-*
-* @return return can_message_mutex_ member
-*/
+/// @brief return can_message_mutex_ member
+///
+/// @return return can_message_mutex_ member
std::mutex& can_bus_t::get_can_message_mutex()
{
return can_message_mutex_;
}
-/**
-* @brief Return first can_message_t on the queue
-*
-* @return a can_message_t
-*/
+/// @brief Return first can_message_t on the queue
+///
+/// @return a can_message_t
can_message_t can_bus_t::next_can_message()
{
can_message_t can_msg;
return can_msg;
}
-/**
-* @brief Push a can_message_t into the queue
-*
-* @param the const reference can_message_t object to push into the queue
-*/
+/// @brief Push a can_message_t into the queue
+///
+/// @param[in] can_msg - the const reference can_message_t object to push into the queue
void can_bus_t::push_new_can_message(const can_message_t& can_msg)
{
can_message_q_.push(can_msg);
}
-/**
-* @brief Return first openxc_VehicleMessage on the queue
-*
-* @return a openxc_VehicleMessage containing a decoded can message
-*/
+/// @brief Return first openxc_VehicleMessage on the queue
+///
+/// @return a openxc_VehicleMessage containing a decoded can message
openxc_VehicleMessage can_bus_t::next_vehicle_message()
{
openxc_VehicleMessage v_msg;
return v_msg;
}
-/**
-* @brief Push a openxc_VehicleMessage into the queue
-*
-* @param the const reference openxc_VehicleMessage object to push into the queue
-*/
+/// @brief Push a openxc_VehicleMessage into the queue
+///
+/// @param[in] v_msg - const reference openxc_VehicleMessage object to push into the queue
void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
{
vehicle_message_q_.push(v_msg);
}
-/**
-* @brief Return a map with the can_bus_dev_t initialized
-*
-* @return map can_bus_dev_m_ map
-*/
+/// @brief Return a map with the can_bus_dev_t initialized
+///
+/// @return map can_bus_dev_m_ map
const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const
{
return can_bus_t::can_devices_;
}
-/**
-* @brief Return the shared pointer on the can_bus_dev_t initialized
-* with device_name "bus"
-*
-* @param[in] bus - CAN bus device name to retrieve.
-*
-* @return A shared pointer on an object can_bus_dev_t
-*/
+/// @brief Return the shared pointer on the can_bus_dev_t initialized
+/// with device_name "bus"
+///
+/// @param[in] bus - CAN bus device name to retrieve.
+///
+/// @return A shared pointer on an object can_bus_dev_t
std::shared_ptr<can_bus_dev_t> can_bus_t::get_can_device(std::string bus)
{
return can_bus_t::can_devices_[bus];
class can_bus_t
{
private:
- int conf_file_; /// < configuration file handle used to initialize can_bus_dev_t objects.
+ int conf_file_; ///< configuration file handle used to initialize can_bus_dev_t objects.
void can_decode_message();
- std::thread th_decoding_; /// < thread that'll handle decoding a can frame
- bool is_decoding_ = false; /// < boolean member controling thread while loop
+ std::thread th_decoding_; ///< thread that'll handle decoding a can frame
+ bool is_decoding_ = false; ///< boolean member controling thread while loop
void can_event_push();
- std::thread th_pushing_; /// < thread that'll handle pushing decoded can frame to subscribers
- bool is_pushing_ = false; /// < boolean member controling thread while loop
+ std::thread th_pushing_; ///< thread that'll handle pushing decoded can frame to subscribers
+ bool is_pushing_ = false; ///< boolean member controling thread while loop
- std::condition_variable new_can_message_cv_; /// < condition_variable use to wait until there is a new CAN message to read
- std::mutex can_message_mutex_; /// < mutex protecting the can_message_q_ queue.
- std::queue <can_message_t> can_message_q_; /// < queue that'll store can_message_t to decoded
+ std::condition_variable new_can_message_cv_; ///< condition_variable use to wait until there is a new CAN message to read
+ std::mutex can_message_mutex_; ///< mutex protecting the can_message_q_ queue.
