mirror of
https://github.com/intrepidcs/libicsneo.git
synced 2026-08-05 01:18:36 +02:00
LiveData: Initial implementation
Add support for live data subscription via Device::subscribeLiveData() and Device::unsubscribeLiveData(). The live data API can be used to subscribe to individual "signals", a full list of which can be found in LiveDataValueType.
This commit is contained in:
Kyle Johannes
committed by
Kyle Schwarz
Kyle Schwarz
parent
018f1fac8e
commit
8d704b1bbb
@@ -35,7 +35,7 @@ enum class Command : uint8_t {
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ExtendedData = 0xF2, // Previously known as RED_CMD_EXTENDED_DATA
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FlexRayControl = 0xF3,
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CoreMiniPreload = 0xF4, // Previously known as RED_CMD_COREMINI_PRELOAD
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PHYControlRegisters = 0xEF
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PHYControlRegisters = 0xEF,
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};
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enum class ExtendedCommand : uint16_t {
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@@ -53,6 +53,7 @@ enum class ExtendedCommand : uint16_t {
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Reboot = 0x001C,
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SetUploadedFlag = 0x0027,
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GenericBinaryInfo = 0x0030,
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LiveData = 0x0035,
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};
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enum class ExtendedResponse : int32_t {
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@@ -68,6 +69,16 @@ enum class ExtendedDataSubCommand : uint32_t {
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GenericBinaryRead = 13,
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};
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#pragma pack(push,1)
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struct ExtendedCommandHeader {
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uint8_t netid; // should be Main51
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uint16_t fullLength;
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uint8_t command; // should be Command::Extended
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uint16_t extendedCommand;
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uint16_t payloadLength;
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};
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#pragma pack(pop)
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}
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#endif // __cplusplus
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@@ -0,0 +1,146 @@
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#ifndef __LIVEDATA_H__
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#define __LIVEDATA_H__
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#ifdef __cplusplus
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#include <cstdint>
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#include <vector>
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#include <memory>
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#include "icsneo/communication/command.h"
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#include "icsneo/api/eventmanager.h"
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namespace icsneo {
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typedef uint32_t LiveDataHandle;
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static constexpr size_t MAX_LIVE_DATA_ENTRIES = 20;
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enum class LiveDataCommand : uint32_t {
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STATUS = 0,
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SUBSCRIBE,
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UNSUBSCRIBE,
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RESPONSE,
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CLEAR_ALL,
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};
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enum class LiveDataStatus : uint32_t {
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SUCCESS = 0,
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ERR_UNKNOWN_COMMAND,
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ERR_HANDLE,
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ERR_DUPLICATE,
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ERR_FULL
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};
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enum LiveDataObjectType : uint16_t {
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MISC = 8,
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SNA = UINT16_MAX,
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};
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enum class LiveDataValueType : uint32_t {
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GPS_LATITUDE = 2,
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GPS_LONGITUDE,
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GPS_ALTITUDE,
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GPS_SPEED,
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GPS_VALID,
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GPS_ENABLE = 62,
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GPS_ACCURACY = 120,
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GPS_BEARING = 121,
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GPS_TIME = 122,
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GPS_TIME_VALID = 123,
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};
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inline std::ostream& operator<<(std::ostream& os, const LiveDataCommand cmd) {
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switch (cmd) {
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case LiveDataCommand::STATUS: return os << "Status";
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case LiveDataCommand::SUBSCRIBE: return os << "Subscribe";
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case LiveDataCommand::UNSUBSCRIBE: return os << "Unsubscribe";
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case LiveDataCommand::RESPONSE: return os << "Response";
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}
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return os;
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}
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inline std::ostream& operator<<(std::ostream& os, const LiveDataStatus cmd) {
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switch (cmd) {
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case LiveDataStatus::SUCCESS: return os << "Success";
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case LiveDataStatus::ERR_UNKNOWN_COMMAND: return os << "Error: Unknown Command";
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case LiveDataStatus::ERR_HANDLE: return os << "Error: Handle";
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case LiveDataStatus::ERR_DUPLICATE: return os << "Error: Duplicate";
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case LiveDataStatus::ERR_FULL: return os << "Error: Argument limit reached";
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}
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return os;
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}
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inline std::ostream& operator<<(std::ostream& os, const LiveDataValueType cmd) {
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switch (cmd) {
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case LiveDataValueType::GPS_LATITUDE: return os << "GPS Latitude";
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case LiveDataValueType::GPS_LONGITUDE: return os << "GPS Longitude";
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case LiveDataValueType::GPS_ALTITUDE: return os << "GPS Altitude";
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case LiveDataValueType::GPS_SPEED: return os << "GPS Speed";
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case LiveDataValueType::GPS_VALID: return os << "GPS Valid";
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case LiveDataValueType::GPS_ENABLE: return os << "GPS Enabled";
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case LiveDataValueType::GPS_ACCURACY: return os << "GPS Accuracy";
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case LiveDataValueType::GPS_BEARING: return os << "GPS Bearing";
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case LiveDataValueType::GPS_TIME: return os << "GPS Time";
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case LiveDataValueType::GPS_TIME_VALID: return os << "GPS Time Valid";
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}
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return os;
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}