+ std::queue <can_message_t> can_message_q_; ///< queue that'll store can_message_t to decoded
- std::condition_variable new_decoded_can_message_; /// < condition_variable use to wait until there is a new vehicle message to read from the queue vehicle_message_q_
- std::mutex decoded_can_message_mutex_; /// < mutex protecting the vehicle_message_q_ queue.
- std::queue <openxc_VehicleMessage> vehicle_message_q_; /// < queue that'll store openxc_VehicleMessage to pushed
+ std::condition_variable new_decoded_can_message_; ///< condition_variable use to wait until there is a new vehicle message to read from the queue vehicle_message_q_
+ std::mutex decoded_can_message_mutex_; ///< mutex protecting the vehicle_message_q_ queue.
+ std::queue <openxc_VehicleMessage> vehicle_message_q_; ///< queue that'll store openxc_VehicleMessage to pushed
- static std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_devices_; /// < Can device map containing all can_bus_dev_t objects initialized during init_can_dev function
+ static std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_devices_; ///< Can device map containing all can_bus_dev_t objects initialized during init_can_dev function
public:
can_bus_t(int conf_file);
#include "openxc.pb.h"
#include "can-signals.hpp"
-/**
- * @brief The type signature for a function to handle a custom OpenXC command.
- *
- * @param[in] name - the name of the received command.
- * @param[in] value - the value of the received command, in a DynamicField. The actual type
- * may be a number, string or bool.
- * @param[in] event - an optional event from the received command, in a DynamicField. The
- * actual type may be a number, string or bool.
- * @param[in] signals - The list of all signals.
- * @param[in] signalCount - The length of the signals array.
- */
+///
+/// @brief The type signature for a function to handle a custom OpenXC command.
+///
+/// @param[in] name - the name of the received command.
+/// @param[in] value - the value of the received command, in a DynamicField. The actual type
+/// may be a number, string or bool.
+/// @param[in] event - an optional event from the received command, in a DynamicField. The
+/// actual type may be a number, string or bool.
+/// @param[in] signals - The list of all signals.
+/// @param[in] signalCount - The length of the signals array.
+///
typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
openxc_DynamicField* event, can_signal_t* signals, int signalCount);
-/* @struct CanCommand
- * @brief The structure to represent a supported custom OpenXC command.
- *
- * @desc 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.
- */
+/// @struct CanCommand
+/// @brief 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.
+///
typedef struct {
const char* generic_name; /*!< generic_name - The name of the command.*/
CommandHandler handler; /*!< handler - An function to process the received command's data and perform some
#include "canutil/read.h"
#include "../utils/openxc-utils.hpp"
-/* Public: 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.
-*/
+/// @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,
signal.get_offset());
}
-/* Public: 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.
-*/
+/// @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<can_signal_t>& signals, float value, bool* send)
{
return decoded_value;
}
-/* Public: 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.
-*/
+/// @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<can_signal_t>& signals, float value, bool* send)
{
return decoded_value;
}
-/* Public: 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.
-*/
+/// @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<can_signal_t>& signals, float value, bool* send)
{
return decoded_value;
}
-/* Public: 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.
-*/
+/// @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<can_signal_t>& signals, float value, bool* send)
{
}
-/* Public: 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.
-*/
+/// @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<can_signal_t>& signals)
{
return decoded_value;
}
-/* Public: 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.
-*/
+/// @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<can_signal_t>& signals, bool* send)
{
return decoded_value;
}
-/* Public: 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] 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.
-*/
+/// @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<can_signal_t>& signals, bool* 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.
-*/
-float decoder_t::decode_obd2_response(const DiagnosticResponse* response, float parsedPayload)
+///
+/// @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
static openxc_DynamicField decodeSignal(can_signal_t& signal, float value,
const std::vector<can_signal_t>& signals, bool* send);
- static float decode_obd2_response(const DiagnosticResponse* response, float parsedPayload);
+ static float decode_obd2_response(const DiagnosticResponse* response, float parsed_payload);
};
\ No newline at end of file
#include "../low-can-binding.hpp"
-/**
-* @brief Class constructor
-*
-* Constructor about can_message_t class.
-*/
+///
+/// @brief Class constructor
+///
+/// Constructor about can_message_t class.
+///
can_message_t::can_message_t()
: maxdlen_{0}, id_{0}, length_{0}, format_{can_message_format_t::ERROR}, rtr_flag_{false}, flags_{0}
{}
data_{data}
{}
-/**
-* @brief Retrieve id_ member value.
-*
-* @return id_ class member
-*/
+///
+/// @brief Retrieve id_ member value.
+///
+/// @return id_ class member
+///
uint32_t can_message_t::get_id() const
{
return id_;
}
-/**
-* @brief Retrieve RTR flag member.
-*
-* @return rtr_flags_ class member
-*/
+///
+/// @brief Retrieve RTR flag member.
+///
+/// @return rtr_flags_ class member
+///
bool can_message_t::get_rtr_flag_() const
{
return rtr_flag_;
}
-/**
-* @brief Retrieve format_ member value.
-*
-* @return format_ class member
-*/
+///
+/// @brief Retrieve format_ member value.
+///
+/// @return format_ class member
+///
can_message_format_t can_message_t::get_format() const
{
if (format_ != can_message_format_t::STANDARD || format_ != can_message_format_t::EXTENDED)
return format_;
}
-/**
-* @brief Retrieve flags_ member value.
-*
-* @return flags_ class member
-*/
+///
+/// @brief Retrieve flags_ member value.
+///
+/// @return flags_ class member
+///
uint8_t can_message_t::get_flags() const
{
return flags_;
}
-/**
-* @brief Retrieve data_ member value.
-*
-* @return pointer to the first element
-* of class member data_
-*/
+///
+/// @brief Retrieve data_ member value.
+///
+/// @return pointer to the first element
+/// of class member data_
+///
const uint8_t* can_message_t::get_data() const
{
return data_.data();
}
-/**
-* @brief Retrieve length_ member value.
-*
-* @return length_ class member
-*/
+///
+/// @brief Retrieve length_ member value.
+///
+/// @return length_ class member
+///
uint8_t can_message_t::get_length() const
{
return length_;
}
-/**
-* @brief Control whether the object is correctly initialized
-* to be sent over the CAN bus
-*
-* @return true if object correctly initialized and false if not.
-*/
+///
+/// @brief Control whether the object is correctly initialized
+/// to be sent over the CAN bus
+///
+/// @return true if object correctly initialized and false if not.
+///
bool can_message_t::is_correct_to_send()
{
if (id_ != 0 && length_ != 0 && format_ != can_message_format_t::ERROR)
return false;
}
-/**
-* @brief Set format_ member value.
-*
-* Preferred way to initialize these members by using
-* convert_from_canfd_frame method.
-*
-* @param[in] new_format - class member
-*/
+///
+/// @brief Set format_ member value.
+///
+/// Preferred way to initialize these members by using
+/// convert_from_canfd_frame method.
+///
+/// @param[in] new_format - class member
+///
void can_message_t::set_format(const can_message_format_t new_format)
{
if(new_format == can_message_format_t::STANDARD || new_format == can_message_format_t::EXTENDED || new_format == can_message_format_t::ERROR)
ERROR(binder_interface, "ERROR: Can set format, wrong format chosen");
}
-/**
-* @brief Take a canfd_frame struct to initialize class members
-*
-* This is the preferred way to initialize class members.
-*
-* @param[in] frame - canfd_frame to convert coming from a read of CAN socket
-* @param[in] nbyte - bytes read from socket read operation.
-*
-* @return A can_message_t object fully initialized with canfd_frame values.
-*/
+///
+/// @brief Take a canfd_frame struct to initialize class members
+///
+/// This is the preferred way to initialize class members.
+///
+/// @param[in] frame - canfd_frame to convert coming from a read of CAN socket
+/// @param[in] nbytes - bytes read from socket read operation.
+///
+/// @return A can_message_t object fully initialized with canfd_frame values.
+///
can_message_t can_message_t::convert_from_canfd_frame(const struct canfd_frame& frame, size_t nbytes)
{
uint8_t maxdlen, length, flags = (uint8_t)NULL;
return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data);
}
-/**
-* @brief Take all initialized class's members and build an
-* canfd_frame struct that can be use to send a CAN message over
-* the bus.