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#pragma pack(push,2)
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struct LiveDataHeader {
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uint32_t version; // See LiveDataVersion
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uint32_t cmd;
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uint32_t handle;
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};
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struct LiveDataArgument {
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LiveDataObjectType objectType;
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uint32_t objectIndex;
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uint32_t signalIndex;
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LiveDataValueType valueType;
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};
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struct LiveDataValueHeader {
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uint16_t length; // Number of bytes to follow header
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uint8_t reserved[2];
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};
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typedef struct
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{
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LiveDataValueHeader header;
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int64_t value;
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} LiveDataValue;
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struct LiveDataValueResponse : public LiveDataHeader {
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uint32_t numArgs;
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LiveDataValue values[1];
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};
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struct LiveDataStatusResponse : public LiveDataHeader {
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LiveDataCommand requestedCommand;
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LiveDataStatus status;
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};
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struct LiveDataSubscribe : public LiveDataHeader {
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uint32_t numArgs;
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uint32_t freqMs;
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uint32_t expireMs;
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LiveDataArgument args[1];
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};
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struct ExtResponseHeader {
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ExtendedCommand command;
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uint16_t length;
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};
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#pragma pack(pop)
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namespace LiveDataUtil
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{
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LiveDataHandle getNewHandle();
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double liveDataValueToDouble(const LiveDataValue& val);
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static constexpr uint32_t LiveDataVersion = 1;
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} // namespace LiveDataUtil
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} // namespace icsneo
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#endif // _cplusplus
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#endif // __LIVEDATA_H__
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@@ -0,0 +1,44 @@
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#ifndef __EXTENDEDLIVEDATAMESSAGE_H_
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#define __EXTENDEDLIVEDATAMESSAGE_H_
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#ifdef __cplusplus
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#include <chrono>
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#include "icsneo/communication/message/message.h"
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#include "icsneo/communication/command.h"
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#include "icsneo/communication/livedata.h"
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namespace icsneo {
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class LiveDataMessage : public RawMessage {
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public:
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LiveDataMessage() : RawMessage(Message::Type::LiveData, Network::NetID::ExtendedCommand) {}
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LiveDataHandle handle;
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LiveDataCommand cmd;
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};
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class LiveDataCommandMessage : public LiveDataMessage {
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public:
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LiveDataCommandMessage() {}
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std::chrono::milliseconds updatePeriod;
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std::chrono::milliseconds expirationTime;
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std::vector<std::shared_ptr<LiveDataArgument>> args;
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void appendSignalArg(LiveDataValueType valueType);
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};
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class LiveDataValueMessage : public LiveDataMessage {
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public:
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LiveDataValueMessage() {}
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uint32_t numArgs;
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std::vector<std::shared_ptr<LiveDataValue>> values;
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};
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class LiveDataStatusMessage : public LiveDataMessage {
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public:
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LiveDataStatusMessage() {}
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LiveDataCommand requestedCommand;
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LiveDataStatus status;
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};
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} // namespace icsneo
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#endif // __cplusplus
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#endif // __EXTENDEDLIVEDATAMESSAGE_H_
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@@ -37,6 +37,7 @@ public:
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ComponentVersions = 0x800c,
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SupportedFeatures = 0x800d,
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GenericBinaryStatus = 0x800e,
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LiveData = 0x800f,
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};
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Message(Type t) : type(t) {}
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@@ -0,0 +1,27 @@
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#ifndef __LIVEDATAPACKET_H__
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#define __LIVEDATAPACKET_H__
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#ifdef __cplusplus
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#include <cstdint>
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#include <memory>
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#include <vector>
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#include "icsneo/api/eventmanager.h"
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#include "icsneo/communication/message/message.h"
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#include "icsneo/communication/message/livedatamessage.h"
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#include "icsneo/communication/livedata.h"
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namespace icsneo {
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class LiveDataMessage;
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struct HardwareLiveDataPacket {
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static std::shared_ptr<Message> DecodeToMessage(const std::vector<uint8_t>& bytes, const device_eventhandler_t& report);
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static bool EncodeFromMessage(LiveDataMessage& message, std::vector<uint8_t>& bytes, const device_eventhandler_t& report);
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};
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}
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#endif // __cplusplus
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#endif // __LIVEDATAPACKET_H__
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