-*
-* @return canfd_frame struct built from class members.
-*/
+///
+/// @brief Take all initialized class's members and build an
+/// canfd_frame struct that can be use to send a CAN message over
+/// the bus.
+///
+/// @return canfd_frame struct built from class members.
+///
canfd_frame can_message_t::convert_to_canfd_frame()
{
canfd_frame frame;
-/*
- * 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.
- */
+///
+/// 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
class can_signal_t;
-/**
- * @brief The type signature for a CAN signal decoder.
- *
- * @desc A SignalDecoder 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.
- *
- * @return a decoded value in an openxc_DynamicField struct.
- */
+///
+/// @brief The type signature for a CAN signal decoder.
+///
+/// A SignalDecoder 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.
+///
+/// @return a decoded value in an openxc_DynamicField struct.
+///
typedef openxc_DynamicField (*SignalDecoder)(can_signal_t& signal,
const std::vector<can_signal_t>& signals, float value, bool* send);
-/**
- * @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[in] signal - The CAN signal to encode.
- * @params[in] 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.
- */
+///
+/// @brief: 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.
+///
+/// @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);
#include "low-can-binding.hpp"
-/**
- * @brief Class representing a configuration attached to the binding.
- *
- * @desc It regroups all needed objects instance from other class
- * that will be used along the binding life. It gets a global vision
- * on which signals are implemented for that binding.
- * Here, it is only the definition of the class with predefined accessors
- * methods used in the binding.
- *
- * It will be the reference point to needed objects.
- */
+///
+/// @brief Class representing a configuration attached to the binding.
+///
+/// It regroups all needed objects instance from other class
+/// that will be used along the binding life. It gets a global vision
+/// on which signals are implemented for that binding.
+/// Here, it is only the definition of the class with predefined accessors
+/// methods used in the binding.
+///
+/// It will be the reference point to needed objects.
+///
class configuration_t
{
private:
#define ERROR_PID 0xFF
-// @brief
std::string active_diagnostic_request_t::prefix_ = "diagnostic_messages";
bool active_diagnostic_request_t::operator==(const active_diagnostic_request_t& b)
///
/// @brief An active diagnostic request, either recurring or one-time.
///
-/// @desc Will host a diagnostic_message_t class members to describe an on going
+/// Will host a diagnostic_message_t class members to describe an on going
/// diagnostic request on the CAN bus. Diagnostic message will be converted to
/// a DiagnosticRequest using ad-hoc method build_diagnostic_request from diagnostic message.
/// Then missing member, that can not be hosted into a DiagnosticRequest struct, will be passed
/// to have 1 diagnostic bus which are the first bus declared in the JSON
/// description file. Configuration instance will return it.
///
-/// @desc this will initialize DiagnosticShims and cancel all active requests
+/// this will initialize DiagnosticShims and cancel all active requests
/// if there are any.
bool diagnostic_manager_t::initialize()
{
/// @brief Add and send a new one-time diagnostic request.
///
-/// @desc A one-time (aka non-recurring) request can existing in parallel with a
+/// A one-time (aka non-recurring) request can existing in parallel with a
/// recurring request for the same PID or mode, that's not a problem.
///
/// For an example, see the docs for addRecurringRequest. This function is very
/// @param[in] name - Human readable name this response, to be used when
/// publishing received responses. TODO: If the name is NULL, the published output
/// will use the raw OBD-II response format.
-/// @param[in] waitForMultipleResponses - If false, When any response is received
+/// @param[in] wait_for_multiple_responses - If false, When any response is received
/// for this request it will be removed from the active list. If true, the
/// request will remain active until the timeout clock expires, to allow it
/// to receive multiple response. Functional broadcast requests will always
/// @param[in] name - An optional human readable name this response, to be used when
/// publishing received responses. If the name is NULL, the published output
/// will use the raw OBD-II response format.
-/// @param[in] waitForMultipleResponses - If false, When any response is received
+/// @param[in] wait_for_multiple_responses - If false, When any response is received
/// for this request it will be removed from the active list. If true, the
/// request will remain active until the timeout clock expires, to allow it
/// to receive multiple response. Functional broadcast requests will always
#include "../can/can-bus.hpp"
#include "active-diagnostic-request.hpp"
-/* Each CAN bus needs its own set of shim functions, so this should
- * match the maximum CAN controller count.
- */
+/// Each CAN bus needs its own set of shim functions, so this should
+/// match the maximum CAN controller count.
+///
#define MAX_SHIM_COUNT can_bus_t.get_can_devices().size()
#define DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET 0x8
class active_diagnostic_request_t;
-/**
- * @brief The core structure for running the diagnostics module by the binding.
- *
- * @desc This stores details about the active requests and shims required to connect
- * the diagnostics library to the CAN device.
- */
+///
+/// @brief The core structure for running the diagnostics module by the binding.
+///
+/// This stores details about the active requests and shims required to connect
+/// the diagnostics library to the CAN device.
+///
class diagnostic_manager_t {
protected:
static bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size);
supported_ = value;
}
-/**
- * @brief Build a DiagnosticRequest struct to be passed
- * to diagnostic manager instance.
- */
+///
+/// @brief Build a DiagnosticRequest struct to be passed
+/// to diagnostic manager instance.
+///
const DiagnosticRequest diagnostic_message_t::build_diagnostic_request()
{
return {/*arbitration_id: */OBD2_FUNCTIONAL_BROADCAST_ID,
/*DiagnosticRequestType: */DiagnosticRequestType::DIAGNOSTIC_REQUEST_TYPE_PID };
}
-/**
-* @brief Check if a request is an OBD-II PID request.
-*
-* @return true if the request is a mode 1 request and it has a 1 byte PID.
-*/
+///
+/// @brief Check if a request is an OBD-II PID request.
+///
+/// @return true if the request is a mode 1 request and it has a 1 byte PID.
+///
bool diagnostic_message_t::is_obd2_request(const DiagnosticRequest* request)
{
return request->mode == 0x1 && request->has_pid && request->pid < 0xff;
INVALID
};
-/**
- * @brief - A representation of an OBD-II PID.
- */
+///
+/// @brief - A representation of an OBD-II PID.
+///
class diagnostic_message_t {
private:
- uint8_t pid_; /*!< pid - The 1 byte PID.*/
+ uint8_t pid_; /*!< pid_ - The 1 byte PID.*/
std::string generic_name_; /*!< generic_name_ - A human readable name to use for this PID when published.*/
int min_; /*!< min_ - Minimum value that can take this pid */
int max_; /*!< max_ - Maximum value that can take this pid */
enum UNIT unit_; /*!< unit_ : Which unit system is used by that pid. See enum UNIT above.*/
- float frequency_; /*!< frequency - The frequency to request this PID if supported by the vehicle when automatic, recurring OBD-II requests are enabled.*/
+ float frequency_; /*!< frequency_ - The frequency to request this PID if supported by the vehicle when automatic, recurring OBD-II requests are enabled.*/
DiagnosticResponseDecoder decoder_; /*!< decoder_ - An optional DiagnosticResponseDecoder to parse the payload of responses
* to this request. If the decoder is NULL, the output will include the raw payload
* instead of a parsed value.*/
// Interface between the daemon and the binding
const struct afb_binding_interface *binder_interface;
-/********************************************************************************
-*
-* Subscription and unsubscription
-*
-*********************************************************************************/
+///******************************************************************************
+///
+/// Subscription and unsubscription
+///
+///*******************************************************************************/
static int make_subscription_unsubscription(struct afb_req request, const std::string& sig_name, std::map<std::string, struct afb_event>& s, bool subscribe)
{
return make_subscription_unsubscription(request, sig, s, subscribe);
}
-/**
- * @fn static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const std::vector<can_signal_t>& signals)
- * @brief subscribe to all signals in the vector signals
- *
- * @param[in] afb_req request : contain original request use to subscribe or unsubscribe
- * @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription
- * @param[in] can_signal_t vector with can_signal_t to subscribe
- *
- * @return Number of correctly subscribed signal
- */
+///
+/// @fn static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const std::vector<can_signal_t>& signals)
+/// @brief subscribe to all signals in the vector signals
+///
+/// @param[in] afb_req request : contain original request use to subscribe or unsubscribe
+/// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription
+/// @param[in] can_signal_t vector with can_signal_t to subscribe
+///
+/// @return Number of correctly subscribed signal
+///
static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const std::vector<std::string>& signals)
{
int rets = 0;
return &binding_desc;
}
- /**
- * @brief Initialize the binding.
- *
- * @param[in] service Structure which represent the Application Framework Binder.
- *
- * @return Exit code, zero if success.
- */
+ /// @brief Initialize the binding.
+ ///
+ /// @param[in] service Structure which represent the Application Framework Binder.
+ ///
+ /// @return Exit code, zero if success.
int afbBindingV1ServiceInit(struct afb_service service)
{
can_bus_t& can_bus_manager = configuration_t::instance().get_can_bus_manager();
#include "../configuration.hpp"
-/**
- * @brief Build a specific VehicleMessage containing a DiagnosticResponse.
- *
- * @param[in] request - Original request use to retrieve decoder and callback
- * @param[in] response - Response to the request that will be decoded if decoder set
- * and put into the DiagnosticResponse of the VehicleMessage.
- * @param[in] parsed_value - raw parsed value of the payload from CAN message
- *
- * @return a vehicle message including simple message that will be convert into
- * a JSON object before being pushed to the subscribers
- */
+///
+/// @brief Build a specific VehicleMessage containing a DiagnosticResponse.
+///
+/// @param[in] request - Original request use to retrieve decoder and callback
+/// @param[in] response - Response to the request that will be decoded if decoder set
+/// and put into the DiagnosticResponse of the VehicleMessage.
+/// @param[in] parsed_value - raw parsed value of the payload from CAN message
+///
+/// @return a vehicle message including simple message that will be convert into
+/// a JSON object before being pushed to the subscribers
+///
openxc_VehicleMessage build_VehicleMessage(active_diagnostic_request_t* request, const DiagnosticResponse& response, float parsed_value)
{
openxc_VehicleMessage message;
return message;
}
-/**
- * @brief Build a specific VehicleMessage containing a SimpleMessage.
- *
- * @param[in] message - simple message to include into openxc_VehicleMessage
- *
- * @return a vehicle message including simple message that will be convert into
- * a JSON object before being pushed to the subscribers
- */
+///
+/// @brief Build a specific VehicleMessage containing a SimpleMessage.
+///
+/// @param[in] message - simple message to include into openxc_VehicleMessage
+///
+/// @return a vehicle message including simple message that will be convert into
+/// a JSON object before being pushed to the subscribers
+///
openxc_VehicleMessage build_VehicleMessage(const openxc_SimpleMessage& message)
{
openxc_VehicleMessage v;
return v;
}
-/**
- * @brief Build an empty VehicleMessage that isn't usable by at least the struct
- * is initialized for the most part and can be use to check a false return value.
- *
- * @return A VehicleMessage with all boolean value to false.
- */
+///
+/// @brief Build an empty VehicleMessage that isn't usable by at least the struct
+/// is initialized for the most part and can be use to check a false return value.
+///
+/// @return A VehicleMessage with all boolean value to false.
+///
openxc_VehicleMessage build_VehicleMessage()
{
openxc_VehicleMessage v;
return true;
}
-/**
- * @brief Build an openxc_SimpleMessage associating a name to an openxc_DynamicField
- *
- * @param[in] name - const string reference name to assign to the created SimpleMessage
- * this will set has_name member to true and assign name to the name member. Maximum size for name is
- * set to 100 char.
- * @param[in] value - const reference with DynamicField to assign to SimpleMessage
- * value.
- *
- * @return an openxc_SimpleMessage struct initialized with name and value provided.
- */
+///
+/// @brief Build an openxc_SimpleMessage associating a name to an openxc_DynamicField
+///
+/// @param[in] name - const string reference name to assign to the created SimpleMessage
+/// this will set has_name member to true and assign name to the name member. Maximum size for name is
+/// set to 100 char.
+/// @param[in] value - const reference with DynamicField to assign to SimpleMessage
+/// value.
+///
+/// @return an openxc_SimpleMessage struct initialized with name and value provided.
+///
openxc_SimpleMessage build_SimpleMessage(const std::string& name, const openxc_DynamicField& value)
{
openxc_SimpleMessage s;
return s;
}
-/**
- * @brief Build an openxc_DynamicField with a string value
- *
- * @param[in] value - const string reference value to assign to builded
- * openxc_DynamicField.
- *
- * @return openxc_DynamicField initialized with a string value.
- */
+///
+/// @brief Build an openxc_DynamicField with a string value
+///
+/// @param[in] value - const string reference value to assign to builded
+/// openxc_DynamicField.
+///
+/// @return openxc_DynamicField initialized with a string value.
+///
openxc_DynamicField build_DynamicField(const std::string& value)
{
openxc_DynamicField d;
return d;
}
-/**
- * @fn openxc_DynamicField build_DynamicField(double value);
- *
- * @brief Build an openxc_DynamicField with a double value
- *
- * @param[in] value - double value to assign to builded openxc_DynamicField.
- *
- * @return openxc_DynamicField initialized with a double value.
- */
+///
+/// @fn openxc_DynamicField build_DynamicField(double value);
+///
+/// @brief Build an openxc_DynamicField with a double value
+///
+/// @param[in] value - double value to assign to builded openxc_DynamicField.
+///
+/// @return openxc_DynamicField initialized with a double value.
+///
openxc_DynamicField build_DynamicField(double value)
{
openxc_DynamicField d;
return d;
}
-/**
- * @brief Build an openxc_DynamicField with a boolean value
- *
- * @param[in] value - boolean value to assign to builded openxc_DynamicField.
- *
- * @return openxc_DynamicField initialized with a boolean value.
- */
+///
+/// @brief Build an openxc_DynamicField with a boolean value
+///
+/// @param[in] value - boolean value to assign to builded openxc_DynamicField.
+///
+/// @return openxc_DynamicField initialized with a boolean value.
+///
openxc_DynamicField build_DynamicField(bool value)
{
openxc_DynamicField d;
return d;
}
-/**
- * @brief Extract the simple message value from an openxc_VehicleMessage
- * and return it. If there isn't SimpleMessage in the VehicleMessage then
- * returned value will be a SimpleMessage with all field set at false.
- * DynamicField from SimpleMessage will be boolean DynamicField set to false too.
- *
- * @param[in] v_msg - const reference to openxc_VehicleMessage
- *
- * @return A simpleMessage from the provided VehicleMessage.
- */
+///
+/// @brief Extract the simple message value from an openxc_VehicleMessage
+/// and return it. If there isn't SimpleMessage in the VehicleMessage then
+/// returned value will be a SimpleMessage with all field set at false.
+/// DynamicField from SimpleMessage will be boolean DynamicField set to false too.
+///
+/// @param[in] v_msg - const reference to openxc_VehicleMessage
+///
+/// @return A simpleMessage from the provided VehicleMessage.
+///
openxc_SimpleMessage get_simple_message(const openxc_VehicleMessage& v_msg)
{
if (v_msg.has_simple_message)
return s_msg;
}
-/**
- * @brief Make a JSON object from a DynamicField
- *
- * @param[in] field - openxc_DynamicField struct to convert into
- * a json object.
- * @param[out] value - pointer to the object to set up.
- */
+///
+/// @brief Make a JSON object from a DynamicField
+///
+/// @param[in] field - openxc_DynamicField struct to convert into
+/// a json object.
+/// @param[out] value - pointer to the object to set up.
+///
void jsonify_DynamicField(const openxc_DynamicField& field, json_object* value)
{
if(field.has_numeric_value)
json_object_object_add(value, "value", json_object_new_string(field.string_value));
}
-/**
- * @brief Make a JSON object from a SimpleMessage
- *
- * @param[in] s_msg - const reference to an openxc_SimpleMessage
- * struct to convert into a json object.
- * @param[out] json - pointer with the DynamicField converted into json object
- *
- * @return True if SimpleMessage has been transformed into json object
- * and false if not. In such case, a json object is returned { "error": "error msg"}
- */
+///
+/// @brief Make a JSON object from a SimpleMessage
+///
+/// @param[in] s_msg - const reference to an openxc_SimpleMessage
+/// struct to convert into a json object.
+/// @param[out] json - pointer with the DynamicField converted into json object
+///
+/// @return True if SimpleMessage has been transformed into json object
+/// and false if not. In such case, a json object is returned { "error": "error msg"}
+///
bool jsonify_simple(const openxc_SimpleMessage& s_msg, json_object* json)
{
if(s_msg.has_name)
#include "signals.hpp"
-/**
- * @brief Can signal event map making access to afb_event
- * externaly to an openxc existing structure.
- *
- * @desc Event map is making relation between can_signal_t generic name
- * and the afb_event struct used by application framework to pushed
- * to the subscriber.
- */
+///
+/// @brief Can signal event map making access to afb_event
+/// externaly to an openxc existing structure.
+///
+/// Event map is making relation between can_signal_t generic name
+/// and the afb_event struct used by application framework to pushed
+/// to the subscriber.
+///
std::map<std::string, struct afb_event> subscribed_signals;
-/**
-* @brief Mutex allowing safe manipulation on subscribed_signals map.
-* @desc To ensure that the map object isn't modified when we read it, you
-* have to set this mutex before use subscribed_signals map object.
-*/
+///
+/// @brief Mutex allowing safe manipulation on subscribed_signals map.
+/// To ensure that the map object isn't modified when we read it, you
+/// have to set this mutex before use subscribed_signals map object.
+///
std::mutex subscribed_signals_mutex;
std::mutex& get_subscribed_signals_mutex()
return subscribed_signals;
}
-/**
- * @fn std::vector<std::string> find_signals(const openxc_DynamicField &key)
- * @brief return signals name found searching through CAN_signals and OBD2 pid
- *
- * @param[in] const openxc_DynamicField : can contain numeric or string value in order to search against
- * can signals or obd2 signals name.
- *
- * @return std::vector<std::string> Vector of signals name found.
- */
+///
+/// @fn std::vector<std::string> find_signals(const openxc_DynamicField &key)
+/// @brief return signals name found searching through CAN_signals and OBD2 pid
+///
+/// @param[in] key : can contain numeric or string value in order to search against
+/// can signals or obd2 signals name.
+///
+/// @return Vector of signals name found.
+///
std::vector<std::string> find_signals(const openxc_DynamicField &key)
{
std::vector<std::string> found_signals_name;
{}
/// @brief Return the period in ms given the frequency in hertz.
+/// @param[in] frequency - Frequency to convert, in Hertz
float frequency_clock_t::frequency_to_period(float frequency)
{
return 1 / frequency;
#pragma once
-/*
- * @brief return epoch in milliseconds
- *
- * @return long long int epoch in milliseconds
- */
+/// @brief return epoch in milliseconds
+///
+/// @return long long int epoch in milliseconds
typedef long long int (*time_function_t)();
long long int system_time_us();
long long int system_time_ms();
long long int system_time_s();
-/**
- * @class frequency_clock_t
- * @brief A frequency counting clock.
- *
- * @var frequency_clock_t::frequency
- * the clock frequency in Hz.
- * @var frequency_clock_t::last_time
- * the last time (in milliseconds since startup) that the clock
- * ticked.
- * @var frequency_clock_t::time_function
- * a function returning current time
- */
+
+/// @brief A frequency counting clock.
+/// Utility class allowing some time function.
class frequency_clock_t
{
private:
- float frequency_;
- unsigned long last_tick_;
- time_function_t time_function_;
+ float frequency_; ///< the clock frequency in Hz.
+ unsigned long last_tick_; ///< the last time (in milliseconds since startup) that the clock ticked.
+ time_function_t time_function_; ///< a function returning current time
public:
frequency_clock_t();
Code Review / apps / low-level-can-service.git / commitdiff